Harmonic wave speed reduction transmission device

Abstract

The utility model provides a harmonic speed reduction transmission device which comprises a motor which is in transmission connection with a harmonic speed reducer, a sensing portion and a transmission portion are respectively formed at two ends of a rotor of the motor, and the harmonic speed reducer is provided with a rigid gear, a flexible gear meshed in the rigid gear and a waveform generating set driving the flexible gear to rotate. Wherein the transmission part is used as an elliptical disc in the waveform generation group, so that the transmission part sequentially drives a flexible bearing and a flexible gear in the waveform generation group to rotate, further the structural configuration is simplified, and the rotating speed with a set reduction ratio is output.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of structure of harmonic reducer and motor, in particular to a kind of harmonic drive transmission device. BACKGROUND

[0002] Harmonic reducer is by virtue of the elastic deformation of metal to generate deceleration effect, generally commonly applied to industrial robot, the transmission structure of humanoid robot, with Small size, light weight, large carrying capacity, high motion precision and single-stage transmission ratio Large advantages such as.

[0003] Traditional harmonic reducer is generally configured in a shell includes a rigid wheel, a flexible wheel and a wave generating group. Wherein:

[0004] The rigid wheel is hollow ring-shaped wheel body, fixed in the shell and has annularly distributed multiple inner teeth, to provide guiding action when the flexible wheel rotates.

[0005] The flexible wheel is also hollow ring-shaped wheel body, and has a thin wall part capable of generating deformation and a thick wall part capable of maintaining rigidity; The thin wall part has a smooth inner wall surface and a plurality of outer teeth that are annularly distributed and can be engaged with the inner teeth of the rigid wheel, the number of the outer teeth is generally less than the number of the inner teeth (generally two less teeth) ; The thick wall part is used as a power output end of the harmonic reducer.

[0006] The wave generating group is a cylindrical combination, including an elliptical disc and a flexible bearing tightly combined around the elliptical disc; The elliptical disc can be used as a power input end of the harmonic reducer, and the flexible bearing is a thin-walled ball bearing, and its outer wall can be tightly combined with the inner wall of the flexible wheel.

[0007] Therefore, when the harmonic reducer drives the elliptical disc to rotate by rotational energy, the elliptical disc can sequentially force the flexible bearing and the thin wall part of the flexible wheel to deform into a consistent ellipse, thereby driving the flexible wheel to rotate reversely around the rigid wheel; During this period, since the number of outer teeth of the flexible wheel is slightly less than the number of inner teeth of the rigid wheel, and the thin wall part of the flexible wheel has been deformed into an ellipse, the flexible wheel actually only has the outer teeth at the two opposite ends of the long axis direction of the ellipse can be engaged with the inner teeth of the rigid wheel, and slowly rotates on the inner teeth of the rigid wheel. This means that for every revolution (360 degrees) of the elliptical disc, the flexible wheel can only rotate a small arc (depending on the number of reduced teeth of the outer teeth of the flexible wheel) in one revolution (360 degrees) in the opposite direction, so that the rotational speed of the flexible wheel relative to the elliptical disc is much slower, thereby achieving the effect of deceleration, that is, the thick wall part of the flexible wheel can output rotational energy with a predetermined deceleration ratio.

[0008] Moreover, the harmonic reducer usually needs to be combined with a motor to form a harmonic reduction transmission device, wherein the motor provides rotary kinetic energy to the harmonic reducer to provide reduced rotary kinetic energy externally. The motor drives a rotor through stator excitation, and the rotor must rely on at least one connecting component to drive the thick wall part of the flexspline; however, this causes the assembly process to be more complicated and the structural volume to be difficult to miniaturize.

[0009] It is known that the existing JP-5659446B2 and CN109895122B patents have represented the transmission connection technology of the harmonic reducer and the motor; however, these patents still need to rely on the assembly similar to or the same as the above-mentioned connecting component to drive the rotary kinetic energy of the rotor of the motor to the harmonic reducer, so it is still difficult to overcome the problem of complicated assembly process and difficult to miniaturize the structural volume under the kinetic energy output demand of a certain reduction ratio.

[0010] The above-mentioned technical defects have a significant impact on the miniaturization and refinement of industrial robots and humanoid robots, so improvement is urgently needed. Invention content

[0011] In view of the technical defects of the prior art, the purpose of the present application is to provide a harmonic reduction transmission device, which focuses on the integration between the rotor of the motor and the elliptical disc of the wave generating group, to simplify the assembly process and reduce the internal space of the harmonic reduction transmission device, thereby achieving the purpose of miniaturizing the structural volume.

[0012] To this end, the present application provides a harmonic reduction transmission device, which is configured in the same coaxial track in a housing:

[0013] A harmonic reducer, including a rigid wheel fixed in the housing, a flexspline engaged in the rigid wheel, and a wave generating group driving the flexspline to rotate; the wave generating group includes an elliptical disc and a flexible bearing combined between the elliptical disc and the flexspline; and

[0014] A motor, including a stator fixed in the housing and a rotor pivoted in the stator;

[0015] Characterized in that:

[0016] The rotor forms an induction part and a transmission part opposite to the induction part, the induction part is located in the stator to receive electromagnetic induction of the stator, and the elliptical disc is composed of the transmission part;

[0017] The rotor also forms a central pivot hole, the housing forms a central seat part that can extend into the central pivot hole, and the rotor is pivoted between the central seat part and the stator through the central pivot hole;

[0018] The casing is formed by a casing base and a casing cover being pivotally connected to each other, the center seat is formed in the casing base, and the center seat is formed with a seat hole, and the casing cover is extended to form a center column which can be pivotally connected to the seat hole.

[0019] The harmonic reducer transmission device, wherein the rigid wheel is formed with a plurality of inner teeth distributed in a ring shape, the flexible wheel is formed with a thin wall part capable of being deformed and a thick wall part capable of maintaining rigidity, the thin wall part has a smooth inner wall surface and a plurality of outer teeth distributed in a ring shape on the periphery of the thin wall part, and the flexible wheel is combined with the flexible bearing by the inner wall surface and engages part of the inner teeth of the rigid wheel by the outer teeth.

[0020] The harmonic reducer transmission device, wherein the casing base provides fixation of the rigid wheel, the casing cover provides fixation of the thick wall part of the flexible wheel, and the casing cover becomes a power output end of the harmonic reducer transmission device.

[0021] The harmonic reducer transmission device, wherein a first accommodating chamber is formed in the casing base, a second accommodating chamber is formed in the casing cover and communicates with the first accommodating chamber, the sensing part of the stator and the rotor is located in the first accommodating chamber, the transmission part of the rotor extends into the second accommodating chamber, and the harmonic reducer is located between the first accommodating chamber and the second accommodating chamber.

[0022] The harmonic reducer transmission device, wherein the surface of the sensing part of the rotor is formed with at least one polarity pair of permanent magnets.

[0023] The harmonic reducer transmission device, wherein at least one of the casing base and the rigid wheel is formed with a ring-shaped guide groove, and the casing cover is formed with a convex ring capable of being guided by the guide groove.

[0024] According to the above technical features, the elliptical disc of the waveform generating group is integrally formed on the rotor of the motor, so that the rotor and the elliptical disc do not need to be additionally provided with the conventional connecting assembly, thereby reducing the number of structures and simplifying the assembly process.

[0025] Therefore, the casing is designed, the casing is formed by a casing base and a casing cover being pivotally connected to each other, the casing base provides fixation of the rigid wheel, the casing cover provides fixation of the thick wall part of the flexible wheel, and the casing cover becomes a power output end of the harmonic reducer transmission device.

[0026] More specifically, a first accommodating chamber is formed in the housing base, a second accommodating chamber is formed in the housing cover and communicates with the first accommodating chamber, the induction portion of the stator and the rotor is located in the first accommodating chamber, the transmission portion of the rotor extends into the second accommodating chamber, and the harmonic reducer is located between the first accommodating chamber and the second accommodating chamber. In addition, the rotor further forms a central pivot hole, the housing forms a central seat portion capable of extending into the central pivot hole, and the rotor is pivotally arranged between the central seat portion and the stator through the central pivot hole. In addition, the central seat portion is formed in the housing base, and the central seat portion forms a seat hole, and the housing cover extends to form a central column capable of being pivotally arranged in the seat hole.

[0027] Compared with the prior art, the harmonic reducer has the technical features of reducing the internal space of the device and miniaturizing the structure.

[0028] In addition, at least one of the housing base and the rigid wheel forms a ring-shaped guide slot, and the housing cover forms a convex ring capable of being guided by the guide slot. In this way, for the housing cover used as a power output end, the stability is improved when rotating relative to the housing base.

[0029] In addition, as long as the housing base and the housing cover can be pivotally connected and have an accommodating chamber inside, the remaining structural features can be interchangeable or slightly changed, which belongs to the application scope of the harmonic reducer. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a perspective exploded view of the harmonic reducer.

[0031] Figure 2 is a sectional view of Figure 1 .

[0032] Figure 3 is a sectional view of Figure 2 the housing shown in .

[0033] Figure 4 is an assembly view of the motor rotor and the flexible wheel shown in Figure 2 .

[0034] Explanation of reference numerals: 20 - housing; 21 - housing base; 210 - first accommodating chamber; 211 - central seat portion; 212 - seat hole; 213 - guide slot; 22 - housing cover; 220 - second accommodating chamber; 221 - central column; 222 - convex ring; 30 - harmonic reducer; 31 - rigid wheel; 311 - convex disc; 312 - inner teeth; 32 - flexible wheel; 321 - thin wall portion; 321a - inner wall surface; 321b - outer teeth; 322 - thick wall portion; 33 - wave generating set; 331 - elliptical disc (or transmission portion); 332 - flexible bearing; 40 - motor; 41 - stator; 42 - rotor; 421 - induction portion; 421a - magnet seat; 421b - permanent magnet; 422 - transmission portion (or elliptical disc); 424 - central pivot hole; 51 - first bearing; 52 - second bearing. DETAILED DESCRIPTION

[0035] First, please refer to Figures 1 to 4 It is shown that the main components of the harmonic speed reduction transmission device disclosed in the present application include a housing 20, a harmonic reducer 30 and a motor 40 arranged in the housing 20 along the same axis. Among them, the harmonic reducer 30 includes a rigid wheel 31 fixed in the housing 20 along the same axis, a flexible wheel 32 engaged with the rigid wheel 31, and a wave generating set 33 driving the flexible wheel 32 to rotate. Figure 1 and Figure 2 It can be seen that the harmonic reducer 30 includes a rigid wheel 31 fixed in the housing 20 along the same axis, a flexible wheel 32 engaged with the rigid wheel 31, and a wave generating set 33 driving the flexible wheel 32 to rotate. The motor 40 can be one of a brushless DC motor and a permanent magnet AC synchronous motor, and includes a stator 41 fixed in the housing 20 and a rotor 42 pivoted in the stator 41.

[0036] As shown in Figure 1 and Figure 3 It is shown that Figure 2 The housing 20 can be a ring body and is formed by a ring-shaped housing base 21 and a ring-shaped housing cover 22 pivoted to each other, and the housing base 21 and the housing cover 22 are respectively formed with a plurality of inner surfaces in the form of ring steps, thereby constructing a first accommodating chamber 210 in the housing base 21 and a second accommodating chamber 220 in the housing cover 22 capable of communicating with the first accommodating chamber 210, for accommodating Figure 2 The harmonic reducer 30 and the motor 40 shown in the figure.

[0037] Furthermore, the housing 21 can be considered as the fixed end of this transmission device, used to lock onto a device requiring a connection. The center of the housing 21 can form a central seat portion 211 protruding towards the first accommodating chamber 210. A hole 212 is provided in the central seat portion 211, and the center of the cover 22 forms a central post 221 that extends through the hole 212. A first bearing 51 is assembled between the hole 212 and the central post 221, allowing the cover 22 to be pivotally connected to the hole 212 via the central post 221 and the first bearing 51. Additionally, an annular guide groove 213 can be formed at one end of the housing 21 adjacent to the cover 22, and the cover 22 has a protruding ring 222 that receives the guidance of the guide groove 213, allowing the cover 22 to rotate freely and stably relative to the housing 21, serving as the power output end of this transmission device.

[0038] In the above description, the central seat portion 211, seat hole 212, and guide groove 213 of the housing 21 can also be formed inside the housing cover 22. In this case, the central pillar 221 and the protruding ring 222 of the housing cover 22 are formed inside the housing 21. In other words, as long as the housing 21 and the housing cover 22 can be pivotally connected to each other and have interconnected accommodating chambers inside, they are all within the scope of the technical implementation of this utility model.

[0039] For example Figure 1 and Figure 2 The configuration of the rigid wheel 31 and the flexible wheel 32 is shown. The rigid wheel 31 has an annular cam 311, which allows it to be tightly fixed to the inner surface of the housing 21 adjacent to the cover 22 by means of the outer surface of the cam 311, ensuring that the rigid wheel 31 remains stationary during deceleration. Furthermore, the rigid wheel 31 also has a plurality of annularly distributed internal teeth 312 for guiding the flexible wheel 32. Additionally, a guide groove 213 may be formed on the rigid wheel 31 to guide the convex ring 222 of the cover 22.

[0040] Furthermore, the flexible wheel 32 has a thin-walled portion 321 capable of deformation and a thick-walled portion 322 capable of maintaining rigidity. The thin-walled portion 321 has a smooth inner wall surface 321a and a plurality of external teeth 321b arranged in a ring around the periphery of the thin-walled portion 321. The flexible wheel 32 is coupled to the flexible bearing 332 by means of the inner wall surface 321a and engages with a portion of the internal teeth 312 of the rigid wheel 31 by means of the external teeth 321b, so that the rigid wheel 31 can guide the rotation of the flexible wheel 32. In addition, the flexible wheel 32 can be fixed to the housing 22 by means of the locking screw through the thick-walled portion 322, so that the flexible wheel 32 can synchronously drive the housing 22 to rotate, thereby using the housing as a power output end of this transmission device.

[0041] For exampleFigure 4 As shown, reveal Figure 2 The diagram shows the configuration details between the rotor 42 and the flexure 32 of the motor 40. The rotor 42 has a sensing section 421 and a transmission section 422 formed along its axial direction. The sensing section 421 is located within the stator 41 to receive electromagnetic induction from the stator 41, and the elliptical disk 331 of the waveform generating group 33 is formed by the transmission section 422. Specifically, the sensing section 421 is formed by combining a cylindrical magnet base 421a with multiple permanent magnets 421b, and the multiple permanent magnets 421b can respectively form at least one polarity pair with an externally displayed N pole and S pole; Figure 4 The diagram reveals that the surface of the induction unit 421 has multiple polarity pairs, but in practice only one polarity pair is needed to receive the electromagnetic induction after the coil in the stator 41 is energized, thereby driving the rotor 42 to generate rotational kinetic energy; furthermore, the cross-section of the transmission unit 422 is elliptical, serving as the elliptical disk 331 of the waveform generation group 33; additionally, Figure 4 It is also revealed that the rotor 42 has a central pivot hole 424, as shown in the figure. Figure 2 As shown, the rotor 42 can be pivotally mounted between the central seat 211 and the stator 41 by means of at least one second bearing 52 disposed within the central pivot hole 424. Furthermore, Figure 4 Furthermore revealed Figure 2 The structural features of the thin-walled portion 321, the thick-walled portion 322, the inner wall surface 321a, and the outer teeth 321b of the flexure 32 shown, as well as the configuration feature of the flexible bearing 332 being able to be disposed between the inner wall surface 321a of the flexure 32 and the transmission portion 422 (i.e. the elliptical disk 331) of the rotor 42.

[0042] When the stator 41 of the motor 40 drives the rotor 42 to rotate, the transmission portion 422 (i.e. the elliptical disc 331) on the rotor 42 rotates accordingly, and sequentially forces the flexible bearing 332 and the thin wall portion 321 of the flexspline 32 to deform into a consistent elliptical shape, thereby driving the flexspline 32 to rotate reversely around the rigid spline 31; at this time, because the number of teeth of the outer teeth 321b of the flexspline 32 is less than that of the inner teeth 312 of the rigid spline 31 (usually two teeth less), and the thin wall portion 321 of the flexspline 32 has deformed into an elliptical shape, so that the flexspline 32 can actually only have the outer teeth 321b at the two opposite ends in the direction of the major axis of the ellipse to be engaged with the partial inner teeth 312 of the rigid spline 31, and slowly rotate on the circumferential inner teeth 312 of the rigid spline 31. In other words, the rotor 42 with the elliptical disc 331 can make the flexspline 32 reversely rotate a small arc (depending on the number of teeth reduced by the outer teeth of the flexspline) in one revolution (360 degrees) of the rotor 42, that is, the shell cover 22 fixedly connected with the flexspline 32 can output a rotational speed of a predetermined reduction ratio, which is slower than the rotational speed generated by the rotor 42, to achieve a predetermined harmonic reduction effect.

[0043] As shown in Figure 2 According to the above structure, the inductor portion 421 of the stator 41 and the rotor 42 can be arranged in the first accommodating chamber 210, the transmission portion 422 (or the elliptical disc 331) of the rotor 42 can extend into the second accommodating chamber 220, and the harmonic reducer 30 can be arranged between the first accommodating chamber 210 and the second accommodating chamber 220. Because the transmission portion 422 of the rotor 42 can be used as the elliptical disc 331 of the waveform generating set 33, no connecting component is needed between the rotor 42 and the elliptical disc 331, so that the number of structures is reduced and the assembly process is simplified, which can reduce the internal space of the transmission device, and realize the purpose of miniaturization of the structure.

Claims

1. A harmonic speed reduction transmission device, comprising: a harmonic speed reducer, including a rigid gear fixed in a housing, a flexible gear engaged in the rigid gear, and a wave generator driving the flexible gear to rotate, the wave generator including an elliptical disc and a flexible bearing combined between the elliptical disc and the flexible gear; and a motor, including a stator fixed in the housing and a rotor pivoted in the stator; wherein: the rotor is formed with an induction portion and a transmission portion opposite to the induction portion, the induction portion is located in the stator to receive electromagnetic induction from the stator, and the elliptical disc is formed by the transmission portion; the rotor is further formed with a central pivot hole, the housing is formed with a central seat portion extending into the central pivot hole, and the rotor is pivoted between the central seat portion and the stator by the central pivot hole; the housing is formed by a housing base and a housing cover pivoted to each other, the central seat portion is formed in the housing base, and the central seat portion is formed with a seat hole, and the housing cover is formed with a central column extending into the seat hole; the rigid gear is formed with a plurality of inner teeth distributed in a ring shape, the flexible gear is formed with a thin wall portion capable of deforming and a thick wall portion capable of maintaining rigidity, the thin wall portion has a smooth inner wall surface and a plurality of outer teeth distributed in a ring shape around the thin wall portion, and the flexible gear is combined with the flexible bearing by the inner wall surface and engaged with part of the inner teeth of the rigid gear by the outer teeth; the housing base provides fixation of the rigid gear, and the housing cover provides fixation of the thick wall portion of the flexible gear, so that the housing cover becomes a power output end of the harmonic speed reduction transmission device; the housing base is formed with a first accommodating chamber, the housing cover is formed with a second accommodating chamber communicating with the first accommodating chamber, the stator and the induction portion of the rotor are located in the first accommodating chamber, the transmission portion of the rotor extends into the second accommodating chamber, and the harmonic speed reducer is located between the first accommodating chamber and the second accommodating chamber; the surface of the induction portion of the rotor is formed with at least one polarity pair of permanent magnets; at least one of the housing base and the rigid gear is formed with a ring-shaped guide groove, and the housing cover is formed with a convex ring capable of being guided by the guide groove. ​ ​ ​ ​ ​ ​ 2. A harmonic reduction transmission as claimed in claim 1, characterized in that: ​ 3. A harmonic reduction transmission as claimed in claim 2, characterised in that: ​ 4. The harmonic speed reduction transmission of claim 2, wherein: ​ 5. A harmonic reduction transmission as claimed in claim 1 or 4, characterised in that: ​ 6. The harmonic speed reduction transmission of claim 1, wherein: ​

Images