A hollow harmonic reducer with built-in motor

Abstract

The utility model relates to a hollow harmonic reducer of built-in motor, it includes: bottom shell, be equipped with first recess table on the bottom shell, the first recess table is inlayed with plastic harmonic reducer flexspline and outer rotor motor, the bottom surface of first recess table and the bottom surface of outer rotor motor are equipped with boss between, the output shaft of bottom shell rotary connection, the inlayed harmonic reducer rigid wheel in the middle part mounting cavity of output shaft, wherein, harmonic reducer rigid wheel with plastic harmonic reducer flexspline transmission is connected, and the clearance is equipped between the bottom surface of outer rotor motor and the boss. The utility model discloses a hollow harmonic reducer of built-in motor, adopts hollow outer rotor motor, and the motor is embedded in the harmonic flexspline, and moreover, the harmonic reducer flexspline and the harmonic reducer rigid wheel adopt the light plastic material quality to manufacture, make the weight of whole reducer effectively reduce, be suitable for application in humanoid robot, light and clever six axle robot, collaborative robot etc.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of speed reducer especially relates to a hollow harmonic speed reducer of built -in motor. BACKGROUND

[0002] At present, the robot joint is composed of speed reducer, motor or speed reducer and electric drive integrated structure. The speed reducer is made of steel, and the volume and weight are very heavy, the structure is complex, and the cost is high. The connection between the speed reducer and the motor is complex, the harmonic speed reducer made of steel has high rigidity but low wear resistance, and is not suitable for mass production. The self weight of the produced robot is too large, and the structure design is unreasonable. SUMMARY

[0003] The utility model provides a hollow harmonic speed reducer of built -in motor, aims at at least solve one of the prior art existing technical problems.

[0004] The utility model discloses a hollow harmonic speed reducer of built -in motor, it includes: bottom shell, be equipped with the first recess table on the bottom shell, the first recess table is embedded with plastic harmonic speed reducer flexible wheel and outer rotor motor, the bottom surface of the first recess table and the bottom surface of outer rotor motor are equipped with the boss between, the output shaft of rotation connection with the bottom shell, the output shaft's middle part installs the cavity and embeds harmonic speed reducer rigid wheel, wherein, harmonic speed reducer rigid wheel is transmission connection with plastic harmonic speed reducer flexible wheel, and the bottom of second recess table and the bottom of first recess table are fixedly connected, wherein, the stator part is installed at the bottom of second recess table.

[0005] Further, the outer rotor motor includes a stator portion, the plastic harmonic speed reducer flexible wheel is provided with a second recess table, the bottom of the second recess table is fixedly connected with the bottom of the first recess table, wherein, the stator portion is installed at the bottom of the second recess table.

[0006] Further, the outer rotor motor includes a rotor portion cooperating with the stator portion, the rotor portion is installed with an eccentric wheel, the inner ring of the plastic harmonic speed reducer flexible wheel and the outer ring of the eccentric wheel are sleeved with a flexible bearing.

[0007] Further, the connection between the bottom shell and the output shaft is connected through a support bearing.

[0008] Further, the inner ring of the harmonic speed reducer rigid wheel and the inner ring of the plastic harmonic speed reducer flexible wheel are connected through gear meshing.

[0009] Further, the output shaft top is provided with output shaft cover plate, the middle part of output shaft cover plate is equipped with cover plate connector, the cover plate connector is connected with output encoder transmission shaft, the output encoder transmission shaft passes through the outer rotor motor and bottom shell in proper order.

[0010] Further, the outer rotor motor is connected with an encoder transmission shaft, the encoder transmission shaft passes through the bottom shell, the middle part of the encoder transmission shaft is a hollow part, and the output encoder transmission shaft passes through the hollow part of the encoder transmission shaft.

[0011] Further, the middle part of the output encoder transmission shaft is a hollow part for an output line.

[0012] Further, the outer rotor motor is electrically connected with a single or double encoder.

[0013] Further, the outer rotor motor is electrically connected with a servo drive board.

[0014] The beneficial effects of the utility model include:

[0015] The outer rotor motor in the speed reducer adopts a hollow type outer rotor motor, the motor is embedded in a harmonic flexspline, and the harmonic speed reducer flexspline and the harmonic speed reducer rigid wheel are made of light plastic material, so that the weight of the whole speed reducer is effectively reduced, and the speed reducer is suitable for application in humanoid robots, light six-axis robots, collaborative robots and the like; in addition, the gap between the bottom surface and the boss of the outer rotor motor is beneficial to the suspension of the plastic harmonic speed reducer flexspline cup bottom periphery, so that the plastic harmonic speed reducer flexspline cup bottom periphery is easily deformed.

[0016] In addition, the additional aspects and advantages of the utility model will be partially given in the following description, some will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a general schematic view of a hollow type harmonic speed reducer with a built-in motor according to an embodiment of the utility model.

[0018] Figure 2 is a longitudinal section schematic view of a hollow type harmonic speed reducer with a built-in motor according to an embodiment of the utility model.

[0019] Figure 3 is an exploded schematic view of a hollow type harmonic speed reducer with a built-in motor according to an embodiment of the utility model. DETAILED DESCRIPTION

[0020] The concept, specific structure and generated technical effects of the utility model will be clearly and completely described below in combination with embodiments and drawings, so as to fully understand the purpose, scheme and effect of the utility model. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0021] It should be noted that, unless otherwise specified, when a certain feature is referred to as being "fixed", "connected" to another feature, it can be directly fixed, connected to the other feature, or indirectly fixed, connected to the other feature. In addition, the up, down, left, right, top, bottom and other descriptions used in the utility model are only relative to the mutual position relationship of the components of the utility model in the drawings.

[0022] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this technology belongs. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the utility model. The term "and / or" as used herein includes any combination of one or more related listed items.

[0023] It should be understood that although the terms first, second, third, etc. can be employed in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish one type of element from another type of element. For example, a first element can also be referred to as a second element without departing from the scope of the disclosure, and similarly, a second element can also be referred to as a first element.

[0024] Referring to Figures 1 to 3 As shown in some embodiments, the utility model discloses a hollow type harmonic reducer with built-in motor, which comprises:

[0025] Referring to Figures 1 to 3 As shown in the bottom shell 1, the first recess 111 is provided on the bottom shell 1, and the plastic harmonic reducer flexspline 3 and the outer rotor motor 4 are embedded on the first recess 111. The bottom surface of the first recess 111 and the bottom surface of the outer rotor motor 4 are provided with a boss 112.

[0026] The output shaft 6 is rotatably connected with the bottom shell 1, and the plastic harmonic reducer rigid wheel 5 is embedded in the middle installation cavity of the output shaft 6. The plastic harmonic reducer rigid wheel 5 is in transmission connection with the plastic harmonic reducer flexspline 3. The bottom surface of the outer rotor motor 4 and the boss 112 are provided with a gap 113. The gap between the bottom surface of the outer rotor motor and the boss is beneficial to the suspension of the plastic harmonic reducer flexspline cup bottom around, so that it is easy to deform. The outer rotor motor in the reducer adopts a hollow type outer rotor motor, the motor is embedded in the harmonic flexspline, and the harmonic reducer flexspline and the harmonic reducer rigid wheel are made of light plastic material, so that the weight of the whole reducer is effectively reduced, which is suitable for application in humanoid robots, light six-axis robots, collaborative robots and the like.

[0027] Continuing to refer to Figures 2 to 3As shown, the outer rotor motor 4 includes a stator portion 41, the plastic harmonic reducer flexspline 3 is provided with a second recess 31, the bottom of the second recess 31 is fixedly connected with the bottom of the first recess 111, the outer rotor motor is embedded in the plastic harmonic reducer flexspline with the second concave-convex similar to a cup, and the stator portion 41 is installed at the bottom of the second recess 31. The outer rotor motor 4 includes a rotor portion 42 matched with the stator portion 41, the eccentric wheel 7 is installed on the rotor portion 42, the flexible bearing 8 is sleeved between the top inner ring of the plastic harmonic reducer flexspline 3 and the outer ring of the eccentric wheel 7, and a single or double encoder is electrically connected in combination with the outer rotor motor 4. If the reducer uses shaft-to-shaft closed loop control, the accuracy is greatly improved.

[0028] Referring to Figure 2 As shown, the connecting part between the bottom shell 1 and the output shaft 6 is connected through the support bearing 2, so that the rotation between the bottom shell and the output shaft is smoother.

[0029] Referring to Figure 2 In combination Figure 3 As shown, the inner ring of the plastic harmonic reducer rigid wheel 5 and the outer ring of the flexspline are connected through gear meshing, so that the rigid wheel and the flexspline are linked, and the bottom shell and the output shaft are matched with each other to realize the functions of speed reduction and increase of joint torque of the reducer.

[0030] Continuing to refer to Figures 1 to 2 As shown, the top of the output shaft 6 is provided with an output shaft cover plate 10, the middle part of the output shaft cover plate 10 is provided with a cover plate connector 12, the output encoder transmission shaft 11 is connected to the cover plate connector 12, and the output encoder transmission shaft 11 sequentially penetrates the outer rotor motor 4 and the bottom shell 1.

[0031] Referring to Figures 1 to 3 As shown, the outer rotor motor 4 is connected with an encoder transmission shaft 9, the encoder transmission shaft 9 penetrates the bottom shell 1, the middle part of the encoder transmission shaft 9 is a hollow part, and the output encoder transmission shaft 11 penetrates the hollow part of the encoder transmission shaft 9. Continuing to refer to Figure 2 As shown, the middle part of the output encoder transmission shaft 11 is a hollow part for an output line, so that the reducer installed on the robot can be conveniently connected with other parts of the robot by penetrating the hollow part in the middle part. The encoder transmission shaft 9 and the output encoder transmission shaft 11 are provided with double encoder transmission shafts, and if shaft-to-shaft closed loop control is used, the accuracy is greatly improved.

[0032] In some embodiments, the outer rotor motor 4 is electrically connected with a servo drive board.

[0033] The working principle of the hollow type harmonic reducer with the built-in motor is as follows:

[0034] The working principle of the harmonic gear reducer is based on three main components, the plastic harmonic reducer flexspline 3, the harmonic reducer rigid gear 5 and the eccentric wheel 7, the wave generator corresponds to the eccentric wheel 7, the eccentric wheel 7 is installed on the rotor of the outer rotor motor 4, and is in contact with the top inner ring of the plastic harmonic reducer flexspline 3 through the flexible bearing 8, so as to drive the flexspline to deform.

[0035] The plastic harmonic reducer flexspline 3 is a thin-walled, flexible, cylindrical component with external teeth, which is made of plastic material to reduce weight, and is engaged with the internal teeth of the harmonic reducer rigid gear 5.

[0036] The harmonic reducer rigid gear 5 is a rigid ring with internal teeth, which is embedded in the middle mounting cavity of the output shaft 6 and engaged with the external teeth of the flexspline 3.

[0037] When the eccentric wheel 7 rotates, it forces the cross section of the flexspline 3 to change from a circle to an ellipse, causing the teeth near the two ends of the long axis of the flexspline to be fully engaged with the teeth of the harmonic reducer rigid gear 5, while the teeth near the two ends of the short axis are completely disengaged from the rigid gear. This periodic deformation causes the flexspline to rotate slowly in the opposite direction of the eccentric wheel relative to the rigid gear, achieving the effect of speed reduction. The rigid gear 5 is embedded in the middle mounting cavity of the output shaft 6, and the engagement of the rigid gear and the flexspline achieves speed reduction and power output. Moreover, the support bearing connects the bottom shell 1 and the output shaft 6, ensuring smooth rotation between the two and reducing wear and improving transmission efficiency.

[0038] The outer rotor motor 4 is electrically connected with a single or double encoder and a servo drive board, which are used to accurately control the speed and position of the motor and improve the control accuracy of the entire harmonic reducer.

[0039] In summary, the working principle of the hollow harmonic reducer with built-in motor is based on the interaction of the eccentric wheel, the plastic harmonic reducer flexspline and the harmonic reducer rigid gear. The rotation of the wave generator drives the flexspline to produce harmonic motion, which in turn achieves engagement and disengagement with the rigid gear, achieving the purpose of speed reduction and transmitting power through the output shaft. This design makes the entire harmonic reducer compact and light in weight, suitable for applications that require high precision control and weight reduction.

[0040] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the disclosure should be included within the scope of protection of the disclosure. All should belong to the protection scope of the present application. The technical solutions and / or embodiments within the protection scope of the present application can have various modifications and changes.

Claims

1. A hollow type harmonic reducer with a built-in motor, characterized by, It comprises: a bottom shell (1) provided with a first recess (111), a plastic harmonic reducer flexspline (3) and an outer rotor motor (4) embedded on the first recess (111), a boss (112) provided between the bottom surface of the first recess (111) and the bottom surface of the outer rotor motor (4), an output shaft (6) rotatably connected with the bottom shell (1), a harmonic reducer rigid wheel (5) embedded in the middle mounting cavity of the output shaft (6), wherein the harmonic reducer rigid wheel (5) is in transmission connection with the plastic harmonic reducer flexspline (3), and a gap (113) is provided between the bottom surface of the outer rotor motor (4) and the boss (112).

2. The hollow harmonic reducer with built-in motor according to claim 1, wherein the outer rotor motor (4) comprises a stator part (41), the plastic harmonic reducer flexspline (3) is provided with a second recess (31), and the bottom of the second recess (31) is fixedly connected with the bottom of the first recess (111), wherein the stator part (41) is mounted on the bottom of the second recess (31).

3. The hollow harmonic reducer with built-in motor according to claim 2, wherein the outer rotor motor (4) comprises a rotor part (42) matched with the stator part (41), an eccentric wheel (7) is mounted on the rotor part (42), and a flexible bearing (8) is sleeved between the inner ring of the top of the plastic harmonic reducer flexspline (3) and the outer ring of the eccentric wheel (7).

4. The hollow harmonic reducer with built-in motor according to claim 1, wherein the bottom shell (1) and the connecting part of the output shaft (6) are connected through a support bearing (2).

5. The hollow harmonic reducer with built-in motor according to claim 1, wherein the inner ring of the harmonic reducer rigid wheel (5) and the inner ring of the plastic harmonic reducer flexspline (3) are connected through gear meshing.

6. The hollow harmonic reducer with built-in motor according to claim 1, wherein an output shaft cover plate (10) is provided on the top of the output shaft (6), a cover plate connector (12) is provided on the middle part of the output shaft cover plate (10), an output encoder transmission shaft (11) is connected with the cover plate connector (12), and the output encoder transmission shaft (11) sequentially passes through the outer rotor motor (4) and the bottom shell (1).

7. The hollow harmonic reducer with built-in motor according to claim 6, wherein an encoder transmission shaft (9) is connected with the outer rotor motor (4), the encoder transmission shaft (9) passes through the bottom shell (1), the middle part of the encoder transmission shaft (9) is a hollow part, and the output encoder transmission shaft (11) passes through the hollow part of the encoder transmission shaft (9).

8. The hollow harmonic reducer with built-in motor according to claim 6, wherein the middle part of the output encoder transmission shaft (11) is a hollow part for output line.

9. The hollow harmonic reducer with built-in motor according to claim 1, wherein The outer rotor motor (4) is electrically connected with single or double encoders.

10. The built-in motor hollow harmonic speed reducer according to claim 1, characterized in that, The outer rotor motor (4) is electrically connected with a servo drive board.

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