Waveform rotor, brushless motor and harmonic reducer

Abstract

The utility model relates to a waveform rotor, a brushless motor and a harmonic reducer, the waveform rotor is used for integration of the brushless motor and the harmonic reducer, the waveform rotor comprises a rotor main body, the rotor main body is provided with an elliptical outer circumferential surface and a circular inner circumferential surface, and the circular inner circumferential surface can be used for uniformly arranging permanent magnets. And the elliptical outer peripheral surface can be used as a wave generator of the harmonic reducer, so that the rotor of the brushless motor and the wave generator of the harmonic reducer are integrated into a whole. According to the waveform rotor, the rotor of the brushless motor and the wave generator of the harmonic reducer are combined, so that the waveform rotor can be used as the rotor of the brushless motor and the wave generator of the harmonic reducer at the same time, integration of the brushless motor and the harmonic reducer is achieved, the number of speed reduction parts adopting the waveform rotor is reduced, and the appearance is more compact; the size and the weight are correspondingly reduced, and the current application requirements of miniaturization and light weight can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to motor technical field, especially a kind of waveform rotor, brushless motor and harmonic reducer. BACKGROUND

[0002] Current reduction motor is composed of motor and harmonic reducer.Both generally have independent support structure and shell. Motor and harmonic reducer are mechanically connected by shaft coupling, and this structure leads to the existing reduction motor in volume, weight is larger, cannot satisfy the current miniaturization, light weight use requirement. UTILITY MODEL CONTENTS

[0003] The first purpose of the utility model is to provide a kind of waveform rotor, to make it can integrate motor and harmonic reducer, to reduce the volume and weight of the reduction motor using the waveform rotor, meet the miniaturization, light weight application requirement.

[0004] The second purpose of the utility model is to provide a kind of brushless motor and harmonic reducer comprising the above-mentioned waveform rotor.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0006] A kind of waveform rotor, for the integration of brushless motor and harmonic reducer, the waveform rotor includes rotor main body, the rotor main body has oval outer circumferential surface, to integrate the rotor of the brushless motor and the wave generator of the harmonic reducer.

[0007] Optionally, the waveform rotor further includes wave generator bearing, the wave generator bearing can be flexibly deformed in radial direction, the wave generator bearing is sleeved on the oval outer circumferential surface of the rotor main body, and the wave generator bearing is flexibly deformed as a whole along the oval outer circumferential surface of the rotor main body.

[0008] Optionally, the wave generator bearing includes inner ring, outer ring, retainer and multiple rolling bodies, the outer ring is sleeved on the outer ring, the retainer is arranged between the inner ring and the outer ring, each rolling body is arranged in the retainer, and the rolling body is respectively rolled with the inner ring and the outer ring, the inner ring is sleeved on the oval outer circumferential surface of the rotor main body, and the inner ring, the outer ring and the retainer can be flexibly deformed in radial direction.

[0009] Optionally, the inner ring and the rotor main body are integrated structure.

[0010] Optionally, the rotor body comprises a rotor skeleton and a rotor shaft, the rotor skeleton comprises an annular wall and an end plate arranged at one end of the annular wall, an outer peripheral wall surface of the annular wall is an oval outer peripheral surface of the rotor body, an inner peripheral wall surface of the annular wall is a circular annular surface, and one end of the rotor shaft is coaxially connected to the end plate at the inner peripheral wall surface of the annular wall, and the other end of the rotor shaft extends from the one end of the annular wall away from the end plate.

[0011] Optionally, the inner peripheral wall surface of the annular wall is uniformly and spacedly arranged with a plurality of permanent magnets in the circumferential direction.

[0012] Optionally, a plurality of hollow holes are uniformly and spacedly arranged on the end plate in the circumferential direction.

[0013] A brushless motor comprises a stator assembly and a rotor assembly rotatably arranged outside the stator assembly, and the rotor assembly adopts the wave-shaped rotor according to any one of the above.

[0014] Optionally, the stator assembly comprises a housing, an iron core and a winding arranged on the iron core, the iron core is fixedly arranged in the housing, a mounting shaft in the housing is rotatably matched with the rotor assembly through the iron core, and a plurality of permanent magnets of the rotor assembly are arranged around the periphery of the iron core.

[0015] Optionally, a driver is arranged on the outer surface of the housing, and the driver is electrically connected with the winding.

[0016] A harmonic reducer comprises a cam, a flexible outer tooth gear and a rigid inner tooth gear which are sequentially sleeved from inside to outside, and the cam adopts the wave-shaped rotor according to any one of the above.

[0017] It can be seen from the above technical solutions that the utility model discloses a wave-shaped rotor which is used for the integration of a brushless motor and a harmonic reducer, the wave-shaped rotor comprises a rotor body, the rotor body has an oval outer peripheral surface and a circular inner peripheral surface, the circular inner peripheral surface can be used for uniformly arranging permanent magnets to form an outer rotor of the brushless motor, and the oval outer peripheral surface can be used as a wave generator of the harmonic reducer, so that the rotor of the brushless motor and the wave generator of the harmonic reducer are integrated.

[0018] The wave-shaped rotor combines the rotor of the brushless motor and the wave generator of the harmonic reducer, so that the wave-shaped rotor can be used as the rotor of the brushless motor and the wave generator of the harmonic reducer, thereby realizing the integration of the brushless motor and the harmonic reducer, the number of components of the harmonic reducer adopting the wave-shaped rotor is reduced, the appearance is more compact, the volume and weight are also reduced, and the application requirements of current miniaturization and light weight can be met. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Fig. 1 The structure diagram of the rotor body of the wave-shaped rotor provided by the embodiment of the present application is shown in the figure.

[0021] Fig. 2 The rear view of the rotor body of the wave-shaped rotor provided by the embodiment of the present application is shown in the figure.

[0022] Fig. 3 The top view of the rotor body of the wave-shaped rotor provided by the embodiment of the present application is shown in the figure.

[0023] In the figure:

[0024] 1 is the rotor body; 101 is the rotor skeleton; 102 is the rotating shaft; 103 is the oval outer circumferential surface; 104 is the permanent magnet; 105 is the hollow hole; and 106 is the circular inner circumferential surface. DETAILED DESCRIPTION

[0025] One of the cores of the present application is to provide a wave-shaped rotor, the structural design of the wave-shaped rotor enables the integration of the brushless motor and the harmonic reducer, thereby reducing the volume and weight of the speed reducer motor using the wave-shaped rotor, and meeting the application requirements of miniaturization and light weight.

[0026] Another core of the present application is to provide a brushless motor and a harmonic reducer comprising the wave-shaped rotor.

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] Firstly, the harmonic reducer and the brushless motor are simply introduced, the harmonic reducer comprises a rigid inner tooth gear, a flexible outer tooth gear and a wave generator, the rigid refers to un-deformable, the flexible refers to flexible deformation, the wave generator is matched with the outer tooth gear through the flexible bearing, so that the outer tooth gear is deformed to be non-circular and meshes with the inner tooth gear, and the number of teeth of the inner tooth gear is greater than that of the outer tooth gear, so that the wave generator rotates one round, the position difference corresponding to the tooth difference is formed between the inner tooth gear and the outer tooth gear, thereby the speed is reduced.

[0029] The brushless motor mainly comprises a stator assembly, a rotor assembly and a position sensor, wherein the stator assembly is provided with a winding coil, the rotor assembly is provided with a permanent magnet, and the position sensor is used for detecting the position change of the rotor assembly, the current wave alternating frequency and waveform input to the winding coil of the stator assembly are changed according to the detected position change of the rotor, a magnetic field rotating around the geometric axis of the motor is formed around the winding coil, the magnetic field acts on the permanent magnet of the rotor assembly, thereby driving the rotor assembly to rotate.

[0030] At present, when the brushless motor is connected with the harmonic reducer, the rotating shaft of the rotor assembly of the brushless motor needs to be connected to the rotating shaft of the wave generator, which leads to that the volume and weight of the speed reduction motor composed of the two are large, and it is difficult to meet the application requirements of miniaturization and lightness.

[0031] Based on the above purpose, a wave-shaped rotor is disclosed in the embodiment of the present application, please refer to Figs. 1 to 3 , Fig. 1 the structure schematic view of the rotor main body of the wave-shaped rotor provided by the embodiment of the present application, Fig. 2 the rear view of the rotor main body of the wave-shaped rotor provided by the embodiment of the present application, Fig. 3 the top view of the rotor main body of the wave-shaped rotor provided by the embodiment of the present application.

[0032] The wave-shaped rotor is used for the integration of the brushless motor and the harmonic reducer, the wave-shaped rotor comprises a rotor main body 1, the rotor main body 1 has an oval outer circumferential surface 103 and a circular inner circumferential surface 106, the circular inner circumferential surface 106 can be used for uniformly arranging permanent magnets 104 to form an outer rotor of the brushless motor, and the oval outer circumferential surface 103 can be used as a wave generator of the harmonic reducer, thereby integrating the rotor of the brushless motor and the wave generator of the harmonic reducer.

[0033] It should be noted that the outer circumferential surface of the rotor main body 1 can be an oval surface, or a quasi-oval surface composed of multiple curved surfaces connected smoothly.

[0034] It can be seen that, compared with the prior art, the waveform rotor provided by the utility model embodiment combines the rotor of the brushless motor with the wave generator of the harmonic reducer, so that the waveform rotor can serve as the wave generator of the harmonic reducer while serving as the rotor of the brushless motor, thereby realizing the integration of the brushless motor and the harmonic reducer, and the number of components of the reducer adopting the above waveform rotor is reduced, the appearance is more compact, the volume and weight are also reduced accordingly, and the application requirements of current miniaturization and light weight can be met.

[0035] Further, in the utility model embodiment, the waveform rotor further comprises a wave generator bearing, the wave generator bearing can be flexibly deformed in the radial direction, the wave generator bearing is sleeved on the elliptical outer circumferential surface 103 of the rotor main body 1, and the wave generator bearing is flexibly deformed as a whole to be elliptical along the elliptical outer circumferential surface 103 of the rotor main body 1.

[0036] Specifically, in the utility model embodiment, the above wave generator bearing comprises an inner ring, an outer ring, a retainer and a plurality of rolling bodies, the outer ring is sleeved outside the inner ring, the inner ring and the outer ring are both annular, a first raceway is arranged on the outer surface of the inner ring, a second raceway is arranged on the inner surface of the outer ring, the first raceway and the second raceway are oppositely arranged, the shapes of the surfaces of the first raceway and the second raceway include but are not limited to spherical surfaces, elliptical surfaces, cylindrical surfaces and conical surfaces, the retainer is arranged between the inner ring and the outer ring, each rolling body is arranged in the retainer, and the rolling bodies are respectively in rolling fit with the inner ring and the outer ring, the rolling bodies include but are not limited to balls and rollers, the inner ring is sleeved on the elliptical outer circumferential surface 103 of the rotor main body 1, and the inner ring, the outer ring and the retainer can be flexibly deformed in the radial direction.

[0037] Further optimization of the above technical solution, the inner ring and the rotor main body 1 can be in interference fit, or, in the utility model embodiment, the inner ring and the rotor main body 1 are an integral structure, that is, the inner ring and the rotor main body 1 are not detachable.

[0038] As shown in Fig. 2 and Fig. 3 , in the utility model embodiment, the rotor main body 1 comprises a rotor skeleton 101 and a rotating shaft 102, the rotor skeleton 101 comprises an annular wall and an end plate arranged at one end of the annular wall, the outer circumferential wall surface of the annular wall is the elliptical outer circumferential surface 103 of the rotor main body, the inner circumferential wall surface of the annular wall is the circular inner circumferential surface 106 of the rotor main body, one end of the rotating shaft 102 is coaxially connected to the end plate at the inner circumferential wall surface of the annular wall, and the other end of the rotating shaft 102 extends out from the end of the annular wall away from the end plate.

[0039] As shown in Fig. 2 , the inner circumferential wall surface of the annular wall uniformly and spacedly arranges a plurality of permanent magnets 104 in the circumferential direction.

[0040] In order to reduce the weight of the rotor main body 1, as shown in Fig. 2As shown in the utility model embodiment, a plurality of hollow holes 105 are evenly and spacedly arranged on the end plate in the circumferential direction, and the shapes of the hollow holes 105 include but are not limited to fan shapes, circular shapes, strip shapes and the like.

[0041] The utility model embodiment further provides a brushless motor, the brushless motor includes stator subassembly and rotatablely arranged rotor subassembly outside stator subassembly, and the rotor subassembly adopts the waveform rotor as described in the above embodiment, so that the brushless motor is combined with the harmonic reducer to reduce the volume and weight after combination.

[0042] Specifically, in the utility model embodiment, the stator subassembly includes a shell, an iron core and a winding arranged on the iron core, the iron core is fixedly arranged in the shell, the mounting shaft in the shell is rotatablely matched with the rotor subassembly through the iron core, and a plurality of permanent magnets of the rotor subassembly surround the periphery of the iron core.

[0043] As preferred, the outer surface of the shell is provided with a driver, and the driver is electrically connected with the winding.

[0044] The utility model embodiment further provides a harmonic reducer, the harmonic reducer includes a cam, a flexible external gear and a rigid internal gear which are sequentially sleeved from inside to outside, the cam adopts the waveform rotor as described in the above embodiment, so that the harmonic reducer is combined with the brushless motor to reduce the volume and weight after combination.

[0045] It should be noted that each embodiment in the specification adopts a progressive manner for description, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between each embodiment can be referred to.

[0046] The principle and implementation mode of the utility model are described by applying specific examples, and the above embodiment is only used for helping to understand the core idea of the utility model. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the utility model without departing from the principle of the utility model, and these improvements and modifications also fall within the protection scope of the utility model claim.

Claims

1. A waveform rotor for integrating a brushless motor with a harmonic reducer, characterized in that, The waveform rotor includes a rotor body with an elliptical outer peripheral surface to integrate the rotor of the brushless motor with the wave generator of the harmonic reducer. The waveform rotor also includes a wave generator bearing that is capable of radial flexural deformation. The wave generator bearing is fitted onto the elliptical outer peripheral surface of the rotor body, and the wave generator bearing is flexed and deformed as a whole into an ellipse along the elliptical outer peripheral surface of the rotor body.

2. The waveform rotor according to claim 1, characterized in that, The wave generator bearing includes an inner ring, an outer ring, a cage, and multiple rolling elements. The outer ring is fitted over the inner ring, the cage is disposed between the inner ring and the outer ring, and each rolling element is disposed on the cage and rolls with both the inner ring and the outer ring. The inner ring is fitted onto the elliptical outer circumferential surface of the rotor body. The inner ring, the outer ring, and the cage are capable of radial flexural deformation.

3. The waveform rotor according to claim 2, characterized in that, The inner ring and the rotor body are an integral structure.

4. The waveform rotor according to any one of claims 1-3, characterized in that, The rotor body includes a rotor frame and a rotating shaft. The rotor frame includes an annular wall and an end plate disposed at one end of the annular wall. The outer peripheral wall surface of the annular wall is an elliptical outer peripheral surface of the rotor body, and the inner peripheral wall surface of the annular wall is a circular annular wall surface. One end of the rotating shaft is coaxially connected to the end plate with the inner peripheral wall surface of the annular wall, and the other end of the rotating shaft extends from the end of the annular wall away from the end plate.

5. The waveform rotor according to claim 4, characterized in that, The inner circumferential wall of the annular wall has multiple permanent magnets arranged at uniform intervals along the circumference.

6. The waveform rotor according to claim 4, characterized in that, Multiple perforated holes are evenly spaced along the circumference of the end plate.

7. A brushless motor, comprising a stator assembly and a rotor assembly rotatably disposed outside the stator assembly, characterized in that, The rotor assembly employs a waveform rotor as described in any one of claims 1-6.

8. The brushless motor according to claim 7, characterized in that, The stator assembly includes a housing, an iron core, and windings wound on the iron core. The iron core is fixedly disposed inside the housing. An installation shaft inside the housing passes through the iron core and is rotatably engaged with the rotor assembly. Multiple permanent magnets of the rotor assembly surround the periphery of the iron core.

9. The brushless motor according to claim 8, characterized in that, A driver is provided on the outer surface of the housing, and the driver is electrically connected to the winding.

10. A harmonic reducer, the harmonic reducer comprising a cam, a flexible external gear, and a rigid internal gear sequentially mounted from the inside out, characterized in that, The cam employs a waveform rotor as described in any one of claims 1-6.

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