Electromechanical integrated harmonic reducer module

Abstract

The utility model discloses a mechanical and electrical integrated harmonic reducer module, relates to the field of harmonic reducers, and aims to solve the problems of complex structure, large axial size, high cost and the like caused by the fact that a traditional harmonic reducer in the prior art usually needs to be independently provided with a servo motor and is connected through a coupler or a synchronous belt. And the device is inconvenient to use in some devices with limited space. A first flange plate is connected to the front end of the servo motor, an output shaft is arranged in the middle of the servo motor, the front end of the output shaft extends to the front end of the first flange plate and is connected with a wave generator, a speed reducer is connected to the outer side of the wave generator and at the front end of the first flange plate, and a steel wheel is fixedly connected to the inner wall of the speed reducer. A direct key connection structure of the output shaft of the servo motor and the wave generator is adopted, the transmission precision is guaranteed, the connection rigidity is improved, and compared with a traditional coupling connection mode, the axial size between the wave generator and the output shaft is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of harmonic reducer, concretely to a mechatronic harmonic reducer module. BACKGROUND

[0002] Harmonic reducer is a kind of precision reducer using flexible element elastic deformation to transmit motion and power, which is composed of three core components of wave generator, flexible gear and rigid gear. Its working principle is based on wave generator to make flexible gear produce periodic elastic deformation, and rigid gear meshing realizes high reduction ratio, with compact structure, zero backlash, high precision and high transmission efficiency etc. Compared with traditional gear box, its volume is reduced by 30%-50%, weight is reduced by 20%-40%, especially suitable for robot joints, aerospace, medical equipment and other harsh fields of space and precision requirements.

[0003] For example, the authorized announcement No. CN206072250U, a kind of harmonic reducer, it includes: outer gear end cover, bearing pressing plate fixed on the outer gear end cover, bearing end cover with the bearing pressing plate assembly cooperation and part is inserted into the outer gear end cover, fixed on the bearing end cover roller bearing, cam, fixed in the outer gear end cover outer gear, with the meshing connection of inner gear of the outer gear, and located between the inner gear and cam flexible bearing;Wherein, the inner gear is fixedly connected with bearing end cover. The harmonic reducer of the utility model adopts full machining parts, improves the overall structure, so that its structure is more compact;Using roller bearing makes the load capacity of the whole harmonic reducer improve, and can simultaneously bear axial and radial force, improves the life of harmonic reducer;The life of the whole harmonic reducer is extended in operation, makes its work more stable, higher precision.

[0004] Traditional harmonic reducer usually needs to install servo motor separately, and is connected through shaft coupling or synchronous belt, resulting in complex structure, large axial size, and inconvenient to use in some space-limited devices;Therefore, there is an urgent need to develop a mechatronic harmonic reducer module to help people solve the existing problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of mechatronic harmonic reducer module to solve the problems of traditional harmonic reducer usually needing to install servo motor separately, and being connected through shaft coupling or synchronous belt, resulting in complex structure, large axial size, and inconvenient to use in some space-limited devices in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical scheme: A mechatronic harmonic reducer module, including servo motor, the front end of servo motor is connected with first flange plate, the middle part of servo motor is provided with output shaft, the front end of output shaft extends to the front end of first flange plate and is connected with wave generator, the outside of wave generator and at the front end of first flange plate are connected with reducer, the inner wall of reducer is fixedly connected with steel wheel, the inside of steel wheel is connected with flexible wheel.

[0007] Preferably, the front end of the servo motor is fixedly connected with the rear end of the first flange plate by a plurality of first bolts.

[0008] Preferably, the front end of the wave generator is provided with a connecting disc, and the connecting disc is fixedly connected with the front end of the wave generator by a screw.

[0009] Preferably, the middle part of the wave generator is provided with a circular slot, and the inside of the wave generator and both sides of the circular slot are provided with a rectangular key groove, and the front end of the output shaft is fixedly connected with a rectangular key.

[0010] Preferably, the front end of the output shaft is inserted into the inside of the circular slot, and the two rectangular keys are respectively slid into the inside of the two rectangular key grooves.

[0011] Preferably, the middle part of the front end of the output shaft is provided with a threaded hole, and the front end of the output shaft and the connecting disc are fixedly connected by a second bolt passing through the middle part of the connecting disc and being inserted into the threaded hole.

[0012] Preferably, the rear end of the reducer is fixedly connected with a second flange plate, the second flange plate and the first flange plate are fixedly connected by a plurality of third bolts, and the wave generator is inserted into the inside of the flexible wheel.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] (1) In the utility model, the direct key connection structure of the servo motor output shaft and the wave generator is adopted, the torque transmission is realized through the close cooperation of the rectangular key and the key groove, the axial fastening of the bolt is matched, the transmission accuracy is ensured, the connection rigidity is improved, compared with the traditional shaft coupling connection mode, the axial dimension between the wave generator and the output shaft is reduced.

[0015] (2) In the utility model, the modular design of the first flange plate and the second flange plate is adopted, the second flange plate and the first flange plate are fixedly connected by a plurality of third bolts, the wave generator main body and the servo motor are connected through the second flange plate and the first flange plate, the quick disassembly of the servo motor and the reducer is realized, and the axial dimension between the wave generator and the servo motor is further reduced.

[0016] (3) The utility model discloses, servo motor and reducer integration design, the intermediate link such as coupling, synchronous belt in traditional transmission is saved, not only reduces the transmission error accumulation, still reduces the number of parts, significantly reduces manufacturing cost and maintenance difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the front view of a kind of electromechanical integrated harmonic reducer module of the utility model;

[0018] Figure 2 It is the side sectional view of the utility model;

[0019] Figure 3 It is the plan view of the utility model;

[0020] Figure 4 It is the A detail enlarged view of the utility model.

[0021] In the drawing: 1, servo motor;101, output shaft;102, threaded hole;103, rectangular key;2, first flange;201, first bolt;3, wave generator;301, circular slot;302, rectangular keyway;303, connecting round sheet;304, screw;305, second bolt;4, reducer;401, second flange;402, third bolt;403, steel wheel;404, flexible wheel. DETAILED DESCRIPTION

[0022] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments.

[0023] Please refer to Figures 1-4The utility model provides an embodiment: a kind of electromechanical integrated harmonic reducer module, including servo motor 1, the first flange plate 2 is connected to servo motor 1 front end, and the first flange plate 2 rear end is fixedly connected by multiple first bolt 201 to servo motor 1 front end, output shaft 101 is arranged in the middle of servo motor 1, and output shaft 101 front end extends to the first flange plate 2 front end and is connected with wave generator 3, and connecting disc 303 is arranged in the middle of wave generator 3 front end, and connecting disc 303 is fixedly connected by screw 304 between wave generator 3 front end middle part, and wave generator 3 middle part is provided with circular slot 301, and wave generator 3 inside and both sides circular slot 301 both sides are provided with rectangular key groove 302, and the front end of both sides of output shaft 101 is fixedly connected with rectangular key 103, and the front end of output shaft 101 is inserted into circular slot 301 inside and makes two rectangular keys 103 respectively slide into two rectangular key grooves 302 inside, so that the preliminary positioning connection between output shaft 101 and wave generator 3 is realized, and simultaneously by the close insertion of rectangular key 103 into rectangular key groove 302, the synchronous rotation of wave generator 3 is driven when output shaft 101 rotates, and the middle part of the front end surface of output shaft 101 is provided with screw hole 102, and the front end of output shaft 101 is fixedly connected with connecting disc 303 by second bolt 305, and wave generator 3 is connected between output shaft 101 by connecting disc 303, and the shaft coupling between the output shaft 101 of servo motor 1 and wave generator 3 in transmission connection mode is saved, the axial dimension between wave generator 3 and output shaft 101 is reduced, and it is suitable for the scene of limited space.

[0024] Please refer to Figure 2 And Figure 3 Wave generator 3 outside and in the first flange plate 2 front end are connected with reducer 4, and steel wheel 403 is fixedly connected on the inner wall of reducer 4, and flexible gear 404 is connected to the inner side of steel wheel 403, and the second flange plate 401 is fixedly connected to the rear end of reducer 4, and the second flange plate 401 is fixedly connected with the first flange plate 2 by multiple third bolt 402, and wave generator 3 main body is connected with servo motor 1 by the second flange plate 401 and the first flange plate 2, to further reduce the axial dimension between wave generator 3 and servo motor 1, wave generator 3 is inserted into flexible gear 404 inside, and wave generator 3 is rotated in flexible gear 404 inside by servo motor 1, so that flexible gear 404 is elastically deformed, and is engaged with fixed steel wheel 403 to realize precision reduction, and finally low-speed high-torque motion is output by flexible gear 404.

[0025] Working Principle: The output shaft 101 of the servo motor 1 forms a tight fit with the rectangular keyway 302 of the wave generator 3 via a rectangular key 103 at its front end, achieving radial torque transmission. Simultaneously, the threaded hole 102 on the front end face of the output shaft 101 is fastened to the connecting disc 303 at the front end of the wave generator 3 via a second bolt 305, forming axial positioning. This dual fixing method combining key connection and bolt fastening ensures the reliability and stability of power transmission. The housing of the servo motor 1 is fixedly connected to the first flange 2 via multiple first bolts 201, while the reducer 4 is fastened to the first flange 2 via its second flange 401 using multiple third bolts 402. This modular flange connection method not only simplifies the assembly process but also significantly reduces axial installation space. When the servo motor 1 drives the output shaft 101 to rotate, the wave generator 3 rotates accordingly, forcing the flexible wheel 404 to undergo periodic elastic deformation. The flexible wheel 404 meshes with the steel wheel 403 fixed to the inner wall of the reducer 4, achieving a high reduction ratio transmission. Ultimately, the decelerated motion is transmitted to the load through the hollow output end of the flexible wheel 404, integrating the servo motor 1 and the reducer 4, eliminating intermediate links such as couplings in traditional transmissions, and reducing the overall axial dimension.

[0026] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An electromechanical integrated harmonic reducer module, comprising a servo motor (1), characterized in that: The servo motor (1) is connected to a first flange (2) at its front end. An output shaft (101) is provided in the middle of the servo motor (1). The front end of the output shaft (101) extends to the front end of the first flange (2) and is connected to a wave generator (3). A reducer (4) is connected to the outside of the wave generator (3) and to the front end of the first flange (2). A steel wheel (403) is fixedly connected to the inner wall of the reducer (4). A flexible wheel (404) is connected to the inner side of the steel wheel (403).

2. The electromechanical integrated harmonic reducer module according to claim 1, characterized in that: The front end of the servo motor (1) is fixedly connected to the rear end of the first flange (2) by a plurality of first bolts (201).

3. The electromechanical integrated harmonic reducer module according to claim 1, characterized in that: A connecting disc (303) is provided at the middle of the front end of the wave generator (3), and the connecting disc (303) is fixedly connected to the middle of the front end of the wave generator (3) by screws (304).

4. The electromechanical integrated harmonic reducer module according to claim 3, characterized in that: The wave generator (3) has a circular slot (301) in the middle, and rectangular keyways (302) are provided inside the wave generator (3) and on both sides of the circular slots (301). Rectangular keys (103) are fixedly connected to the front ends of both sides of the output shaft (101).

5. The electromechanical integrated harmonic reducer module according to claim 4, characterized in that: The front end of the output shaft (101) is inserted into the circular slot (301) and the two rectangular keys (103) slide into the two rectangular keyways (302) respectively.

6. The electromechanical integrated harmonic reducer module according to claim 5, characterized in that: The output shaft (101) has a threaded hole (102) in the middle of its front end face. The front end of the output shaft (101) and the connecting disc (303) are connected and fixed by a second bolt (305) that passes through the middle of the connecting disc (303) and is inserted into the threaded hole (102).

7. The electromechanical integrated harmonic reducer module according to claim 1, characterized in that: The reducer (4) is fixedly connected to a second flange (401) at its rear end. The second flange (401) is fixedly connected to the first flange (2) by a plurality of third bolts (402). The wave generator (3) is inserted into the flexible wheel (404).

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