Harmonic speed reducer and mechanical arm joint device

Abstract

The utility model provides a harmonic speed reducer and a mechanical arm joint device, and the harmonic speed reducer comprises a driving unit, a wave generator, a needle bearing part, an elastic gear part and a rigid part. The wave generator has an inner circular hole portion and an outer contour portion. The driving unit is arranged in the inner circular hole part to drive the wave generator to rotate. The section of the outer contour part is in a cam shape or an oval shape. The needle bearing piece is arranged on the outer contour part. The elastic gear piece is provided with an inner circle containing part and an outer tooth part. The wave generator is arranged in the inner circle containing part, and the needle bearing piece makes contact with the surface of the inner circle containing part. The rigid piece is provided with a rigid containing part. The rigid accommodating part accommodates the elastic gear piece. And an inner tooth part is arranged on the surface of the rigid accommodating part. When the wave generator drives the elastic gear piece to rotate, the outer gear part is meshed with the inner gear part to generate relative rotation.

Description

Technical Field

[0001] The present application relates to the technical field of harmonic speed reducers, and in particular to a harmonic speed reducer and a robotic arm joint device that can achieve miniaturization, high torque, and high precision. Background Art

[0002] With the development of the semiconductor industry, the manufacturing process of integrated circuits requires multiple complex and precise processing steps. Among them, in these processing steps, a robotic arm is often used to transfer objects or perform required actions. However, existing robotic arms are usually equipped with one or more motors to drive; when there is only one motor, it is usually connected to the robotic arm from the outside, which makes it difficult to miniaturize. In addition, the external motor drives the axis of the robotic arm to rotate, which may cause inappropriate force transmission configuration, inaccurate precision, or the structural strength of the component does not properly correspond to the force transmission, causing damage to the component; when there are multiple motors, it makes it difficult to miniaturize and makes it difficult to reduce manufacturing costs.

[0003] In summary, the inventors of the present application have considered and designed a harmonic reduction device and a robotic arm joint device to improve the deficiencies in the prior art and thereby enhance industrial implementation and utilization. Utility Model Content

[0004] The purpose of this application is to provide a harmonic reduction device and a robotic arm joint device to improve the aforementioned problems.

[0005] Based on the above purpose, the present application provides a harmonic reduction device, which includes a drive unit, a wave generator, a needle roller bearing component, an elastic gear component and a rigid component. The wave generator has an inner circular hole portion and an outer contour portion. The drive unit is arranged in the inner circular hole portion to drive the wave generator to rotate around the axis of the inner circular hole portion. The cross-section of the outer contour portion is a cam-shaped or elliptical cross-section. The needle roller bearing component is arranged in the outer contour portion. The elastic gear component has an inner circular accommodating portion and an outer tooth portion. The wave generator is arranged in the inner circular accommodating portion, and the needle roller bearing component contacts the surface of the inner circular accommodating portion. The rigid component has a rigid accommodating portion. The rigid accommodating portion accommodates the elastic gear component. The surface of the rigid accommodating portion is provided with an inner tooth portion. Wherein, when the wave generator drives the elastic gear component to rotate, the outer tooth portion engages with the inner tooth portion to generate relative rotation.

[0006] Preferably, the elastic gear member is cup-shaped. The closed end of the elastic gear member has a fixed portion and a plurality of curved portions. The fixed portion is located at the axis of the elastic gear member, and the plurality of curved portions are connected between the fixed portion and the outer tooth portion.

[0007] Preferably, in the axial direction of the elastic gear member, the length of the outer tooth portion is the distance between the open end of the elastic gear member and the curved portion. The length of the inner tooth portion corresponds to the length of the outer tooth portion.

[0008] Preferably, the drive unit is a stator. The wave generator includes an outer sleeve and a rotor. The outer sleeve is cup-shaped, with a circular inner circumference for accommodating the rotor. The outer circumference of the outer sleeve serves as the outer contour. The rotor is cylindrical, with its inner circumference serving as the inner circular hole.

[0009] Preferably, a plurality of magnets are embedded in an annular shape on the inner circumference of the rotor. The plurality of magnets are arranged in a staggered manner with different magnetic properties. A magnet frame is embedded in the outer circumference of the rotor. The drive unit is configured in a fan shape, and the magnet frame is configured in an arc shape.

[0010] Preferably, the closed end of the outer sleeve has an axial hole, in which a bearing is provided. The drive unit is sleeved on an axial core, and the axial core passes through the bearing.

[0011] Preferably, the elastic gear member and the rigid member are cup-shaped. The closed end of the elastic gear member has a fixing portion. The harmonic reduction device includes a side cover body, which has an outer ring member and an inner ring member that can rotate relative to each other. The outer ring member is fixed to the open end of the rigid member. The inner ring member is fixed to the fixing portion of the elastic gear member.

[0012] Preferably, the fixing portion has a plurality of first locking portions arranged in an annular shape along the axis of the elastic gear member. The open end of the rigid member has a plurality of second locking portions arranged in an annular shape along the axis of the rigid member. The first locking portion is formed as a protrusion on the outer side surface of the elastic gear member protruding from the surface of the elastic gear member, and the second locking portion is formed as a protrusion on the outer side surface of the rigid member protruding from the surface of the rigid member. The inner ring member and the outer ring member have a plurality of locking holes at positions corresponding to the first locking portions and the second locking portions, respectively, and the locking holes have grooves corresponding to the protrusions.

[0013] Based on the above objectives, the present application also provides a robotic arm joint device, which includes a first arm, a second arm, and the harmonic reduction device described above. The first arm is fixed to a rigid component of the harmonic reduction device. The second arm is indirectly fixed to an elastic gear component of the harmonic reduction device.

[0014] Preferably, the harmonic reduction gear includes a side cover having an outer ring and an inner ring that are rotatable relative to each other. The outer ring is fixed to the open end of the rigid member. The inner ring is fixed to the fixed portion of the elastic gear member. The second arm is fixed to the inner ring.

[0015] The technical features of the present application will be described in detail below with reference to specific embodiments and the accompanying drawings, so that those skilled in the art can easily understand the purpose, technical features, and advantages of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For technical personnel in the technical field to which the present application belongs, other drawings can also be obtained based on these drawings.

[0017] Figure 1 This is a schematic exploded view of the harmonic reduction device of the present application from a first perspective.

[0018] Figure 2 This is a schematic exploded view of the harmonic reduction device of the present application from a second perspective.

[0019] Figure 3 This is a schematic diagram of the exploded view of some components of the harmonic reduction device of the present application.

[0020] Figure 4 This is a cross-sectional schematic diagram of the harmonic reduction device of the present application.

[0021] Figure 5 This is a schematic structural diagram of the elastic gear component of the harmonic reduction device of the present application.

[0022] Figure 6 This is a schematic structural diagram of the outer component of the wave generator of the harmonic speed reducer of the present application.

[0023] Figure 7 This is a schematic structural diagram of the rotor component of the wave generator of the harmonic speed reducer of the present application.

[0024] Figure 8 This is a schematic diagram of the exploded structure of the side cover of the harmonic speed reducer of the present application.

[0025] Figure 9 This is a partial cross-sectional schematic diagram of the harmonic speed reducer of the present application including the side cover.

[0026] Figure 10 This is a schematic diagram of the exploded view of the robotic arm joint device of this application.

[0027] Figure 11 This is a schematic diagram of the assembly of the robotic arm joint device of this application.

[0028] Description of reference numerals:

[0029] 1: Harmonic reduction device, 10: Drive unit, 101: Axis member, 11: Wave generator, 111: Outer sleeve, 112: Rotor member, 113: Outer contour portion, 114: Inner circular hole portion, 115: Magnet, 116: Magnet frame, 117: Axial hole, 12: Needle roller bearing member, 13: Elastic gear member, 131: Inner circular accommodating portion, 132: Outer tooth portion, 133: Fixing portion, 134: Bending portion, 135: First locking portion, 14: Rigid member, 141: Rigid accommodating portion, 142: Inner tooth portion, 143: Second locking portion, 15: Bearing member, 16: Side cover member, 161: Outer ring member, 162: Inner ring member, 163: Locking hole portion, 171: Protruding portion, 172: Groove portion, 2: Robot arm joint device, 21: First arm, 22: Second arm. DETAILED DESCRIPTION

[0030] The advantages, features and technical methods achieved by the present application will be described in more detail with reference to exemplary embodiments and the accompanying drawings so that they are easier to understand. The present application can be implemented in different forms and should not be understood as being limited to the embodiments set forth herein. On the contrary, for those skilled in the art, the provided embodiments will make the present disclosure more thorough and comprehensive and fully convey the scope of the present application, and the present application will be defined only by the appended claims.

[0031] It should be understood that although the terms "first," "second," etc. may be used in this application to describe various elements, components, regions, sections, layers, and / or portions, these elements, components, regions, sections, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, region, section, layer, and / or portion from another element, component, region, section, layer, and / or portion.

[0032] It should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art of the present application will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0033] Unless otherwise defined, all terms (including technical and scientific terms) used in this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having definitions consistent with their meanings in the context of the relevant technology and this application, and will not be interpreted as idealized or overly formal meanings unless explicitly defined as such herein.

[0034] It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0035] See also Figures 1 to 9 .in, Figure 1 、 2 Schematic diagrams of the decomposition of the harmonic reduction device of the present application from different perspectives. Figure 3 、 4 Schematic diagram of the exploded view and cross-section of some components of the harmonic speed reducer of the present application. Figures 5 to 7 This is a schematic structural diagram of the elastic gear component, outer sleeve component and rotor component of the harmonic reduction device of the present application. Figure 8 This is a schematic diagram of the exploded structure of the side cover of the harmonic speed reducer of the present application. Figure 9 This is a partial cross-sectional schematic diagram of the harmonic reduction device of the present application including the side cover.

[0036] As shown in the figure, the harmonic reduction device 1 of the present application mainly includes a driving unit 10 , a wave generator 11 , a needle bearing component 12 , an elastic gear component 13 and a rigid component 14 .

[0037] The drive unit 10 is a stator, roughly a three-quarter cylindrical structure, resulting in a fan-shaped configuration and possessing magnetic properties. The wave generator 11 comprises an inner circular hole 114 and an outer contour portion 113. The drive unit 10 is disposed within the inner circular hole 114 to drive the wave generator 11 to rotate about the axis of the inner circular hole 114. The outer contour portion 113 has a cam-shaped or elliptical cross-section, with the elliptical cross-section being used as an example in this embodiment.

[0038] Please refer to Figure 6 、 7. Specifically, the wave generator 11 includes an outer sleeve 111 and a rotor component 112. The outer sleeve 111 may be a cup-shaped structure made of a suitable engineering plastic. The inner circumference of the outer sleeve 111 is circular to accommodate the rotor component 112. Furthermore, the outer circumference of the outer sleeve 111 is an outer contour portion 113. The rotor component 112 may be a cylindrical shape made of a suitable engineering plastic, and the inner circumference of the rotor component 112 is an inner circular hole portion 114. It is worth mentioning that a magnet frame 116 is embedded in the outer circumference of the rotor component 112, and the outer circumference of the magnet frame 116 is flush with the outer circumference of the rotor component 112; the magnet frame 116 is configured in an arc shape, for example, a three-quarter circle arc shape. Preferably, the magnet frame 116 can be provided on the outer sleeve 111 by, for example, a coating injection method. It is also worth mentioning that a plurality of magnets 115 are embedded in an annular shape in the inner circumference of the rotor component 112. Multiple magnets are arranged in a staggered manner with different magnetic properties, such as a staggered arrangement of N, S, N, S...

[0039] Furthermore, the closed end of the outer sleeve 111 has an axial hole 117, within which a bearing 15 is disposed. The drive unit 10 is sleeved on the shaft member 101, which in turn passes through the bearing 15. This ensures stable rotation of the drive unit 10, thereby driving the wave generator 11 to rotate stably.

[0040] The harmonic speed reducer 1 of the present application utilizes a predetermined structural configuration, such as the outer-rotating permanent magnet motor coils of the drive unit 10 being fixed to the shaft, and the rotor of the wave generator 11 rotating through the outer magnet ring being integrated with the cam-shaped outer sleeve. This allows the drive unit 10 and wave generator 11 to function as an outer-rotating motor while simultaneously fulfilling the function of a wave generating element. Consequently, the harmonic speed reducer 1 of the present application facilitates miniaturization. Furthermore, since the rotor member 112 or the outer sleeve 111 and rotor member 112 are made of a suitable engineering plastic, they offer the advantages of lightweighting and cost savings.

[0041] The needle roller bearing 12 is disposed on the outer contour portion 113. The needle roller bearing 12 is generally a device well known or commonly used by those skilled in the art, and will not be described in detail herein.

[0042] The elastic gear member 13 can be made of a suitable engineering plastic. It has an inner circumferential housing 131 and an outer toothed portion 132. The wave generator 11 is disposed within the inner circumferential housing 131, and the needle roller bearing 12 contacts the surface of the inner circumferential housing 131. Therefore, when the wave generator 11 and the drive unit 10 rotate relative to each other, the needle roller bearing 12, located between the elastic gear member 13 and the outer sleeve 111, drives the elastic gear member 13 to generate harmonic motion.

[0043] Please refer to Figure 5. Specifically, the elastic gear member 13 has a cup-shaped structure, thus having a closed end and an open end. The closed end of the elastic gear member 13 has a fixing portion 133 and a plurality of curved portions 134, while the open end of the elastic gear member 13 is used to accommodate the wave generator 11. The fixing portion 133 is located at the axis of the elastic gear member 13 and can be circular in shape with an axial hole in the middle. A plurality of locking portions are provided around the axial hole. Thus, the fixing portion 133 can be fixed to or fixed by other components, such as the side cover member 16 mentioned later.

[0044] The rigid member 14 can be made of metal and has a rigid receiving portion 141. The rigid receiving portion 141 is used to receive the elastic gear member 13. In addition, an inner tooth portion 142 is formed on the surface of the rigid receiving portion 141.

[0045] It is worth mentioning that the plurality of curved portions 134 are connected between the fixed portion 133 and the outer teeth 132. Thus, the elastic gear member 13 can have appropriate elasticity, and in response to the outer contour portion 113 having a cam-shaped or elliptical cross-section and the needle bearing member 12 located on the outer contour portion 113, it can appropriately produce elastic deformation. Consequently, when the wave generator 11 drives the elastic gear member 13 to rotate, the outer teeth 132 engage the inner teeth 142, thereby driving the rigid member 14 to rotate.

[0046] It should be noted that, in the axial direction of the elastic gear part 13, the length of the outer tooth portion 132 is the distance between the open end of the elastic gear part 13 and the curved portion 134. The length of the inner tooth portion 142 corresponds to the length of the outer tooth portion 132, that is, the length of the inner tooth portion 142 is the length (or depth) of the rigid accommodating portion 141. As a result, the meshing between the outer tooth portion 132 and the inner tooth portion 142 can have good structural strength, a long service life, and withstand a large load, and has the advantage of low noise. In addition, the elastic gear part 13 can be easy to produce. Among them, in addition to the inner tooth portion 142 being able to deform, the end face of the elastic gear part 13 also has a corrugated continuous deformation zone (a plurality of curved portions 134), which can better generate harmonics and transmission torque.

[0047] Please refer to Figure 8 、 9. Preferably, the harmonic reducer 1 includes a side cover 16, and the side cover 16 has an outer ring 161 and an inner ring 162 that can rotate relative to each other; for example, a plurality of balls can be provided between the outer ring 161 and the inner ring 162. The outer ring 161 is fixed to the open end of the rigid part 14. The inner ring 162 is fixed to the fixed portion 133 of the elastic gear part 13. Thus, when the rigid part 14 or the outer ring 161 fixes one component, and the inner ring 162 or the elastic gear part 13 fixes another component, driven by the drive unit 10 and the wave generator 11, one component can rotate relative to the other component. The special bearing connection of the outer ring 161 and the inner ring 162 of the side cover 16 can better generate force transfer, so that the harmonic reducer 1 can properly withstand external forces and torques in the outward direction.

[0048] It is worth mentioning that on the fixing portion 133, a plurality of first locking portions 135 are arranged in an annular shape along the axis of the elastic gear member 13. On the open end of the rigid member 14, a plurality of second locking portions 143 are arranged in an annular shape along the axis of the rigid member 14. The first locking portions 135 protrude from the surface of the elastic gear member 13 on the outer side surface of the elastic gear member 13 to form a protrusion 171, and the second locking portions 143 also protrude from the surface of the rigid member 14 on the outer side surface of the rigid member 14 to form a protrusion 171. The inner ring member 162 and the outer ring member 161 have a plurality of locking holes 163 at positions corresponding to the first locking portions 135 and the second locking portions 143, respectively. The locking holes 163 have grooves 172 corresponding to the protrusions 171.

[0049] By embedding the protrusion 171 into the groove 172, a positioning effect can be achieved when the component is installed. Furthermore, by setting the protrusions 171 of different heights and the grooves 172 of different depths, not only positioning but also fool-proofing can be achieved.

[0050] Please also refer to Figure 10 、 11 . Figure 10 This is an exploded diagram of the robotic arm joint device of this application. Figure 11 This is a schematic diagram of the assembly of the robotic arm joint device of this application.

[0051] As shown in the figure, the robot arm joint device 2 of the present application includes a harmonic reducer 1, a first arm 21, and a second arm 22. The harmonic reducer is the harmonic reducer 1 of the embodiment described above. The first arm 21 and the second arm 22 can be robot arms that are well known or commonly used by technicians in the relevant technical field. The first arm 21 is fixed to the rigid part 14 of the harmonic reducer 1. The second arm 22 is indirectly fixed to the elastic gear part 13 of the harmonic reducer 1. Preferably, the second arm 22 is fixed to the inner ring part 162.

[0052] Through the above arrangement, the harmonic reduction gear 1 forms a joint of a robot arm, enabling the first arm 21 and the second arm 22 to rotate relative to each other. For example, the first arm 21 is a fixed arm and the second arm 22 is a movable arm; or, the first arm 21 is a movable arm and the second arm 22 is a fixed arm, etc.

[0053] The harmonic reduction device and robotic arm joint device of the present application utilize a predetermined structural configuration of the drive unit 10 and the wave generator 11, thereby enabling the drive unit 10 and the wave generator 11 to be configured as an outward-rotating motor, thereby achieving miniaturization of the harmonic reduction device and lightweighting by using plastic materials. Furthermore, when the harmonic reduction device can be positioned at the rotation axis of the robotic arm, the robotic arm can be miniaturized, and force can be directly transmitted to the robotic arm, thereby improving the precision of the robotic arm's operation and effectively extending its service life. Furthermore, by utilizing different housings, the harmonic reduction device can be used in robotic arm joints or various other reduction mechanisms, such as electric bicycles.

[0054] In addition, by configuring the lengths of the outer teeth and the inner teeth (spreading as much as possible along the length of the peripheral wall), the meshing between the outer teeth and the inner teeth can have good structural strength, service life, and low noise.

[0055] The above description is for illustrative purposes only and is not intended to be limiting. Any equivalent modifications or changes made thereto without departing from the spirit and scope of this application shall be included in the scope of the claims of this application.

Claims

1. A harmonic speed reducer, characterized in that: Include: Drive unit; The wave generator comprises an inner circular hole portion and an outer contour portion; the driving unit is disposed in the inner circular hole portion to drive the wave generator to rotate about the axis of the inner circular hole portion; the cross section of the outer contour portion is a cam-shaped or elliptical cross section; A needle roller bearing member is provided on the outer contour portion; The elastic gear member has an inner circle accommodating portion and an outer tooth portion; the wave generator is disposed in the inner circle accommodating portion, and the needle bearing member contacts the surface of the inner circle accommodating portion; as well as A rigid part having a rigid accommodating portion; the rigid accommodating portion accommodates the elastic gear part; the surface of the rigid accommodating portion is provided with an internal tooth portion; wherein, when the wave generator drives the elastic gear part to rotate, the external tooth portion engages with the internal tooth portion to generate relative rotation.

2. The harmonic speed reducer according to claim 1, characterized in that: The elastic gear part has a cup-shaped structure; the closed end of the elastic gear part has a fixed portion and a plurality of curved portions; the fixed portion is located at the axis of the elastic gear part, and the plurality of curved portions are connected between the fixed portion and the outer tooth portion.

3. The harmonic speed reducer according to claim 2, characterized in that: In the axial direction of the elastic gear member, the length of the outer tooth portion is the distance between the open end of the elastic gear member and the bent portion; the length of the inner tooth portion corresponds to the length of the outer tooth portion.

4. The harmonic speed reducer according to claim 1, characterized in that: The driving unit is a stator; the wave generator includes an outer sleeve and a rotor component; the outer sleeve is a cup-shaped structure, the inner circumference of the outer sleeve is a circular shape for accommodating the rotor component, and the outer circumference of the outer sleeve is the outer contour portion; the rotor component is cylindrical, and the inner circumference of the rotor component is the inner circular hole portion.

5. The harmonic speed reducer according to claim 4, characterized in that: The inner circumference of the rotor component is annularly embedded with a plurality of magnets; the plurality of magnets are staggered with different magnetic properties; the outer circumference of the rotor component is embedded with a magnet frame; the driving unit is configured in a fan shape, and the magnet frame is configured in an arc shape.

6. The harmonic speed reducer according to claim 4, characterized in that: The closed end of the outer sleeve has an axial hole, and a bearing member is arranged in the axial hole; the driving unit is sleeved on the shaft core member, and the shaft core member is passed through the bearing member.

7. The harmonic speed reducer according to claim 1, characterized in that: The elastic gear part and the rigid part are cup-shaped structures; the closed end of the elastic gear part has a fixed part; the harmonic reduction device includes a side cover part, and the side cover part has an outer ring part and an inner ring part that can rotate relative to each other; the outer ring part is fixed to the open end of the rigid part; the inner ring part is fixed to the fixed part of the elastic gear part.

8. The harmonic speed reducer according to claim 7, characterized in that: On the fixing part, a plurality of first locking parts are arranged in a ring shape along the axis of the elastic gear part; on the open end of the rigid part, a plurality of second locking parts are arranged in a ring shape along the axis of the rigid part; the first locking part is formed into a protrusion on the outer side surface of the elastic gear part and protrudes from the surface of the elastic gear part, and the second locking part is formed into a protrusion on the outer side surface of the rigid part and protrudes from the surface of the rigid part; on the inner ring part and the outer ring part, there are a plurality of locking hole parts corresponding to the positions of the first locking part and the second locking part respectively, and the locking hole parts have a groove part corresponding to the protrusion part.

9. A robotic arm joint device, characterized in that: Include: The harmonic reduction device according to any one of claims 1 to 8; A first arm fixed to a rigid member of the harmonic speed reducer; and The second arm is indirectly fixed to the elastic gear member of the harmonic reduction device.

10. The robotic arm joint device according to claim 9, characterized in that: The harmonic reduction device includes a side cover, which has an outer ring and an inner ring that can rotate relative to each other; the outer ring is fixed to the open end of the rigid part; the inner ring is fixed to the fixed part of the elastic gear part; and the second arm is fixed to the inner ring.

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