CN112460225A - Big hollow sealed harmonic speed reducer - Google Patents

Big hollow sealed harmonic speed reducer Download PDF

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Publication number
CN112460225A
CN112460225A CN202011181723.8A CN202011181723A CN112460225A CN 112460225 A CN112460225 A CN 112460225A CN 202011181723 A CN202011181723 A CN 202011181723A CN 112460225 A CN112460225 A CN 112460225A
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CN
China
Prior art keywords
bearing
flexible
low
speed rotating
shaped ring
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.)
Pending
Application number
CN202011181723.8A
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Chinese (zh)
Inventor
侍威
张兆晶
豆永强
郑继贵
郭锐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Research Institute of Precise Mechatronic Controls
Original Assignee
Beijing Research Institute of Precise Mechatronic Controls
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Research Institute of Precise Mechatronic Controls filed Critical Beijing Research Institute of Precise Mechatronic Controls
Priority to CN202011181723.8A priority Critical patent/CN112460225A/en
Publication of CN112460225A publication Critical patent/CN112460225A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F16H57/0464—Grease lubrication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Details Of Gearings (AREA)
  • Retarders (AREA)

Abstract

A large-hollow sealed harmonic speed reducer has the characteristics of compact structure, strong sealing performance, large hollow diameter and the like. According to the invention, a first O-shaped ring is positioned in a crossed roller bearing, a flexible gear is circumferentially and fixedly arranged in the crossed roller bearing, a second O-shaped ring is arranged in a low-speed rotating bracket, and the low-speed rotating bracket is arranged on the flexible gear through a second connecting screw; the first support bearing and the third framework oil seal are arranged in the low-speed rotating support, the flexible bearing is arranged on the cam, and the combination of the cam and the flexible bearing is arranged in the low-speed rotating support; the second supporting bearing is arranged on the cam; the end cover is arranged on the rigid wheel through a first connecting screw, and a second O-shaped ring is arranged between the rigid wheel and the end cover; the injection and discharge screw and the first framework oil seal are arranged on the end cover; the second framework oil seal is arranged on the crossed roller bearing.

Description

Big hollow sealed harmonic speed reducer
Technical Field
The invention relates to a large-hollow sealed harmonic speed reducer which has the characteristics of compact structure, strong sealing performance, large hollow diameter and the like.
Background
The harmonic speed reducer is used as a high-precision power motion actuating mechanism, is widely applied to the high-precision fields of robots, machine tools, instruments and the like, and becomes a preferred scheme of application occasions with high speed ratio, high precision and low load. In recent years, with the development of robotics, a harmonic speed reducer is required to be capable of realizing internal wiring and has an independent sealing structure, the existing sealing harmonic speed reducer is such as SHF-2UH, SHF-2UJ top hat type flexible gear harmonic speed reducer, CSG-2UK cup type flexible gear harmonic speed reducer and the like of HD company, the ratio of the hollow aperture to the maximum outer diameter of the speed reducer is generally lower than 30%, wherein the ratio of the top hat type flexible gear harmonic speed reducer reaches 25% at most, the ratio of the cup type flexible gear harmonic speed reducer reaches 18% at most, wiring space is increasingly unable to meet requirements, and particularly the hollow wiring space of the cup type flexible gear harmonic speed reducer is very small. The reason for causing the above-mentioned problem lies in that the flexbile gear cup bottom adopts threaded connection flange formula structure, and cup-shaped flexbile gear middle auxiliary stay structure is complicated, can't realize big mesopore.
Disclosure of Invention
The technical problem solved by the invention is as follows: the large-hollow sealed harmonic speed reducer has the characteristics of compact structure, strong sealing performance, large hollow diameter and the like.
The technical solution of the invention is as follows: a large-hollow sealed harmonic speed reducer comprises a rigid gear, an end cover, a flexible gear, a cam, a first connecting screw, a flexible bearing, a second connecting screw, a low-speed rotating bracket, a crossed roller bearing, a framework oil seal, an O-shaped ring, a supporting bearing, a filling and draining screw and a bearing roller;
the first O-shaped ring is positioned in the crossed roller bearing, the flexible gear is circumferentially and fixedly arranged in the crossed roller bearing, the second O-shaped ring is arranged in the low-speed rotating support, and the low-speed rotating support is arranged on the flexible gear through a second connecting screw; the first support bearing and the third framework oil seal are arranged in the low-speed rotating support, the flexible bearing is arranged on the cam, and the combination of the cam and the flexible bearing is arranged in the low-speed rotating support; the second supporting bearing is arranged on the cam; the end cover is arranged on the rigid wheel through a first connecting screw, and a second O-shaped ring is arranged between the rigid wheel and the end cover; the injection and discharge screw and the first framework oil seal are arranged on the end cover; the second framework oil seal is arranged on the crossed roller bearing.
Furthermore, the outside of the low-speed rotating support is provided with a conical thread, so that the oil stirring function is realized.
Further, the taper of the conical thread is not lower than 1: 20, the pitch is not more than 1.5 mm.
Furthermore, an external spline is arranged on the outer side of the flexible gear, an internal spline is arranged on the inner side of the crossed roller bearing, and circumferential fixation and motion load transmission are realized through the matching of the internal spline and the external spline.
Furthermore, the internal teeth of the rigid wheel are arranged on the outer ring of the crossed roller bearing and are of an integrated structure.
Furthermore, the rigid wheel, the flexible wheel and the crossed roller bearing form a first sealing cavity, and sealing is realized by a second framework oil seal and a first O-shaped ring.
Furthermore, the flexible gear, the low-speed rotating support and the flexible bearing form a second sealing cavity, and sealing is realized by a third framework oil seal and a second O-shaped ring.
Further, the rigid wheel, the end cover and the cam form a third sealing cavity, and sealing is realized by a first framework oil seal and a second O-shaped ring;
the sealed cavities are communicated with each other.
Furthermore, the low-speed rotating support is matched with the flexible gear through a second connecting screw and a spigot, and the radial degree of freedom and the axial degree of freedom of the first support bearing are restrained.
Furthermore, two injection and drainage holes are formed in the end cover, the two injection and drainage holes form an included angle of 90 degrees, one injection hole is used for injecting oil, and the other injection hole is used for draining oil.
Compared with the prior art, the invention has the advantages that:
1) according to the invention, by improving the flexible gear output structure, namely replacing the traditional flange type structure with the spline output structure, the radial size is reduced to the maximum extent, and a foundation is laid for the design of a large hollow structure.
2) The invention adopts the framework oil seal to realize dynamic sealing, and the O-shaped ring realizes static sealing, thereby ensuring the sealing property of the whole machine.
3) According to the invention, the oil stirring function is realized by adopting the conical threads on the low-speed rotating bracket, the oil circulation use is ensured, the temperature rise is reduced, and the service life of the oil is prolonged.
Drawings
FIG. 1 is a structural diagram of a large-hollow sealed harmonic reducer of the present invention;
FIG. 2 is a structural diagram of an oil stirrer according to the present invention.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The following describes in further detail a large-hollow sealed harmonic reducer provided in an embodiment of the present application with reference to the drawings of the specification, and specific implementations may include (as shown in fig. 1): the device comprises a rigid wheel 1, a flexible wheel 4, a cam 3, a flexible bearing 9, a low-speed rotating support 5, a crossed roller bearing 6, framework oil seals 12-14, O-shaped rings 15-17, a support bearing 10 and an oil injection and leakage hole 7.
In the scheme provided by the embodiment of the application, as shown in fig. 1, the invention mainly comprises three major parts of a harmonic reducer, namely a rigid gear, a flexible gear, a wave generator cam + flexible bearing, a crossed roller bearing, an auxiliary supporting device, an oil stirring device, a sealing element and the like. The rigid gear 1 and the crossed roller bearing outer ring are integrally designed, the rigid gear 1 is usually kept in a fixed state, the flexible gear 4 rotates towards the direction opposite to the cam 3 to realize speed reduction motion under the driving of harmonic gear transmission through driving the cam 3 to rotate, the flexible gear 4 adopts an external spline for output, the crossed roller bearing inner ring 6 is an internal spline, and the flexible gear drives the crossed roller bearing inner ring 6 to perform speed reduction motion output. The sealed harmonic reducer realizes the functions of oil injection and oil drainage through 4 jackscrew screws 7 arranged on the right support frame 2.
Specifically, in a possible implementation manner, the first O-ring 15 is located in the crossed roller bearing 6, the flexible gear 4 is circumferentially and fixedly installed in the crossed roller bearing 6, the second O-ring 16 is installed in the low-speed rotating bracket 5, and the low-speed rotating bracket 5 is installed on the flexible gear 4 through the second connecting screw 11; the first support bearing 10 and the third framework oil seal 14 are arranged in the low-speed rotating bracket 5, the flexible bearing 9 is arranged on the cam 3, and the combination of the cam 3 and the flexible bearing 9 is arranged in the low-speed rotating bracket 5; the second support bearing 19 is mounted on the cam 3; the end cover 2 is arranged on the rigid wheel 1 through a first connecting screw 8, and a second O-shaped ring 17 is arranged between the rigid wheel 1 and the end cover 2; the injection and leakage screw 7 and the first framework oil seal 12 are arranged on the end cover 2; the second skeleton oil seal 13 is mounted on the crossed roller bearing 6.
In a possible implementation manner, as shown in fig. 2, the low-speed rotating bracket 5 is externally provided with a conical thread to realize an oil stirring function.
Further, the taper of the conical thread is not lower than 1: 20, the pitch is not more than 1.5 mm.
In a possible implementation mode, the outer side of the flexible gear 4 is provided with an external spline, the inner side of the crossed roller bearing 6 is provided with an internal spline, and circumferential fixation and motion load transmission are realized through the matching of the internal spline and the external spline.
Optionally, the internal teeth of the rigid wheel 1 are arranged on the outer ring of the crossed roller bearing 6 and are of an integrated structure.
Further, the rigid wheel 1, the flexible wheel 4 and the crossed roller bearing 6 form a first sealing cavity, and sealing is realized by a second framework oil seal 13 and a first O-shaped ring 15.
The flexible gear 4, the low-speed rotating support 5 and the flexible bearing 9 form a second sealing cavity, and sealing is realized by a third framework oil seal 14 and a second O-shaped ring 16.
The rigid wheel 1, the end cover 2 and the cam 3 form a third sealing cavity, and the sealing is realized by a first framework oil seal 12 and a second O-shaped ring 17;
the sealed cavities are communicated with each other.
In a possible realization mode, the low-speed rotating bracket 5 is fixedly connected with the flexible wheel 4 through the second connecting screw 11 and the spigot, and the radial freedom degree and the axial freedom degree of the first supporting bearing 10 are restrained.
Optionally, the end cover 2 is provided with two injection and drainage holes, the two injection and drainage holes form an included angle of 90 degrees, one injection hole is used for injecting oil, and the other injection hole is used for draining oil.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. The utility model provides a big hollow seal type harmonic speed reducer machine which characterized in that: the device comprises a rigid wheel (1), an end cover (2), a flexible wheel (4), a cam (3), a first connecting screw (8), a flexible bearing (9), a second connecting screw (11), a low-speed rotating bracket (5), a crossed roller bearing (6), a framework oil seal, an O-shaped ring, a supporting bearing, an injection and discharge screw (7) and a bearing roller (18);
the first O-shaped ring (15) is positioned in the crossed roller bearing (6), the flexible gear (4) is circumferentially and fixedly installed in the crossed roller bearing (6), the second O-shaped ring (16) is installed in the low-speed rotating support (5), and the low-speed rotating support (5) is installed on the flexible gear (4) through a second connecting screw (11); a first supporting bearing (10) and a third framework oil seal (14) are arranged in the low-speed rotating support (5), a flexible bearing (9) is arranged on the cam (3), and a combination of the cam (3) and the flexible bearing (9) is arranged in the low-speed rotating support (5); the second supporting bearing (19) is arranged on the cam (3); the end cover (2) is arranged on the rigid wheel (1) through a first connecting screw (8), and a second O-shaped ring (17) is arranged between the rigid wheel (1) and the end cover (2); the injection and leakage screw (7) and the first framework oil seal (12) are arranged on the end cover (2); the second framework oil seal (13) is arranged on the crossed roller bearing (6).
2. The large-hollow sealed harmonic reducer of claim 1, wherein: the outside of the low-speed rotating support (5) is provided with a conical thread, so that the oil stirring function is realized.
3. The large-hollow sealed harmonic reducer of claim 2, wherein: the taper of the conical thread is not less than 1: 20, the pitch is not more than 1.5 mm.
4. The large-hollow sealed harmonic reducer of claim 1, wherein: the outer side of the flexible gear (4) is provided with an external spline, the inner side of the crossed roller bearing (6) is provided with an internal spline, and circumferential fixation and motion load transmission are realized through the matching of the internal spline and the external spline.
5. The large-hollow sealed harmonic reducer of claim 1, wherein: the internal teeth of the rigid wheel (1) are arranged on the outer ring of the crossed roller bearing (6) and are of an integrated structure.
6. The large-hollow sealed harmonic reducer of claim 1, wherein: the rigid wheel (1), the flexible wheel (4) and the crossed roller bearing (6) form a first sealing cavity, and sealing is achieved through a second framework oil seal (13) and a first O-shaped ring (15).
7. The large-hollow sealed harmonic reducer of claim 6, wherein: the flexible gear (4), the low-speed rotating support (5) and the flexible bearing (9) form a second sealing cavity, and sealing is achieved through a third framework oil seal (14) and a second O-shaped ring (16).
8. The large-hollow sealed harmonic reducer of claim 7, wherein: the rigid wheel (1), the end cover (2) and the cam (3) form a third sealing cavity, and sealing is realized by a first framework oil seal (12) and a second O-shaped ring (17);
the sealed cavities are communicated with each other.
9. The large-hollow sealed harmonic reducer of claim 1, wherein: and the low-speed rotating support (5) is matched with the flexible gear (4) through a second connecting screw (11) and a spigot to be fixedly connected with the flexible gear, so that the radial degree of freedom and the axial degree of freedom of the first supporting bearing (10) are restrained.
10. The large-hollow sealed harmonic reducer of claim 1, wherein: two injection and drainage holes are formed in the end cover (2), the two injection and drainage holes form an included angle of 90 degrees, one injection hole is used for injecting oil, and the other injection hole is used for draining oil.
CN202011181723.8A 2020-10-29 2020-10-29 Big hollow sealed harmonic speed reducer Pending CN112460225A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011181723.8A CN112460225A (en) 2020-10-29 2020-10-29 Big hollow sealed harmonic speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011181723.8A CN112460225A (en) 2020-10-29 2020-10-29 Big hollow sealed harmonic speed reducer

Publications (1)

Publication Number Publication Date
CN112460225A true CN112460225A (en) 2021-03-09

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CN202011181723.8A Pending CN112460225A (en) 2020-10-29 2020-10-29 Big hollow sealed harmonic speed reducer

Country Status (1)

Country Link
CN (1) CN112460225A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014206265A (en) * 2013-03-19 2014-10-30 株式会社ハーモニック・ドライブ・システムズ Wave motion gear device and hollow rotary actuator
WO2015040739A1 (en) * 2013-09-20 2015-03-26 株式会社ハーモニック・ドライブ・システムズ Oil seal structure and strain wave gear device
CN205877138U (en) * 2016-07-26 2017-01-11 广州市昊志机电股份有限公司 Adopt well casement harmonic speed reducer ware of cup -shape flexspline
US20170097082A1 (en) * 2015-08-28 2017-04-06 Hiwin Technologies Corp. Harmonic drive featuring helix-facilitated lubrication
TWI654386B (en) * 2017-12-12 2019-03-21 上銀科技股份有限公司 Harmonic reducer for oil lubrication
CN109667909A (en) * 2018-12-06 2019-04-23 江苏科技大学 A kind of short cylinder harmonic speed reducer with clearance compensation function

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014206265A (en) * 2013-03-19 2014-10-30 株式会社ハーモニック・ドライブ・システムズ Wave motion gear device and hollow rotary actuator
WO2015040739A1 (en) * 2013-09-20 2015-03-26 株式会社ハーモニック・ドライブ・システムズ Oil seal structure and strain wave gear device
US20170097082A1 (en) * 2015-08-28 2017-04-06 Hiwin Technologies Corp. Harmonic drive featuring helix-facilitated lubrication
CN205877138U (en) * 2016-07-26 2017-01-11 广州市昊志机电股份有限公司 Adopt well casement harmonic speed reducer ware of cup -shape flexspline
TWI654386B (en) * 2017-12-12 2019-03-21 上銀科技股份有限公司 Harmonic reducer for oil lubrication
CN109667909A (en) * 2018-12-06 2019-04-23 江苏科技大学 A kind of short cylinder harmonic speed reducer with clearance compensation function

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Application publication date: 20210309

RJ01 Rejection of invention patent application after publication