US 9,850,996 B2 · Motor incorporating reducer

Abstract

A motor-incorporating reducer includes a main body, a rotational actuating member, a flex spline, and an circular spline. The rotational actuating member has a rotating shaft, a wave generator, and a motor. The rotating shaft passes through the main body, and the elliptic wheel is integratedly formed around the rotating shaft. The motor has a magnetic motor rotator that is integratedly formed on the rotating shaft. With the integrated structure, the rotating shaft, the elliptic wheel, and the motor rotator can stably perform rotation, thereby eliminating the risk that the three, when formed separated and assembled, would become non-coaxial due to the resultant tolerance after assembly and have eccentric rotation, and in turn preventing adverse effects on the drive's output torque due to non-coaxial rotation and extending the drive's service life.

Drawings

Claims6

Dependent claims

A motor-incorporating reducer, comprising:

a main body;
a rotational actuating member, being installed in the main body and the rotational actuating member having a rotating shaft, a wave generator, and a motor, the rotating shaft passes through main body, rotating shaft having a first end and a second end opposite to the first end, the wave generator comprising an elliptic wheel, the elliptic wheel being integratedly formed around the rotating shaft and close to the first end of the rotating shaft, the motor comprising a motor stator around the rotating shaft and close to the second end, and a motor rotator that is magnetic, and the motor rotator being integrated with the rotating shaft and corresponding to the motor stator, wherein the motor comprises a motor housing enclosing the rotating shaft from outside, the rotating shaft being rotatable with respect to the motor housing, the motor rotator being located inside the motor housing;
a flex spline, being mounted around the elliptic wheel, so that the elliptic wheel drives the flex spline to move;
an circular spline, being mounted around the flex spline so that the flex spline and the circular spline partially engage with each other;
a first detecting set, comprising a first encoder and at least one first sensor, the first encoder being located on a periphery of the second end of the rotating shaft, the at least one first sensor being located on a rear end of the motor housing, and the at least one first sensor corresponding to the first encoder so as to read out a rotary displacement in terms of angle of the rotating shaft;
a roller bearing comprising an inner ring and an outer ring, the inner ring having one end abutting against the circular spline and the outer ring having one end connected to the flex spline;
and
a second detecting set comprising a second encoder and the at least one second sensor, the at least one second sensor being located on a front end of the motor housing, the second encoder being located on an end of the outer ring that is opposite to an end of the outer ring connected to flex spline, and the at least one second encoder corresponding to the at least one second sensor.

5 more elements

Dependencies are inferred from the claim text.

Description2,005 words

Summary723 words

#1. Technical Field

#The present invention relates to a motor-incorporating reducer, which eliminates the risk of non-coaxial rotation of assembled components and thereby ensuring the drive's output torque and service life.

#2. Description of Related Art

Brief description of the drawings4 figures

#FIG. 1 is a cross-sectional view of a reducer according to a preferred embodiment of the present invention;

#FIG. 2 is a cross-sectional view of the reducer, showing the configuration of its input end sensor and input end encoder;

#FIG. 3 is a cross-sectional view of the reducer, showing it installed in a robotic arm housing;

Detailed description1,207 words

#For further illustrating the means and functions by which the present invention achieves the certain objectives, the following description, in conjunction with the accompanying drawings and preferred embodiments, is set forth as below to illustrate the implement, structure, features and effects of the subject matter of the present invention.

#Referring to FIG. 1, in a preferred embodiment of the present invention, a motor-incorporating reducer comprises a main body 10, a rotational actuating member 20, a flex spline 30, an circular spline 40, a first detecting set 60, a roller bearing 70, and a second detecting set 80. The rotational actuating member 20 is installed inside the main body 10 and has a rotating shaft 22, a wave generator 24, and a motor 26.

#The rotating shaft 22 passes through the main body 10 and has a first end 222 and a second end 224 opposite to the first end 222. The wave generator 24 comprises an elliptic wheel 242 and a flexible bearing 244. The elliptic wheel 242 is integratedly formed around the rotating shaft 22 and is close to the first end 222 of the rotating shaft 22. The flexible bearing 244 is mounted around the elliptic wheel 242.

Facts

Application

14/689,643Filed 17 Apr 2015

Published

US 2016/0305527 A120 Oct 2016

Granted

26 Dec 2017

Term ends

22 Apr 2036

Estimated · how

20 years from earliest known nonprovisional domestic filing plus recorded patent term adjustment, including 371 days of adjustment. Maintenance-fee lapses, terminal disclaimers and statutory extensions have not been checked. The continuity chain may be incomplete; this is not an enforceability determination.

Classification9 codes

F16H 49/001
Other gearings: wave gearings, e.g. harmonic drive transmissions
B25J 9/1025
Gears specially adapted therefor, e.g. reduction gears: harmonic drives
B25J 9/126
Electric: rotary actuators
H02K 7/116
Structural association with clutches, brakes, gears, pulleys or mechanical starters: with gears

Timeline

17 Apr 2015Application filedUS 14/689,643
21 Apr 2015Assigned to Hiwin Technologies Corp.assignment of assignor's interest
20 Oct 2016PublishedUS 2016/0305527 A1
26 Dec 2017GrantedUS 9,850,996 B2
12 Oct 2026TodayWithin its term
22 Apr 2036Term endsEstimated, includes 371 days of adjustment

Motor incorporating reducer

Life of this patent

Motor incorporating reducer

Life of this patent

Life of this patent

Abstract

Drawings

Drawings

Claims6

Description2,005 words

Drawings

Classification9 codes

Life of this patent

Description2,005 words