CN116066541A - Light large bending moment harmonic reducer with limit - Google Patents

Abstract

The invention relates to a light large bending moment harmonic reducer with limit, which comprises a shell, a switching shaft, a potentiometer, a motor component, an output steel wheel component, a wave generator component, a potentiometer large gear and a potentiometer small gear, wherein the switching shaft is connected with the motor component; the motor assembly comprises a motor and a bevel pinion; the output steel wheel assembly comprises an output shaft and an output rigid wheel; the wave generator component is positioned in the shell and is arranged on the output shaft, and comprises a large bevel gear, a cam and a flexible gear; the potentiometer large gear is fixedly sleeved at the other end of the output shaft; the potentiometer pinion is fastened on the central shaft of the potentiometer; the inside of the shell is provided with a fixed rigid wheel, and the inner wall of the shell is provided with a switching shaft limiting cavity; the power output shaft of the motor drives the small bevel gear to be meshed with the large bevel gear; half of the radial side teeth of the flexible gear are meshed with the inner teeth of the fixed rigid gear, and the other half of the radial side teeth of the flexible gear are meshed with the output rigid gear; the switching axle is installed at output shaft output and is equipped with spacing boss. The invention has the characteristics of reasonable and compact structural design, light weight, high transmission precision, large bearing bending moment and the like.

Description

Light large bending moment harmonic reducer with limit

Technical Field

The invention relates to the technical field of speed reducers, in particular to a light-weight large-bending-moment harmonic speed reducer with limit.

Background

The harmonic transmission technology is a new transmission technology generated by the development of the aerospace technology along with the space science in the 50 th century, and mainly depends on the controllable deformation of a flexible gear to transmit motion. The device has the advantages of simple structure, small volume, light weight, low noise, large output torque, high transmission precision and the like, and is widely applied to the fields of aerospace, unmanned aerial vehicles, robots and the like, but for the special field for adjusting certain flying postures, the device is required to be light enough and capable of bearing large bending moment and is required to be provided with mechanical angle limiting.

In the prior art, the common structure of the harmonic drive speed reducer is a single-stage linear harmonic speed reducer and an angle (comprising quadrature) harmonic speed reducer (two-stage drive is realized by adding a one-stage bevel gear pair). Generally, the two types can bear corresponding output torque according to the types (usually, the inner diameter of the flexible gear is used as a marking type), but because the radial space of a wave generator corresponding to each type is limited, the diameter of the tail end of an output shaft is not too large, the bearing capacity of a selected deep groove ball bearing is limited, and the bearing capacity is somewhat insufficient for bearing a large bending moment load, so that the use defect exists for bearing the large bending moment load at present.

Meanwhile, for the special fields, due to double safety consideration, redundant design is required, namely hard limit is added on the basis of soft limit, so that a mechanical limit structure is required to be added in the design process of the harmonic speed reducer, and a limit mechanism is designed on an output mounting surface of the harmonic speed reducer in a butt joint mode in a common mode, and a plurality of limit parts are added. This approach adds virtually to the overall reducer volume and weight.

Most of the conventional harmonic reducer shells are made of alloy steel as a base material, so that the conventional harmonic reducer shells can serve as fixed rigid wheels and unnecessary assembly procedures can be reduced; however, for these special fields, the weight requirements are very strict, and the design and the materials are often too heavy for the speed reducer to meet the requirement of light weight.

Disclosure of Invention

Aiming at the technical problems in the background technology, the invention provides the light large-bending-moment limited harmonic reducer which has the characteristics of reasonable and compact structural design, light weight, high transmission precision, large bearing bending moment and the like.

The technical scheme of the invention is as follows:

the light large bending moment harmonic reducer with the limit comprises a shell, a switching shaft and a potentiometer which are matched and installed in the shell, and a motor component which is matched and installed outside one side of the shell; the motor assembly comprises a motor and a bevel pinion; the power output end of the motor is connected with the switching shaft and the potentiometer so as to drive the switching shaft and the potentiometer to rotate; the harmonic reducer further comprises an output steel wheel assembly, a wave generator assembly, a potentiometer large gear and a potentiometer small gear;

the output steel wheel assembly is arranged in the shell in a matching way and comprises an output shaft and an output rigid wheel which is fixedly arranged on the output shaft in a matching way; one end of the output shaft is connected with the switching shaft in a matching way, and the other end of the output shaft is hinged with the inner wall of the shell in a matching way;

the wave generator component is positioned in the shell and is matched and installed on the output shaft, and comprises a large bevel gear, a cam and a flexible gear; the large bevel gear is hinged on the output shaft in a matched mode; the cam is fixedly arranged on the radial outer part of the large bevel gear; the flexible gear is hinged to the radial outer part of the cam in a matching way;

the potentiometer large gear is matched and fixedly sleeved at the other end of the output shaft; the potentiometer pinion is arranged in the shell in a matched mode, is connected with the central shaft of the potentiometer in a matched mode through a set screw, and is meshed with the potentiometer large gear in a matched mode through teeth on the radial side;

a small bevel gear is arranged on the power output shaft of the motor in a matched mode and is in matched engagement with the large bevel gear through the small bevel gear;

the inner wall of the shell is provided with a connecting shaft limiting cavity in a matching way; half teeth on the radial side of the flexible gear are matched and meshed with the inner teeth of the fixed rigid gear, and the other half teeth on the radial side of the flexible gear are matched and meshed with the output rigid gear;

the switching shaft is provided with a limit boss in a matching way along the radial direction; the limiting boss stretches into the switching shaft limiting cavity, so that the switching shaft rotates back and forth within a certain angle range.

The light large bending moment takes spacing harmonic reducer ware, wherein: the other half of teeth on the radial side of the flexible gear and the output rigid gear are 1:1 are engaged in a matching manner.

The light large bending moment takes spacing harmonic reducer ware, wherein: an inner bearing is embedded in the inner through hole of the large bevel gear in a matched manner and is hinged with the output shaft in a matched manner through the inner bearing; the axial upper end part of the large bevel gear is provided with a bearing baffle in a matched manner through a fixing screw; the cam and the bevel gear are positioned and installed through a cam fixed cylindrical pin; the inner wall of the flexible gear is hinged with the radial outer wall of the cam in a matching way through a flexible bearing.

The light large bending moment takes spacing harmonic reducer ware, wherein: the housing includes a lower housing assembly and an upper housing assembly;

the lower shell assembly comprises a lower shell, a rigid fixing wheel and a lower steel wire thread sleeve; the lower shell is provided with a fixed rigid wheel mounting groove in a matching way from the center of the top to the bottom, a bearing limit through hole is provided in a matching way from the center of the bottom of the fixed rigid wheel mounting groove to the bottom, and a gear limit through hole is provided in a matching way from the tail end of the bearing limit through hole to the bottom; one side of the lower end of the lower shell is also provided with a potentiometer mounting position and a potentiometer pinion mounting position in a matching manner, and the other side of the lower end is provided with a motor shaft mounting hole in a matching manner; the fixed rigid wheel is embedded in the fixed rigid wheel mounting groove in a matching way and is in interference fit with the fixed rigid wheel mounting groove; the lower steel wire thread insert is arranged at one side of the bottom of the lower shell in a matching way; the bottom of the lower shell is provided with a cover plate in a matching way; the cover plate is assembled and fixed with the lower shell through a fastener;

the upper shell assembly is arranged at the upper part of the lower shell assembly in a matching way and comprises an upper shell and an upper steel wire thread sleeve; the upper shell is provided with a transfer shaft installation through hole in a matching way from the center of the top to the bottom, and an output shaft installation through hole in a matching way from the center of the bottom to the top; the switching shaft installation through hole is communicated with the output shaft installation through hole; the top of the upper shell is also provided with an upper shell locating pin in a matching way, and the upper end face of the upper shell is provided with an upper steel wire thread insert in a matching way.

The light large bending moment takes spacing harmonic reducer ware, wherein: the top surface of the lower shell is provided with screw assembly holes and pin holes in a matched mode on the periphery of the fixed rigid wheel mounting groove; the positioning lugs are uniformly and convexly arranged on the fixed rigid wheel along the circumference of the outer wheel surface; a group of positioning lugs which are opposite to each other are matched with a fixed screw of the fixed rigid wheel and an elastic pad to be matched and connected with the screw assembly holes; the other set of positioning lugs which are opposite to the fixed rigid wheel are matched with the lower shell cylindrical pin to be connected with the pin holes in a matched mode.

The light large bending moment takes spacing harmonic reducer ware, wherein: the inner hole wall of the transfer shaft mounting through hole is also provided with a transfer shaft limiting cavity in a matching mode; the switching shaft is installed in the switching shaft installation through hole in a matching mode.

The light large bending moment takes spacing harmonic reducer ware, wherein: the upper end shaft body of the output shaft passes through the output shaft mounting through hole and is assembled and connected with the switching shaft, and the lower end shaft body is matched and hinged with the inner hole wall of the bearing limiting through hole through a deep groove ball bearing and a needle bearing which are coaxially mounted; the output rigid wheel and the output shaft are positioned and installed through an output shaft cylindrical pin; the radial circumferential surface of the output rigid wheel is hinged with the inner hole wall of the output shaft installation through hole in a matching manner through the output rigid wheel rotating bearing.

The light large bending moment takes spacing harmonic reducer ware, wherein: the potentiometer large gear is matched and sleeved and fixed at the tail end of the shaft body at the lower end of the output shaft.

The light large bending moment takes spacing harmonic reducer ware, wherein: the potentiometer is arranged at the potentiometer installation position in a matching way; the potentiometer pinion is arranged at the potentiometer pinion mounting position in a matching mode and is connected with the potentiometer in a matching mode through a set screw.

The light large bending moment takes spacing harmonic reducer ware, wherein: the motor is fixedly arranged on the other side of the lower end of the lower shell through a fastener, and a power output shaft of the motor is connected with the bevel pinion through a motor shaft fixing pin.

The beneficial effects are that:

the invention relates to a light large bending moment limited harmonic speed reducer, which adopts a two-stage orthogonal harmonic drive mechanism, namely a first-stage bevel gear speed reduction drive mechanism and a second-stage harmonic speed reduction drive mechanism (the first-stage bevel gear speed reduction drive mechanism comprises a bevel pinion and a bevel gear, the axes of the bevel pinion and the bevel gear are intersected at 90 degrees and are in an orthogonal structure, the second-stage harmonic speed reduction drive mechanism comprises a wave generator component, a fixed steel wheel, an output rigid wheel and the like, the flexible wheel is driven to controllably deform by waveforms generated by rotation of the wave generator component, half of external teeth of the flexible wheel are meshed with the internal teeth of the fixed steel wheel by 1:1 of the output steel wheel, and the other half of internal teeth of the flexible wheel are meshed with the output steel wheel to realize two-stage speed reduction drive); the large bevel gear, the cam and the flexible bearing are combined to form a wave generator, and the secondary speed reduction is realized by the controllable deformation of the flexible gear to transmit power; meanwhile, the weight of the adapter shaft is reduced by reducing the design, and an adapter shaft limiting cavity which is matched with a limiting boss of the adapter shaft is designed in the upper shell, so that the angle limiting requirement is met; the final output shaft is connected with the transfer shaft through a spline to output power; meanwhile, the tail end of the output shaft is connected with a potentiometer large gear through a D-shaped shaft, and the potentiometer large gear is meshed with a potentiometer small gear to realize motion feedback so as to achieve the purpose of monitoring and detecting.

According to the invention, the axial space of the lower shell matched with the needle roller bearing is increased, and the combination mode of the deep groove ball bearing and the needle roller bearing is adopted to improve the bearing bending moment; according to the structural characteristics, a switching shaft limiting cavity is designed on the upper shell, and a limiting boss is added on the switching shaft to achieve the purpose of angle limiting; the weight reduction design and the material selection are adopted to select aluminum alloy materials for the non-bearing upper shell, the non-bearing lower shell and the like, and the fixed rigid wheel is assembled into the lower shell through interference fit, so that the weight reduction of the fixed rigid wheel is realized; through the above optimal design, the harmonic reducer with the characteristics of large bending moment, light weight and angle limiting is realized.

The invention has the characteristics of compact structure, light weight, high transmission precision, large bearing bending moment and the like, is suitable for any angle limiting requirement of limiting the angle within the range of +/-23.5 degrees, and can be widely applied to special fields requiring light weight and large bending moment with limiting.

Drawings

FIG. 1 is a schematic diagram of a lightweight high bending moment harmonic reducer with limit;

FIG. 2 is a front cross-sectional view of a lower housing assembly of the housing of the light high bending moment limited harmonic reducer of the present invention;

FIG. 3 is a top view of a lower housing assembly of the housing of the light high bending moment limited harmonic reducer of the present invention;

FIG. 4 is a front cross-sectional view of an upper housing assembly of the housing of the light high bending moment limited harmonic reducer of the present invention;

FIG. 5 is a top view of the upper housing assembly of the housing of the light high bending moment limited harmonic reducer of the present invention;

FIG. 6 is a schematic view of the special cavity of the housing of the light high bending moment limited harmonic reducer of the present invention;

FIG. 7 is a schematic structural view of an output steel wheel assembly of the light-weight high-bending-moment limited harmonic reducer of the invention;

FIG. 8 is a schematic view of the wave generator assembly of the light high bending moment limited harmonic reducer of the present invention;

FIG. 9 is a schematic diagram of a motor assembly of the light high bending moment limited harmonic reducer of the present invention;

fig. 10 is a schematic diagram of an assembly structure of a potentiometer pinion and a potentiometer of the light-weight large-bending-moment harmonic reducer with limit.

Detailed Description

As shown in fig. 1 to 10, the light-weight large-bending-moment harmonic reducer with limit comprises a shell 1, a switching shaft 2, an output steel wheel assembly 3, a wave generator assembly 4, a potentiometer large gear 5, a potentiometer small gear 6, a potentiometer 7 and a motor assembly 8.

The housing 1 comprises a lower housing assembly 11 and an upper housing assembly 12.

As shown in fig. 2-3, the lower housing assembly 11 includes a lower housing 111, a fixed rigid wheel 112, a fixed rigid wheel set screw 113, a spring washer 114, a lower housing cylindrical pin 115, and a lower wire thread insert 116. The lower casing 111 has a square structure, a rigid wheel mounting groove 1111 is formed in a matching manner from the top center to the bottom direction, a bearing limit through hole 1112 is formed in a matching manner from the bottom center of the rigid wheel mounting groove 1111 to the bottom direction, and a gear limit through hole 1113 is formed in a matching manner from the tail end of the bearing limit through hole 1112 to the bottom direction; the top surface of the lower housing 111 is provided with a pair of screw assembly holes and a pair of pin holes in a matching manner at the periphery of the positioning rigid wheel mounting groove 1111, and the pair of screw assembly holes and the pair of pin holes are distributed at intervals in a rectangular shape; meanwhile, one side of the lower end of the lower shell 111 is also provided with a potentiometer mounting position 1114 and a potentiometer pinion mounting position 1115 in a matching way; the other side of the lower end of the lower housing 111 is provided with a motor shaft mounting hole 1116 in a matching manner. The fixed rigid wheel 112 is embedded in the fixed rigid wheel mounting groove 1111 of the lower shell 111 in a matching way, and is in interference fit with the fixed rigid wheel mounting groove 1111, and four positioning lugs 1121 are uniformly and convexly arranged along the circumference of the outer wheel surface; the positioning lugs 1121 of the fixed rigid wheel 112 are matched with the fixed rigid wheel fixing screws 113 and the elastic pads 114 to be matched and connected with a pair of screw assembly holes of the lower shell 111; the other pair of positioning lugs 1121 of the rigid fixed wheel 112 are matched and connected with a pair of pin holes of the lower shell 111 by a lower shell cylindrical pin 115. The lower wire thread insert 116 is matingly installed at one side of the bottom of the lower housing 111. The bottom of the lower case 111 is provided with a cover plate 13 in a matching manner, and the cover plate 13 is assembled and fixed with the lower case 111 by fastening screws.

As shown in fig. 4-5, the upper housing assembly 12 is matingly mounted to the upper portion of the lower housing assembly 11 and includes an upper housing 121, an upper housing locating pin 122 and an upper wire thread insert 123. The upper casing 121 is provided with a transfer shaft mounting through hole 1211 from the center of the top to the bottom, and an output shaft mounting through hole 1212 from the center of the bottom to the top; the end of the adapter shaft mounting through hole 1211 communicates with the output shaft mounting through hole 1212; meanwhile, the upper housing 121 is also provided with a coupling shaft limiting cavity 1213 in a matching manner on the inner wall of the coupling shaft mounting through hole 1211. The upper housing locating pin 122 is matingly and vertically mounted on top of the upper housing 121 and functions as a locating when the decelerator is mounted with the user rudder trunk. The upper wire thread insert 123 is matingly installed at the upper end surface of the upper housing 121 (specifically, installed in a screw hole of the upper end surface of the upper housing 121).

The adapter shaft 2 is matched and installed in the adapter shaft installation through hole 1211 of the upper shell 121 of the upper shell assembly 12; as shown in fig. 6, the shaft body of the adapter shaft 2 in the adapter shaft mounting through hole 1211 is also provided with a limit boss 21 along the radial direction in a matching manner; the limiting boss 21 extends into the adapter shaft limiting cavity 1213 of the upper housing 121, so that the adapter shaft 2 can rotate back and forth within the range of + -23.5 degrees, thereby achieving the purpose of limiting.

As shown in fig. 7, the output steel wheel assembly 3 is installed inside the casing 1 in a matching manner, and comprises an output shaft 31, an output rigid wheel 32 and an output shaft cylindrical pin 33. The output shaft 31 is installed in the housing 1 in a matching way, the upper end shaft body passes through the output shaft installation through hole 1212 of the upper housing 121 and is connected with the adapter shaft 2 in an assembling way through a spline, the lower end shaft body is positioned in the bearing limit through hole 1112 of the lower housing 111 and is hinged with the inner hole wall of the bearing limit through hole 1112 through a coaxially installed deep groove ball bearing 311 and a needle bearing 312, and the deep groove ball bearing 311 and the needle bearing 312 are coaxially arranged; at the same time, the output shaft 31 is provided with a screw hole 313 axially matching from the center of the bottom end. The output rigid wheel 32 is matched and sleeved outside the middle section shaft body of the output shaft 31, and one radial side of the output rigid wheel is matched and provided with an output shaft cylindrical pin 33 and is positioned and installed with the middle section shaft body of the output shaft 31 through the output shaft cylindrical pin 33; the radial circumferential surface of the output rigid wheel 32 is hinged with the inner hole wall of the output shaft mounting through hole 1212 of the upper housing 121 of the upper housing assembly 12 in a matched manner through an output rigid wheel rotating bearing 321 (also adopting a deep groove ball bearing).

As shown in fig. 8, the wave generator assembly 4 is matingly mounted on the output shaft 31 of the output steel wheel assembly 3 and located inside the housing 1, and includes a large bevel gear 41, a cam 42, a cam fixing cylindrical pin 43, a flexible bearing 44, a fixing screw 45, a bearing baffle 46, an inner bearing 47, and a flexible wheel 48. The large bevel gear 41 is matched and sleeved on the middle section shaft body of the output shaft 31 of the output steel wheel assembly 3, an inner bearing 47 is matched and embedded in an inner through hole of the large bevel gear 41, and the large bevel gear is matched and hinged with the middle section shaft body of the output shaft 31 through the inner bearing 47; the axial upper end part of the large bevel gear 41 is provided with a bearing baffle 46 in a matching way through an axially-arranged fixing screw 45, and the axial lower end part is provided with a circle of conical teeth in a matching way outwards along the radial direction. The cam 42 is matched and sleeved outside the middle section of the large bevel gear 41, and is positioned with the large bevel gear 41 through a radial installation cam fixing cylindrical pin 43. The flexible gear 48 is sleeved on the radial outer part of the cam 42 in a matching way, the inner wall of the flexible gear is hinged with the radial outer wall of the cam 42 in a matching way through a flexible bearing 44, half teeth on the radial outer side are meshed with the inner teeth of the fixed rigid gear 112 of the lower shell assembly 11 of the shell 1 in a matching way, and the other half teeth on the radial outer side are formed into 1 with the output rigid gear 32 of the output rigid gear assembly 3: 1 are engaged in a matching manner.

The potentiometer large gear 5 is matched and sleeved and fixed on the tail end shaft body of the output shaft 31 of the output steel wheel assembly 3; the potentiometer large gear 5 is fixed on the tail shaft body of the output shaft 31 by installing a screw 51 in a screw hole 313 at the bottom end face of the output shaft 31 and matching with a gasket.

The potentiometer 7 is matingly mounted to the housing 1 at the potentiometer mounting location 1114 of the lower housing 111 of the lower housing assembly 11.

As shown in fig. 10, the potentiometer pinion 6 is fitted to the potentiometer pinion mounting position 1115 of the lower case 111 of the lower case assembly 11 of the case 1 and is connected to the central shaft of the potentiometer 7 by a set screw 61.

At the same time, the potentiometer pinion 6 is in matching engagement with the potentiometer gearwheel 5.

As shown in fig. 9, the motor assembly 8 is matingly mounted to the other side of the lower end of the lower housing 111 of the lower housing assembly 11 of the housing 1, and includes a motor 81, a bevel pinion 82, and a motor shaft fixing pin 83. The motor 81 is fixedly arranged on the other side of the lower end of the lower shell 111 through a fastener, and a power output shaft of the motor is matched with a motor shaft mounting hole 1116 extending into the lower shell 111; the bevel pinion 82 is mounted on the power output shaft of the motor 81 in a matching manner, one end of the bevel pinion 82 is fixed with the power output shaft of the motor 81 by a motor shaft fixing pin 83 mounted in a radial direction, and the other end of the bevel pinion is provided with conical teeth and is engaged with the conical teeth of the large bevel gear 41 of the wave generator assembly 4 in a matching manner.

The working principle of the light large bending moment harmonic reducer with limit is as follows:

the primary bevel gear pair speed reduction transmission process is as follows: the motor 81 drives the bevel pinion 82 to rotate, and the bevel pinion 82 drives the bevel pinion 41 in an orthogonal mode, so that primary speed reduction transmission is realized;

the second harmonic speed reduction transmission process is as follows: the primary reduction transmission drives the wave generator component 4 to rotate, the elliptical structure of the cam 42 in the wave generator component 4 forces the flexible gear 48 to flexibly deform through the flexible bearing 44, and half of the teeth of the flexible gear 48 are meshed with the fixed rigid gear 112, and the fixed rigid gear 112 and the flexible gear 48 can form relative staggered tooth movement due to two more teeth of the fixed rigid gear 112 than the flexible gear 48, so that reduction transmission is realized; the other half of the teeth of the flexspline 48 are 1 with the output rigid spline 32 of the output rigid spline assembly 3: 1, so as to transfer out the decelerating motion with less tooth difference, thereby achieving the purpose of harmonic transmission deceleration;

realizing a limiting structure: through the upper shell 121 design special angle's spacing die cavity 1213 of adapter shaft, adapter shaft 2 designs spacing boss 21, makes it make a round trip rotation in a certain angle range to realize spacing purpose.

Information feedback of potentiometer 7: one end of an output shaft 31 of the output rigid wheel assembly 3 is connected with the adapter shaft 2, the other end of the output shaft is connected with the potentiometer large gear 5, the potentiometer large gear 5 is meshed with the potentiometer small gear 6 to realize motion feedback, and transmission information of the speed reducer is monitored through electric potential, so that the information is received and processed correspondingly.

The invention has the characteristics of compact structure, light weight, high transmission precision, large bearing bending moment and the like, is suitable for any angle limiting requirement of limiting the angle within the range of +/-23.5 degrees, and can be widely applied to special fields requiring light weight and large bending moment with limiting.

Claims (10)

1. A light large bending moment harmonic reducer with limit comprises a shell (1), a switching shaft (2) and a potentiometer (7) which are arranged in the shell (1) in a matching way, and a motor assembly (8) which is arranged outside one side of the shell (1) in a matching way; the motor assembly (8) comprises a motor (81) and a bevel pinion (82); the power of the motor (81) is transmitted to the output shaft (31) through a primary bevel gear pair and a secondary harmonic reduction, so as to drive the switching shaft (2) and the potentiometer (7) to rotate; the method is characterized in that: the harmonic reducer further comprises an output steel wheel assembly (3), a wave generator assembly (4), a potentiometer large gear (5) and a potentiometer small gear (6);

the output steel wheel assembly (3) is arranged in the shell (1) in a matching way and comprises an output shaft (31) and an output rigid wheel (32) fixedly arranged on the output shaft (31) in a matching way; one end of the output shaft (31) is connected with the switching shaft (2) in a matching way, and the other end of the output shaft is hinged with the inner wall of the shell (1) in a matching way;

the wave generator assembly (4) is positioned inside the shell (1) and is matched and installed on the output shaft (31), and comprises a large bevel gear (41), a cam (42) and a flexible gear (48); the big bevel gear (41) is hinged on the output shaft (31) in a matching way; the cam (42) is fixedly arranged on the radial outer part of the large bevel gear (41); the flexible gear (48) is hinged to the radial outer part of the cam (42) in a matching way;

the potentiometer large gear (5) is fixedly sleeved at the other end of the output shaft (31) in a matched mode; the potentiometer pinion (6) is arranged in the shell (1) in a matching way, is connected with the central shaft of the potentiometer (7) in a matching way through a set screw (61), and is meshed with the potentiometer large gear (5) in a matching way through teeth on the radial side;

a small bevel gear (82) is arranged on the power output shaft of the motor (81) in a matched mode and is in matched engagement with the large bevel gear (41) through the small bevel gear (82);

the inside of the shell (1) is provided with a fixed rigid wheel (112) in a matching way, and the inner wall of the shell is provided with a switching shaft limiting cavity (1213) in a matching way; half teeth on the radial side of the flexible gear (48) are matched and meshed with the inner teeth of the fixed rigid gear (112), and the other half teeth on the radial side of the flexible gear (48) are matched and meshed with the output rigid gear (32);

the switching shaft (2) is provided with a limit boss (21) in a radial matching way; the limiting boss (21) stretches into the switching shaft limiting cavity (1213) so that the switching shaft (2) rotates back and forth within a certain angle range.

2. The lightweight high bending moment limited harmonic reducer of claim 1, wherein: the distance between the other half radial tooth of the flexible gear (48) and the output rigid gear (32) is 1:1 are engaged in a matching manner.

3. The lightweight high bending moment limited harmonic reducer of claim 1, wherein: an inner bearing (47) is embedded in the inner through hole of the large bevel gear (41) in a matching manner, and the large bevel gear is hinged with the output shaft (31) in a matching manner through the inner bearing (47); the axial upper end part of the big bevel gear (41) is provided with a bearing baffle (46) in a matching way through a fixing screw (45); the cam (42) and the bevel gear (41) are positioned and installed through a cam fixing cylindrical pin (43); the inner wall of the flexible gear (48) is hinged with the radial outer wall of the cam (42) in a matching way through a flexible bearing (44).

4. The lightweight high bending moment limited harmonic reducer of claim 1, wherein: the housing (1) comprises a lower housing assembly (11) and an upper housing assembly (12);

the lower shell assembly (11) comprises a lower shell (111), a rigid fixing wheel (112) and a lower wire thread sleeve (116); the lower shell (111) is provided with a fixed rigid wheel mounting groove (1111) in a matching way from the top center to the bottom direction, a bearing limit through hole (1112) is provided in a matching way from the bottom center of the fixed rigid wheel mounting groove (1111) to the bottom direction, and a gear limit through hole (1113) is provided in a matching way from the tail end of the bearing limit through hole (1112) to the bottom direction; one side of the lower end of the lower shell (111) is also provided with a potentiometer mounting position (1114) and a potentiometer pinion mounting position (1115) in a matching way, and the other side of the lower end is provided with a motor shaft mounting hole (1116) in a matching way; the fixed rigid wheel (112) is embedded in the fixed rigid wheel mounting groove (1111) in a matching way and is in interference fit with the fixed rigid wheel mounting groove (1111); the lower wire thread insert (116) is arranged at one side of the bottom of the lower shell (111) in a matching way; the bottom of the lower shell (111) is provided with a cover plate (13) in a matching way; the cover plate (13) is assembled and fixed with the lower shell (111) through a fastener;

the upper shell assembly (12) is arranged on the upper part of the lower shell assembly (11) in a matching way and comprises an upper shell (121) and an upper wire thread sleeve (123); the upper shell (121) is provided with a transfer shaft mounting through hole (1211) in a matching way from the center of the top to the bottom, and an output shaft mounting through hole (1212) in a matching way from the center of the bottom to the top; the transfer shaft mounting through hole (1211) is communicated with the output shaft mounting through hole (1212); the top of the upper shell (121) is also provided with an upper shell locating pin (122) in a matching way, and the upper end face of the upper shell is provided with an upper steel wire thread sleeve (123) in a matching way.

5. The lightweight high bending moment limited harmonic reducer of claim 4, wherein: the top surface of the lower shell (111) is provided with screw assembly holes and pin holes in a matched mode on the periphery of the fixed rigid wheel mounting groove (1111); the fixed rigid wheel (112) is uniformly provided with positioning lugs (1121) along the circumference of the outer wheel surface in a protruding way; a group of positioning lugs (1121) which are opposite to each other on the rigid fixing wheel (112) are matched with rigid fixing wheel fixing screws (113) and elastic pads (114) to be connected with the screw assembly holes in a matching way; the other set of positioning lugs (1121) which are opposite to each other on the rigid fixing wheel (112) are matched with the cylindrical pins (115) of the lower shell to be connected with the pin holes in a matching way.

6. The lightweight high bending moment limited harmonic reducer of claim 4, wherein: the inner hole wall of the transfer shaft mounting through hole (1211) is also provided with a transfer shaft limiting cavity (1213) in a matching manner; the adapter shaft (2) is installed in the adapter shaft installation through hole (1211) in a matching mode.

7. The lightweight high bending moment limited harmonic reducer of claim 4, wherein: the upper end shaft body of the output shaft (31) passes through the output shaft mounting through hole (1212) and is then assembled and connected with the transfer shaft (2), and the lower end shaft body is matched and hinged with the inner hole wall of the bearing limiting through hole (1112) through a deep groove ball bearing (311) and a needle bearing (312) which are coaxially mounted;

the output rigid wheel (32) and the output shaft (31) are positioned and installed through an output shaft cylindrical pin (33); the radial circumferential surface of the output rigid wheel (32) is hinged with the inner hole wall of the output shaft installation through hole (1212) in a matched mode through an output rigid wheel rotating bearing (321).

8. The lightweight high bending moment limited harmonic reducer of claim 7, wherein: the potentiometer large gear (5) is matched and sleeved and fixed at the tail end of the lower end shaft body of the output shaft (31).

9. The lightweight high bending moment limited harmonic reducer of claim 4, wherein: the potentiometer (7) is installed at the potentiometer installation position (1114) in a matching way;

the potentiometer pinion (6) is arranged at the potentiometer pinion mounting position (1115) in a matching mode and is connected with the potentiometer (7) in a matching mode through a set screw (61).

10. The lightweight high bending moment limited harmonic reducer of claim 4, wherein: the motor (81) is fixedly arranged on the other side of the lower end of the lower shell (111) through a fastener, and a power output shaft of the motor is connected with the bevel pinion (82) through a motor shaft fixing pin (83).

Images