Patent Application
20170063193
The present application claims priority under 35 U.S.C. §119(a) of European Patent Application No. EP 15 182 419.0 filed Aug. 25, 2015 and of European Patent Application No. EP 16 183 253.0 filed Aug. 8, 2016, the disclosures of which are expressly incorporated by reference herein in their entireties.
1. Field of the Invention
Embodiments relate to a reduction bearing having at least three concentric rings, the at least three concentric rings including an inner ring, a center ring and an outer ring, and at least two concentric rings of or with rolling elements. The inner ring and the center ring are configured as bearing races for an inner of the at least two concentric rings of or with rolling elements and the center ring and the outer ring are configured as bearing races for an outer of the at least two concentric rings of or with rolling elements. Embodiments further relate to an electric motor.
2. Discussion of Background Information
Radial bearings with concentric rings interposed with concentric rings of or with rolling elements are commonly used to take up radial forces while allowing rotational movement of rotating parts connected with the inner ring of the bearing around a common central axis of the concentric rings.
Gearboxes for rotational movements are known which are used to reduce a rotating speed of a rotating element being applied to an input of the gearbox into a slower rotation at an output of the gearbox. This is called a reduction action or reducing action within the present application.
Commonly known gearboxes themselves are not capable of or ill-suited to bearing radial forces and are therefore usually used in combination with external or additional radial bearings. Many technical applications require reducing action but are faced with the problem that commonly known gearboxes in combination with bearings are prohibitively large. One such field of technology is robotics, which has a particularly strong need for miniaturization combined with robust and precise rotary speed reduction. Another field of technology, in which the invention can be used, is automotive, especially electric cars and electric wheels.
Accordingly, embodiments of the invention provide reliable and finely tunable small scale apparatus and method for reducing the rotating speed of the rotating element, which may additionally be particularly suited for use in the field of robotics or electric cars or electric wheels.
In embodiments, a reduction bearing has at least three concentric rings, the at least three concentric rings including an inner ring, a center ring and an outer ring, and at least two concentric rings of or with rolling elements. The inner ring and the center ring are configured as bearing races for an inner of the at least two concentric rings of or with rolling elements and the center ring and the outer ring are configured as bearing races for an outer of the at least two concentric rings of or with rolling elements. The reduction bearing has at least one reduction stage. Further, the inner ring, the center ring and the outer ring have, respectively, an inner ring extension, a center ring extension and an outer ring extension extending in an axial direction of the reduction bearing and lying in a common reduction stage plane. The center ring extension is configured to transmit a wave-type reduction action between the inner ring extension and the outer ring extension.
In advantageous embodiments, the inner ring extension is disk-shaped with or without a central opening and has an outer circumferential surface having one or more peaks and the outer ring extension has an inner circumferential surface having a toothing or grooves. Moreover, in advantageous embodiments, the inner ring extension is disk-shaped with or without a central opening and has an outer circumferential surface having a toothing or grooves and the outer ring extension has an inner circumferential surface having one or more peaks.
In advantageous embodiments, the inner ring has at least one bearing race. In particular, the inner ring extension has at least one profile bearing race or has at least one, preferably two, eccentric bearing race or races. In particular, the center ring has at least two bearing races in the bearing part and the center ring extension has at least one radial channel with one or more radially moving elements.
In contrast to known combinations of radial bearings and gearboxes without radial bearing capacity, embodiments of the reduction bearing are structurally radial bearings with added reduction functionality in the form of at least one reduction stage for a wave-type reduction action built into extensions of the at least three concentric rings of the bearing. This integration of the wave-type reduction stage into the bearing allows for a significant miniaturization with respect to earlier solutions. In the axial direction, the reduction bearing in embodiments may be a factor of two or more shorter than known combinations of bearings and gearboxes, even gearboxes of the wave-type or harmonic drive type.
This is made possible by using at least three concentric rings configured as bearing races for two concentric rings of or with rolling elements such that the three concentric rings are freely rotatable against each other while bearing radial forces, combined with the integration of a wave-type reduction stage into the extensions of the at least three concentric rings which is based on the known wave-type reduction principle, which is known to be implemented in such systems as the so-called harmonic drive or the so-called nested speed converting transmissions.
The operating principle of a wave-type reduction action is that a fast rotary motion of a innermost disk-shaped element having one or more peaks on its outer circumferential surface is translated into a slow rotary motion of an outer ring by way of an interposed circular structure which is radially flexible, or vice versa. This interposed circular structure does not rotate together with the innermost disk-shaped element, however, it assumes its shape as the innermost element rotates. The radially flexible structure has a number of teeth or of regularly spaced outwards projecting elements, whereas the outer ring has grooves or a toothing on its inner circumferential surface facing the toothing or the projecting elements of the flexible structure. The numbers of the teeth or grooves of the flexible structure and the outer ring do not match. Therefore, a rotation of the disk-shaped innermost element will induce a wave-like motion in the radially flexible structure, which may be of one piece or of a multitude of elements, and cause the teeth or projecting elements to slide into a succession of neighboring grooves in the outer ring toothing or groove structure with each passing peak of the innermost disk-shaped element, thereby transmitting the reduction action. The reduction action can also be transmitted from the outer ring having one or more peaks on an inner circumferential surface to an innermost disk-shaped element having a toothing or grooves on an outer circumferential surface.
The reduction stage may therefore comprise, for example, a radially flexible element together with a radially flexible roller bearing, similar to a harmonic drive, or radial channels and elements moving linearly within the radial channels, thus producing the radially flexible structure. This reduction stage fixes the relation of the motions between the three concentric rings in embodiments of the reduction bearing. Usually, one of the three rings will be affixed to a supporting structure. This is in most cases, but not necessarily, either the center ring or the outer ring. The input may be the inner ring and the output the center ring or the outer ring, whichever is not affixed to a supporting structure. The input and output may be reversed.
The reduction ratio between the rotating speed of the input and the rotating speed and direction of the output is determined by the number of peaks on the outer surface of the extension of the inner ring, the number of radial channels or teeth in the center ring and the number of grooves or teeth on the inside of the extension of the outer ring. The direction of the output is determined by whether the number of channels or teeth in or on the center ring extension is greater or smaller than the number of grooves in the extension of the outer ring.
By way of a non-limiting example, the inner ring extension may have two peaks at positions opposed to each other. Furthermore, there may be, e.g., 100 grooves in the outer ring extension and 98 channels with radially moving elements in the center ring extension, or teeth, respectively, the reduction stage will have a speed ratio of 50:1 from the inner ring input to the outer ring output, while the direction of rotation the same at output and input. If, under the same circumstances, the outer ring is affixed and the center ring is taken as output, the rotation direction of the center ring will be reversed with respect to the direction of rotation of the input. Furthermore, the reduction ratio will be slightly smaller.
In other advantageous embodiments, the center ring extension has structures defining radial channels containing radially moving elements contacting the inner surface of the outer ring extension and the outer circumferential surface of the inner ring extension. In particular, the number of grooves in the inner circumferential surface of the outer ring extension or the outer circumferential surface of the inner ring extension is greater or smaller than the number of radial channels of the center ring extension. In this way, in particular, the structures of the center ring defining radial channels are exchangeable or of one piece with the center ring. This constitutes an embodiment the above-mentioned multi-part radially flexible structure with the radially moving elements constituting the projecting elements which are able to follow and replicate the shape of the disk-shaped inner ring extensions with its peaks as it rotates inside the center ring. This solution is mechanically stable and cost-effective.
In the case of the structures of the center ring defining radial channels being exchangeable, repair of the reduction bearing is made easy. Also, the reduction bearing is then flexible in its configuration. On the other hand, center rings with structures which are one piece with the center ring provide added stability.
In an advantageous embodiment, the radial channels of the center ring extension are located in at least one row being arranged, at least substantially, parallel to the common reduction stage plane. To increase the capacity of the reduction bearing or gear box there are two or more rows of radial channels being arranged, at least substantially, parallel to the common reduction stage plane.
Preferably, a radial depth of the grooves, in particular in the inner circumferential surface of the outer ring extension, is equal to or more than a height in the radial direction of the peak or peaks, in particular on the outer circumferential surface of the inner ring extension. With this measure, it is effectively avoided that the reduction bearing may block its movement. The shape of the peaks, in particular on the outer circumferential surface of the inner ring extension, advantageously reflects the inverse of the shape of the grooves, in particular on the outer ring extension. With that, the linearly moving elements in the radial channels will have no or only very little play, thus reducing tear and wear of all components involved.
The radially moving elements preferably include one or more rows of sliding or rolling elements, in particular needles, balls or cylinders. This measure reduces wear and tear on the rolling elements, since the doubling or multiplying of the number of sliding or rolling elements reduces the stress on each one of them.
Advantageously, the circumferential surface having one or more peaks is replaced or formed by one or more eccentric circumferential or circular surfaces having bearing races. This embodiment leads to a reduction bearing with a very low friction. If two eccentric rings or two eccentric circumferential or circular surfaces are used, on which the rolling elements are carried, at the reduction stage the wave type reduction action is very sophisticated. The circumferential surfaces, which are advantageously of circular shape in cross section, are located at the reduction stage, preferably.
Advantageously, a radially flexible roller bearing is interposed between the outer circumferential surface of the inner ring extension and the center ring extension. The radially flexible roller bearing assumes the shape of the disk-shaped inner ring extension and transmits this shape to the radially moving elements. The outer bearing race of the radially flexible roller bearing does not rotate with respect to the center ring extension, so that there is low friction between the radially flexible roller bearing and the radially moving elements. Overall, friction is greatly reduced and efficiency enhanced.
In an alternative advantageous embodiment, the center ring extension is radially flexible and fitted around the inner ring extension by a flexible roller bearing so as to assume the outer shape of the inner ring extension while freely rotating around the inner ring extension. An outer circumferential surface of the radially flexible center ring extension has a toothing, and a number of teeth on the outer circumferential surface of the radially flexible center ring extension is smaller or greater than a number of teeth on the inner circumferential surface of the outer ring extension. This alternative embodiment reduces friction with respect to the above-mentioned embodiment because it does not involve the friction prone sliding motions between the linearly moving elements and the inner ring extension and the outer ring extension.
In a further preferred embodiment, the roller bearing is an integral part of the inner ring extension and/or the outer ring extension. Being an integral part of the inner ring extension and/or the outer ring extension, the roller bearing can be produced very precisely. Thus, the motion of the rotatable elements and also the rolling elements is very precise. In the state of the art roller bearings are normally extra rings, which are fitted or pressed in openings. This kind of manufacture leads to roller bearings, which are not very precisely mounted in the outer ring and/or the inner ring extensions.
In order to achieve a very high degree of space saving and miniaturization, the at least three concentric rings and the at least two concentric rings of or with rolling elements are preferably arranged in a bearing plane. The bearing plane has the added benefit of transmitting radial forces in the shortest possible pathway in one plane, i.e., without introducing cantilever forces.
Advantageously, there is an even number of peaks or, alternatively, an odd number with at least three peaks on the outer circumferential surface of the inner ring extension or on the inner circumferential surface of the outer ring extension. This feature helps eliminating radial forces in the reduction bearing since the radial force introduced into the bearing by each peak is countered by an opposing radial force from an opposing peak. The use of an odd number of peaks with a minimum of three peaks and equal spacing likewise balances any resulting radial forces by way of vector addition of the radial forces.
The number of teeth and/or grooves, in particular on the outer and central ring, should be greater than the number of peaks by a factor of 4 or more, preferably 10 or more, in order to ensure a smooth operation.
Advantageously, the inner ring and/or the center ring and/or the outer ring has or have through-holes for affixation to an external supporting structure. With this, it is possible to secure the inventive reduction bearing to an external supporting structure and choose the input and the output of the reduction bearing according to need.
In further advantageous embodiments, a separating element is located radially between first and further rolling elements. The rolling elements are then advantageously balls or of spherical shape. Furthermore, the separating element can have a circular shaped groove to be in contact with the rolling element. There can also be two circular shaped grooves for adjacent rolling elements or adjacent balls. The separating element can advantageously contain partly a surface or completely a surface of a friction reducing material, for example like polytetrafluoroethylene (such as Teflon® by Chemours). The separating element can be completely made of a friction reducing material. With this embodiment, friction is reduced. In this embodiment, a first rolling element may have contact with the grooves of one ring and a further rolling element will be in contact with the surface having one or more peaks on the opposite ring. If the rolling elements are shaped as balls or cylinders, the rotation of the rolling elements are decoupled by the separating element positioned between them, and each rolling element may in this embodiment rotate with its own speed driven by the movement of the respective surface of the reduction stage to which they have contact.
A further advantage of the reduction bearing of the present invention is that the inventive reduction bearing may have a large central opening, the size of which cannot be achieved in conventional gearboxes. For this purpose, the reduction bearing advantageously has an axial central opening with a diameter of up to 90%, in particular more than 35%, in particular more than 50% or 60% or 70%, of the outer diameter of the outer ring. The amount of the axial central opening depends in particular on the outer diameter of the outer ring and the ratio of the reduction bearing. Known gear boxes of similar type may have central openings, whose diameter, however, does not exceed 30% of the outer diameter of the device. The inventive feature of the large central opening is especially advantageous in the field of robotics, where in many applications it is necessary to feed through bundles of electric cables, for example in the joints of robot arms, which may not have enough space for feeding through in conventional gearboxes, or in the fields of electric cars or electric wheels.
In an advantageous further development, the reduction bearing has two or more reduction stages configured such that at least one first reduction stage is drivingly connected to at least one second reduction stage, wherein the reduction stages are axially aligned with each other and/or positioned concentrically to each other. The inventive reduction bearing has the added benefit that it may comprise two or more reduction stages, each provided with a concentric three-ring bearing arrangement which may be coupled in parallel or sequentially. With this combination, very high reduction ratios may be achieved. For example, a combination of two reduction bearing stages with each a reduction factor of 100:1 will result in a reduction factor of 10.000:1 with very few parts to achieve this reduction factor.
The combination may be advantageously achieved in a so-called serial configuration or a so-called parallel configuration. In the serial configuration, a first reduction stage and a second reduction stage are axially aligned, wherein one of the inner ring, the center ring and the outer ring of the first reduction stage is connected with one of the inner ring, the center ring and the outer ring of the second reduction stage, in particular by a spline connection. Even with the two stages axially aligned with each other, the total axial size of the reduction bearing is still less than that of conventional one-stage gearboxes. The serial configuration also lends itself for three or more reduction stages in serial axial relationship. Each stage may have its own output so that the multi-stage reduction bearing may beneficially provide multiple reduction ratios to be used alternatively or simultaneously.
In the alternative parallel configuration, which may beneficially also be combined with a serial combination to achieve three or more reduction stages, a first reduction stage and a second reduction stage are positioned concentrically to each other, wherein the second reduction stage is arranged concentrically around the first reduction stage, wherein an outer ring of the first reduction stage is of one piece with an inner ring of the second reduction stage.
This configuration is in effect a concentric five-ring arrangement with four interposed rings of or with rolling elements constituting the radial bearing, wherein the third of the five concentric rings is part of both reduction stages at the same time. The second, third and fourth ring of the bearing have inner and outer bearing races, the innermost ring has an outer bearing race, the outermost ring has an inner bearing race.
In this case, advantageously one of the inner ring and the central ring of the first reduction stage and one of the central ring and the outer ring of the second reduction stage are affixed or affixable to a supporting structure. The ring common to the first stage and the second stage should not be affixed, since that would decouple the two reduction stages.
The reduction bearing in the parallel configuration preferably has two outputs at different reduction stages and different reduction values. This increases the versatility of the reduction bearing with two or more stages, wherein the outputs at different reduction values may be used alternatively or simultaneously.
Embodiments are directed to an electric motor, which has at least one reduction bearing according to the above-described invention integrated with or into the electric motor. A casing of the electric motor forms a supporting structure for the reduction bearing and a rotor of the electric motor is drivingly connected or integral with an input ring of the reduction bearing. Such an electric motor with integrated reduction bearing may be advantageously used in a robotics application and other applications, where the small size of the combination of the electric motor and the integrated inventive reduction bearing is particularly useful.
Further characteristics of the invention will become apparent from the description of the embodiments according to the invention together with the claims and the included drawings. Embodiments according to the invention can fulfill individual characteristics or a combination of several characteristics.
Embodiments are directed to a reduction bearing. The reduction bearing includes at least three concentric rings including an inner ring with an inner ring axial extension, a center ring with a center ring axial extension and an outer ring with an outer ring axial extension, and at least two concentric rings of or with rolling elements including an inner concentric ring of or with rolling elements and an outer concentric ring of or with rolling elements. The inner ring and the center ring are configured as bearing races for the inner concentric ring of or with rolling elements and the center ring and the outer ring are configured as bearing races for the outer concentric ring of or with rolling elements. At least one reduction stage has a common reduction stage plane in which the inner ring extension, the center ring extension and the outer ring extension lie. The center ring extension is configured to transmit a wave-type reduction action between the inner ring extension and the outer ring extension.
According to embodiments, the inner ring extension may be disk-shaped either with or without a central axial opening. Further, the reduction bearing can include one of: the inner ring extension has an outer circumferential surface with one or more peaks and the outer ring extension has an inner circumferential surface with grooves; or the inner ring extension has an outer circumferential surface with grooves and the outer ring extension has an inner circumferential surface with one or more peaks. Further, in a bearing part, the inner ring can include at least one bearing race surface and the center ring comprises at least two bearing race surfaces, the inner ring extension may include one of: at least one profiled bearing race or at least one eccentric bearing race, and the center ring extension may include at least one radial channel with one or more radially moving elements. The at least one eccentric bearing race can include at least two eccentric bearing races. Moreover, the center ring extension may have structures defining radial channels containing radially moving elements configured to contact the inner circumferential surface of the outer ring extension and the outer circumferential surface of the inner ring extension. The radial channels can be located in at least one row arranged at least substantially parallel to the common reduction stage plane, and the radially moving elements may include at least one row of sliding or rolling elements. The structures of the center ring defining the radial channels can be one of removably replaceable or of one piece with the center ring. Still further, the at least one row of sliding or rolling elements can include needles, balls or cylinders. Further still, a number of the grooves in the one of the inner circumferential surface of the outer ring extension or in the one of the outer circumferential surface of the inner ring extension may be different from a number of the radial channels of the center ring extension. A radial depth of the grooves in the inner circumferential surface of the outer ring extension can be at least equal to a height in the radial direction of the peak or peaks on the outer circumferential surface of the inner ring extension, and a shape of the peak or peaks on the outer circumferential surface of the inner ring extension can be an inverse of a shape of the grooves on the outer ring extension. Also, the one of the inner circumferential surface with one or more peaks and the outer circumferential surface with one or more peaks may be replaceable or formed by at least two eccentric circumferential surfaces having bearing race surfaces.
In accordance with embodiments, the reduction bearing may further include a radially flexible roller bearing interposed between the outer circumferential surface of the inner ring extension and the center ring extension. The radially flexible roller bearing can be an integral part of at least one of the inner ring extension and the center ring extension.
According to still other embodiments, the at least three concentric rings and the at least two concentric rings of or with rolling elements may be arranged in a bearing plane. Further, one of: an even number of peaks on the one of the outer circumferential surface of the inner ring extension or the inner circumferential surface of the outer ring extension, or an odd number with at least three peaks on the one of the outer circumferential surface of the inner ring extension or the inner circumferential surface of the outer ring extension.
In embodiments, the reduction bearing may further include a separating element located radially between two rolling elements.
Moreover, at least one of the inner ring, the center ring and the outer ring can have through-holes for affixation to an external supporting structure. Further, the reduction bearing can have two outputs at different reduction stages and different reduction values.
According to other embodiments, the reduction bearing may further include an axial central opening with a diameter that is one of: 90% of the outer diameter of the outer ring; more than 35% of the outer diameter of the outer ring; more than 50% of the outer diameter of the outer ring; more than 60% of the outer diameter of the outer ring; or more than 70% of the outer diameter of the outer ring.
In accordance with still yet other embodiments of the present invention, the at least one reduction stage can include at least two reduction stages configured so that at least one first reduction stage is drivingly connected to at least one second reduction stage. The first and second reduction stages may be at least one of: axially aligned with each other, and positioned concentrically to each other. When axially aligned with each other, one of the inner ring, the center ring and the outer ring of the first reduction stage can be connected with one of the inner ring, the center ring and the outer ring of the second reduction stage. Further, when positioned concentrically to each other, the second reduction stage can be arranged concentrically around the first reduction stage, the outer ring of the first reduction stage may be of one piece with the inner ring of the second reduction stage, and one of the inner ring and the central ring of the first reduction stage and one of the central ring and the outer ring of the second reduction stage can be affixed or affixable to a supporting structure.
Embodiments are directed to an electric motor with or in which an above-described embodiment of the at least one reduction bearing is integrated. The electric motor includes a casing of the electric motor configured as a supporting structure for the reduction bearing; and a rotor of the electric motor is one of drivingly connected to or integral with an input ring of the at least one reduction bearing.
Other exemplary embodiments and advantages of the present invention may be ascertained by reviewing the present disclosure and the accompanying drawing.
The invention is described below, without restricting the general intent of the invention, based on exemplary embodiments, wherein reference is made expressly to the drawings with regard to the disclosure of all details according to the invention that are not explained in greater detail in the text, in which like reference numerals represent similar parts throughout the several views of the drawings, and wherein:
The particulars shown herein are by way of example and for purposes of illustrative discussion of the embodiments of the present invention only and are presented in the cause of providing what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the present invention. In this regard, no attempt is made to show structural details of the present invention in more detail than is necessary for the fundamental understanding of the present invention, the description taken with the drawings making apparent to those skilled in the art how the several forms of the present invention may be embodied in practice.
In the drawings, the same or similar types of elements or respectively corresponding parts are provided with the same reference numbers in order to prevent the item from needing to be reintroduced.
The three rings 10, 20, 30 have extensions 16, 26, 36, respectively, which extend axially from the rings 10, 20, 30 and lie in a common reduction stage plane 42. They constitute a reduction stage 7 consisting of a disc-shaped inner ring extension 16 which at its outer circumference is in contact with radially moving elements 40 caged inside radially oriented channels inside the center ring extension 26, as well as the outer ring extension 36, the inner circumferential surface of which contacts the radially moving elements 40. The structure of the circumferential surfaces 12 of the inner ring extension 16 and the outer ring extension 36 will be discussed in connection with
A detailed view of the inner ring 10 is shown in
In
The axial center ring extension 26 comprises a cage with radial channels 24 for guiding the linear movement of the radially moving elements 40 depicted in
In
The number of grooves 32 is different from the number of radial channels 24, 124 in the center ring extension 26 by a small number, usually by 2, especially in case of 2 peaks.
To increase the carrying capacity of the reduction bearing with respect to keep minimal diameter of reduction bearing there can be placed more rolling elements 40 in two or more rows in a cage with radial grooves 24. See for example
To further enhance the carrying capacity of the reduction bearing, there can be skipped every second groove in the separator and herewith to enlarge thickness of wall separators 23 while the reduction ratio will be kept. Through the enlarged wall separators 23 can be guided openings 29 in the axial direction over the center ring 20. For example a screw can be screwed into a guided opening 29.
As can be seen in
Rotating the inner ring 10 will result in a collective revolving wave-type motion of the radially moving elements 40 in the separator 23. Since the number of grooves is greater by 2 than the number of radial channels 24, a rotation of the inner ring 10 as input of the inventive reduction bearing 5 will cause the radially moving elements 40 to be pushed into the respective grooves 32 of the outer ring extension 36 from off-center into the center of the grooves 32 at the passing of a peak 14, 14′, thereby causing the center ring 20 and the outer ring 30 to rotate relative to each other by the amount of one groove 32 with each passing of a peak 14, 14′ on the outer circumferential surface 12 of the inner ring extension 16, that is, for each half revolution of the inner ring 10.
As can be seen in
It is furthermore advantageous, as shown in
In a preferred embodiment shown in
Each of the five rings 10, 20, 30/110, 120, 130 has its own axial extensions which are in principle structured in the same way as the ones depicted in the previous figures.
The lowermost opening with area A is magnified in
In the interior view containing the area B, a glimpse can be had inside the reduction stage plane 42 of the second reduction stage 109, showing that, whereas the radially moving elements 40 in the second reduction stage 109 are bigger than those in the first reduction stage 107 shown, for example, in the area B in
With this parallel concentric configuration, it is possible to combine two reduction stages into a reduction action having a very large reduction factor calculated as the product of the reduction factor of the first reduction stage 107 and of the reduction factor of the second reduction stage 109. Reduction factors of 10.000 and more can be thus achieved.
Since radial forces are observed by the bearing parts in the bearing plane 41 of the inventive reduction bearing 5, 105, the reduction action incorporated in the structures in the reduction stage plane 42 are largely free of radial forces, so that blocking because of radial forces is effectively eliminated.
In the configuration shown in
The center ring 20 of the first reduction stage 207 is connected via a driving connection 212, which is built as a spline connection, to the inner ring 210 of the second reduction stage 209. The spline connection, which is shown in an expanded view in
The center ring 220 has an output connection 225. The outer ring 230 likewise has a through hole 238 for connection to a supporting structure. A rotation at the input 18 of the inner ring 10 of the first reduction stage 207 therefore leads to a very slow rotation of the output 225 in the center ring 220 of the second reduction stage 209.
The reduction stages 207, 209 may be built in a modular manner such that reduction stages may be chosen with desired reduction ratios and combined in the way shown in
As in the case of the reduction bearing 105 in the parallel configuration of
Two exemplary embodiments of electric motors 2, 2′ according to the invention are shown schematically in
The electric motor 2 shown in
The alternative embodiment of an electric motor 2′ shown in
In a further embodiment depicted in
Both exemplary embodiments constitute very efficient and compact designs of electric motors 2″, which are of great use in robotics and other technical fields requiring compact reduced electric motor action.
All named characteristics, including those taken from the drawings alone, and individual characteristics, which are disclosed in combination with other characteristics, are considered alone and in combination as important to the invention. Embodiments according to the invention can be fulfilled through individual characteristics or a combination of several characteristics. Features which are combined with the wording “in particular” or “especially” are to be treated as preferred embodiments.
It is noted that the foregoing examples have been provided merely for the purpose of explanation and are in no way to be construed as limiting of the present invention. While the present invention has been described with reference to an exemplary embodiment, it is understood that the words which have been used herein are words of description and illustration, rather than words of limitation. Changes may be made, within the purview of the appended claims, as presently stated and as amended, without departing from the scope and spirit of the present invention in its aspects. Although the present invention has been described herein with reference to particular means, materials and embodiments, the present invention is not intended to be limited to the particulars disclosed herein; rather, the present invention extends to all functionally equivalent structures, methods and uses, such as are within the scope of the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 15182419.0 | Aug 2015 | EP | regional |
| 16183253.0 | Aug 2016 | EP | regional |
