CN206628939U - Flexbile gear output harmonic wave all-in-one - Google Patents
Flexbile gear output harmonic wave all-in-one Download PDFInfo
- Publication number
- CN206628939U CN206628939U CN201720368104.7U CN201720368104U CN206628939U CN 206628939 U CN206628939 U CN 206628939U CN 201720368104 U CN201720368104 U CN 201720368104U CN 206628939 U CN206628939 U CN 206628939U
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- harmonic
- flexbile gear
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Flexbile gear output harmonic wave all-in-one described in the utility model, including motor, harmonic speed reducer and generator rotor；The front end of the harmonic speed reducer is provided with a front port, and load is connected by right-angled intersection bearing with the front port；The rear end of the harmonic speed reducer is connected with the motor front end；The generator rotor is arranged in the stator of the motor, and the generator rotor is used as the rotor of the motor and the generator of the harmonic speed reducer simultaneously.Flexbile gear output harmonic wave all-in-one provided by the utility model, the generator of rotor and harmonic speed reducer is synthesized into a part, its power has also inputed to harmonic speed reducer while motor rotates, fundamentally solve the problems, such as that its rotary shaft is difficult to keep coaxial with the rotary shaft of motor harmonic speed reducer when in use, improves the performance of harmonic speed reducer.
Description
Technical field
It the utility model is related to frame for movement technical field, more particularly to a kind of flexbile gear input harmonics all-in-one.
Background technology
Harmonic speed reducer is a kind of by fixed internal circular spline, flexbile gear and the wave producer group for making flexbile gear that radial deformation occur
Into, there is high accuracy, high-bearing capacity, compared with common decelerator, because the material used will lack 50%, its volume and
Weight at least reduces 1/3.
In harmonic speed reducer use occasion, its power is generally provided by servomotor, i.e. harmonic speed reducer external one
Individual servomotor, due to foozle, rigging error etc., the rotary shaft of harmonic speed reducer is difficult to and servomotor
Rotary shaft keep coaxial, therefore in the course of the work, the performance of harmonic speed reducer can be influenceed to a certain extent.
Utility model content
The utility model provides a kind of flexbile gear output harmonic wave all-in-one, to solve harmonic speed reducer its rotation when in use
Axle is difficult to keep coaxial technical problem with the rotary shaft of servomotor, to improve the performance of harmonic speed reducer.
In order to solve the above problems, the utility model provides a kind of flexbile gear output harmonic wave all-in-one, including motor, harmonic wave
Decelerator and generator rotor；The housing of the all-in-one is coaxial docking by the electric machine casing and the harmonic speed reducer housing
Formed；The front end of the harmonic speed reducer is provided with a front port, and load is connected by right-angled intersection bearing with the front port,
A flexible bearing is provided between the flexbile gear and generator of the harmonic speed reducer, the flexible bearing is used as the flexbile gear and institute
State the power drive of gear motion between firm gear；The rear end of the harmonic speed reducer is connected with the motor front end；The hair
Raw device rotor is arranged in the stator of the motor, and extends to the front end of the harmonic speed reducer, subtract the harmonic wave
The flexbile gear of speed produces elastic deformation；The generator rotor is used as the rotor of the motor and the hair of the harmonic speed reducer simultaneously
Raw device.
Preferably, the electric machine casing is fixedly connected with the harmonic speed reducer housing by multiple bolts, and the electricity
Positioning between casing body and the harmonic speed reducer housing be present.
Preferably, the harmonic speed reducer is carnival hat type harmonic speed reducer, and the carnival hat type harmonic speed reducer is hollow type
Harmonic speed reducer, electric wire can pass through from the hollow cavity of the hollow type harmonic speed reducer.
Preferably, the rear end of the generator rotor is arranged on by the first spring bearing on the rear end cap of the motor,
The front end of the generator rotor is arranged on by the second spring bearing on the drive end bearing bracket of the harmonic speed reducer, load and flexbile gear
Connection.
Preferably, multiple mounting holes are provided with the rear end cap of the motor, are consolidated for the all-in-one to be installed on into one
On fixed rack.
Flexbile gear output harmonic wave all-in-one provided by the utility model, rotor is synthesized with the generator of harmonic speed reducer
For a part, its power has also inputed to harmonic speed reducer while motor rotates, and fundamentally solves harmonic speed reducer
Its rotary shaft is difficult to be kept for the problem of coaxial with the rotary shaft of motor when in use, improves the performance of harmonic speed reducer.
Brief description of the drawings
Accompanying drawing 1 is the surface structure schematic diagram of the flexbile gear output harmonic wave all-in-one of the utility model embodiment；
Accompanying drawing 2 is the motor rear end cover structure signal of the flexbile gear output harmonic wave all-in-one of the utility model embodiment
Figure；
Accompanying drawing 3 is the profile in A-A directions in accompanying drawing 2.
Embodiment
The embodiment of flexbile gear output harmonic wave all-in-one provided by the utility model is done in detail below in conjunction with the accompanying drawings
Explanation.
Present embodiment provides a kind of flexbile gear output harmonic wave all-in-one, and accompanying drawing 1 is the utility model specific implementation
The surface structure schematic diagram of the flexbile gear output harmonic wave all-in-one of mode, accompanying drawing 2 are the flexbile gears of the utility model embodiment
The motor rear end cover structure schematic diagram of output harmonic wave all-in-one, accompanying drawing 3 are the profiles in A-A directions in accompanying drawing 2.
As Figure 1-3, the flexbile gear output harmonic wave all-in-one that present embodiment provides, including motor 12, harmonic wave subtract
Fast device 11 and generator rotor 7.Wherein, the housing of the all-in-one is same by the electric machine casing and the harmonic speed reducer housing
Axle docks to be formed.The front end of the harmonic speed reducer 11 is provided with a front port 1, load by right-angled intersection bearing 2 with it is described
Front port 1 connects；A flexible bearing 9, the flexible bearing are provided between the flexbile gear 3 and firm gear 10 of the harmonic speed reducer 11
9 are used as the male part of gear motion between the flexbile gear 3 and the firm gear 10；The rear end of the harmonic speed reducer 11 and the electricity
The front end of machine 12 connects；The generator rotor 7 is arranged in the stator 6 of the motor 12, and extends to the harmonic speed reducer
11 front end, to make the flexbile gear 3 of the harmonic speed reducer 11 produce elastic deformation；The generator rotor 7 is used as institute simultaneously
State the rotor of motor 12 and the generator of the harmonic speed reducer 11.In this embodiment, the generator rotor 7 is same
When play a part of the generator of rotor harmonic decelerator, i.e., the all-in-one of present embodiment by rotor with
The generator of harmonic speed reducer is combined into one.So the generator rotor 7 in motor 12 is while rotating, its power
Also the harmonic speed reducer 11 has been inputed to, the rotary encoder 8 detects the rotation position of generator rotor 7, to determine
The rotation direction of the generator rotor 7, flexbile gear 3 constantly produce elastic deformation, institute under the driving of the generator rotor 7
The power drive that flexible bearing 9 is used as gear motion between the flexbile gear 3 and the firm gear 10 is stated, makes flexbile gear 3 and firm gear 10
Engagement also constantly change, by it is engaging-in, engage, nibble out, disengage, engaging-in again ..., carry out again and again, so as to realize
Flexbile gear 3 slowly rotates relative to opposite direction of the firm gear 10 along the direction of rotation of generator rotor 7.The all-in-one is working
When, fixed firm gear 10, rotated by motor driven generator rotor 7, flexbile gear 3 is used as power output member, driving load motion.
During the harmonic speed reducer housing docks with the electric machine casing, in order to ensure the harmonic speed reducer
With the fastness of the motor connection, it is preferred that the electric machine casing is consolidated with the harmonic speed reducer housing by multiple bolts
Fixed connection, and positioning between the electric machine casing and the harmonic speed reducer housing be present.
Preferably, the harmonic speed reducer is carnival hat type harmonic speed reducer, and the carnival hat type harmonic speed reducer is hollow type
Harmonic speed reducer, electric wire can pass through from the hollow cavity of the hollow type harmonic speed reducer.So, can save significantly
Save the space that the all-in-one takes.
In order to improve the stability of the flexbile gear output harmonic wave all-in-one machine structure described in present embodiment so that whole one
The structure of body machine is compacter, it is preferred that the rear end of the generator rotor 7 is arranged on the electricity by the first spring bearing 5
On the rear end cap of machine 12, the front end of the generator rotor 7 is arranged on the harmonic speed reducer 11 by the second spring bearing 11
Drive end bearing bracket on, the load is connected with the flexbile gear 3.
In order to fix the all-in-one, it is preferred that multiple mounting holes 13 are provided with the rear end cap of the motor 12, are used for
The all-in-one is installed on a fixed support.
Flexbile gear output harmonic wave all-in-one provided by the utility model, rotor is synthesized with the generator of harmonic speed reducer
For a part, its power has also inputed to harmonic speed reducer while motor rotates, and fundamentally solves harmonic speed reducer
Its rotary shaft is difficult to be kept for the problem of coaxial with the rotary shaft of motor when in use, improves the performance of harmonic speed reducer.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
Art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the scope of protection of the utility model.
Claims (5)
1. a kind of flexbile gear output harmonic wave all-in-one, it is characterised in that including motor, harmonic speed reducer and generator rotor；It is described
The housing of all-in-one is coaxial docking with the harmonic speed reducer housing by the electric machine casing and formed；Before the harmonic speed reducer
End is provided with a front port, and load is connected by right-angled intersection bearing with the front port, the flexbile gear of the harmonic speed reducer and
A flexible bearing is provided between firm gear, the flexible bearing is used as the power of gear motion between the flexbile gear and the firm gear
Actuator；The rear end of the harmonic speed reducer is connected with the motor front end；The generator rotor is arranged at the motor
In stator, and the front end of the harmonic speed reducer is extended to, to make the flexbile gear of the harmonic reduction produce elastic deformation；It is described
Generator rotor is used as the rotor of the motor and the generator of the harmonic speed reducer simultaneously.
2. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the electric machine casing and the harmonic wave
Reducer shell is fixedly connected by multiple bolts, and is existed between the electric machine casing and the harmonic speed reducer housing and determined
Position.
3. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the harmonic speed reducer is carnival hat type
Harmonic speed reducer, the carnival hat type harmonic speed reducer are hollow type harmonic speed reducer, and electric wire can subtract from the hollow type harmonic wave
Passed through in the hollow cavity of fast device.
4. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the rear end of the generator rotor leads to
The first spring bearing is crossed on the rear end cap of the motor, the front end of the generator rotor is pacified by the second spring bearing
On the drive end bearing bracket of the harmonic speed reducer, load is connected with flexbile gear.
5. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that set on the rear end cap of the motor
There are multiple mounting holes, for the all-in-one to be installed on into a fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720368104.7U CN206628939U (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720368104.7U CN206628939U (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206628939U true CN206628939U (en) | 2017-11-10 |
Family
ID=60207984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720368104.7U Expired - Fee Related CN206628939U (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206628939U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106936261A (en) * | 2017-04-10 | 2017-07-07 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
| CN107947453A (en) * | 2017-12-20 | 2018-04-20 | 北京精密机电控制设备研究所 | Electric operator |
| CN109681602A (en) * | 2019-01-16 | 2019-04-26 | 南京信息工程大学 | A kind of harmonic speed changer with linear motion function |
-
2017
- 2017-04-10 CN CN201720368104.7U patent/CN206628939U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106936261A (en) * | 2017-04-10 | 2017-07-07 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
| CN107947453A (en) * | 2017-12-20 | 2018-04-20 | 北京精密机电控制设备研究所 | Electric operator |
| CN109681602A (en) * | 2019-01-16 | 2019-04-26 | 南京信息工程大学 | A kind of harmonic speed changer with linear motion function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107651041B (en) | Single leg structure of electric quadruped robot | |
| CN206628939U (en) | Flexbile gear output harmonic wave all-in-one | |
| CN205036820U (en) | Take well casement harmonic speed reducer ware of cross cross roller bearing | |
| CN201565772U (en) | Steam turbine rotor assembly device | |
| CN108638118B (en) | Joint driving device of integrated robot | |
| CN106300795B (en) | A kind of big retarding is than harmonic reduction all-in-one machine | |
| CN106936261A (en) | Flexbile gear output harmonic wave all-in-one | |
| CN204076277U (en) | A kind of joint of robot | |
| CN103523207A (en) | Electric steering engine | |
| CN206211760U (en) | A kind of big retarding is than harmonic reduction all-in-one | |
| CN202937478U (en) | Novel coaxial counter-revolving double-blade fan | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector | |
| CN209350133U (en) | A kind of assembling diesel generator fixing tool | |
| CN204755179U (en) | Spur rack formula wind turbine blade adjustment mechanism | |
| CN209083299U (en) | A kind of shield machine segment conveying device | |
| CN204382295U (en) | The large arm driving mechanism of robot | |
| CN202991357U (en) | Umbrella-shaped wind power generating set | |
| CN203380623U (en) | Double-rotating table of gantry type five-shaft linkage vertical machining center | |
| CN207166289U (en) | Double straight drive screw mandrel modules | |
| CN202985576U (en) | Drive joint of robot second arm | |
| CN207609734U (en) | Speed reducer assembly | |
| CN216343765U (en) | Lead screw three-point positioning electric cylinder | |
| CN103925140A (en) | Straight-blade vertical axis water turbine | |
| CN209240069U (en) | A kind of anthropomorphous machine's arm shoulder joint of Three Degree Of Freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171110 Termination date: 20190410 |