CN212928698U - Miniature built-in harmonic speed reducer ware - Google Patents
Miniature built-in harmonic speed reducer ware Download PDFInfo
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- CN212928698U CN212928698U CN202021151491.7U CN202021151491U CN212928698U CN 212928698 U CN212928698 U CN 212928698U CN 202021151491 U CN202021151491 U CN 202021151491U CN 212928698 U CN212928698 U CN 212928698U
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Abstract
The utility model discloses a miniature built-in harmonic speed reducer ware, including steel wheel, output shaft, flexbile gear, wave generator and end cover, be equipped with the internal tooth on the steel wheel, output shaft one end is the output, and the other end of output shaft is the link, the link is located the steel wheel, the output passes the output shaft hole and extends to the outside, the link is connected and rotates in step with the flexbile gear, wave generator one end is equipped with the input shaft, be equipped with the input shaft hole on the end cover, the input shaft passes the input shaft hole and extends to the end cover is outside, the end cover sets up the steel wheel other end. The beneficial effects are that: the flexible bearing is omitted between the wave generator and the flexible gear, the manufacturing process is simplified, the production cost is reduced, a sealed space can be formed inside by using the sealed bearings in the input shaft hole and the output shaft hole, and the lubricating problem between the wave generator and the flexible gear is solved only by injecting (liquid) lubricating oil into the steel gear.
Description
Technical Field
The utility model belongs to the processing field of reduction gear specifically is a miniature built-in harmonic reduction gear.
Background
The harmonic gear reducer is a new type transmission structure in the gear reducer, and it utilizes the flexible gear to produce controllable elastic deformation wave to cause the relative staggered teeth between the rigid gear and the flexible gear to transmit power and movement.
Because the harmonic reducer has the advantages that miniaturization and miniaturization are carried out, new technical problems can occur after the miniaturization, for example, when the diameter of the reducer is below 5 cm:
1. due to the miniaturization of each part, the processing is more difficult, and the internal structure needs to be simplified;
2. the improvement of the lubricating grease, if the lubricating grease (semi-solid lubricating oil) is also used, causes too much resistance in use.
How to solve the technical problems is a technical problem to be solved by the technical personnel in the field.
Disclosure of Invention
An object of the utility model is to provide a miniature built-in harmonic speed reducer ware to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a miniature built-in harmonic speed reducer ware, includes steel wheel, output shaft, flexbile gear, wave generator and end cover, the steel wheel is the shell structure of tube-shape, be equipped with the output shaft hole on the steel wheel one end, be the output, the other end of output shaft is the link, the link is located the steel wheel, the output passes the output shaft hole and extends to the outside, the flexbile gear sets up in the steel wheel, be equipped with the external tooth on the flexbile gear, the external tooth corresponds the setting with the internal tooth, the link is connected and synchronous rotation with the flexbile gear, wave generator one end is equipped with the input shaft, be equipped with the input shaft hole on the end cover, wave generator sets up in the flexbile gear, the input shaft passes the input shaft hole and extends to the end cover is outside, the end cover sets up the steel wheel other.
According to the technical scheme, a mounting hole is formed in the flexible gear, the connecting end penetrates through the mounting hole and extends to the interior of the flexible gear, a first oil storage hole is formed in the connecting end, the other end of the wave generator is provided with a first connecting shaft, and the first connecting shaft is correspondingly inserted into the first oil storage hole.
According to the technical scheme, the output shaft is provided with a protrusion, the flexible gear is provided with a protrusion ring, the protrusion ring is provided with a groove corresponding to the protrusion structure, when the connecting end penetrates through the mounting hole of the flexible gear, the protrusion is correspondingly arranged in the groove, and the flexible gear corresponds to the protrusion and the groove to drive the output shaft to synchronously rotate.
The oil storage device comprises a connecting shaft I, a connecting shaft II and an oil storage hole II, wherein the connecting shaft I is inserted into the oil storage hole II, and the connecting shaft II is inserted into the oil storage hole I.
According to the further technical scheme, an annular baffle is arranged on the output shaft and is located inside the steel wheel. .
According to the further technical scheme, the steel wheel is provided with a fixing screw hole, and the end cover is correspondingly and fixedly arranged on the steel wheel through the fixing screw hole.
The beneficial effects are that: the flexible bearing is omitted between the wave generator and the flexible gear, the manufacturing process is simplified, the production cost is reduced, a sealed space can be formed inside by using the sealed bearings in the input shaft hole and the output shaft hole, and the lubricating problem between the wave generator and the flexible gear is solved only by injecting (liquid) lubricating oil into the steel gear.
Drawings
FIG. 1: the utility model discloses an explosion chart I.
FIG. 2: the utility model discloses a structure chart of output shaft and flexbile gear.
FIG. 3: the utility model discloses an explosion chart two.
FIG. 4: the utility model discloses an oil conservator working principle picture.
FIG. 5: the utility model discloses a steel wheel structure picture.
FIG. 6: the utility model discloses an integral stereogram.
Detailed Description
The technical solution of the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings,
referring to figures 1-6 of the drawings,
a miniature built-in harmonic reducer comprises a steel wheel 1, an output shaft 2, a flexible gear 3, a wave generator 4 and an end cover 6, wherein the steel wheel 1 is of a cylindrical shell structure, as shown in figure 5, an output shaft hole 11 is formed in one end face of the steel wheel 1, internal teeth 12 are arranged on the steel wheel 1, one end of the output shaft 2 is an output end 21, the other end of the output shaft 2 is a connecting end 23, the connecting end 23 is located in the steel wheel 1, the output end 21 penetrates through the output shaft hole 11 and extends to the outside, as shown in figure 1, the flexible gear 3 is arranged in the steel wheel 1, external teeth 32 are arranged on the flexible gear 3, the external teeth 32 correspond to the internal teeth 12, the connecting end 23 is connected with the flexible gear 3 and rotates synchronously, an input shaft 41 is arranged at one end of the wave generator 4, an input shaft hole 61 is formed in the end cover 6, the wave generator 4 is arranged in the flexible gear 3, the input, the end cover 6 is arranged at the other end of the steel wheel 1. Between wave generator 4 and flexbile gear 3, cancel the flexible bearing, the preparation method of simplification, the production cost is reduced, this technical scheme has been controlled the diameter of reduction gear within 5cm, use sealed bearing in input shaft hole 61 and output shaft hole 11, can make the inside sealed space that forms of steel wheel, pour into (liquid) lubricating oil into in steel wheel 1, still solved the lubrication problem between wave generator 4 and flexbile gear 3, in the actual production process, in order to avoid wave generator 4 and flexbile gear 3 to use the same metal simultaneously and cause direct friction damage, general flexbile gear 3 uses comparatively soft metal or inlays a layer of soft metal on flexbile gear 3.
Further technical scheme, as shown in fig. 2, a mounting hole 31 is formed in the flexible gear 3, the connecting end 23 penetrates through the mounting hole 31 and extends into the flexible gear 3, an oil storage hole one 24 is formed in the connecting end 23, the oil storage hole one 24 is a cylindrical round hole, a connecting shaft one 42 is arranged at the other end of the wave generator 4, the connecting shaft one 42 is correspondingly inserted into the oil storage hole one 24, the insertion depth is 1/3-2/3 (which is the depth of the oil storage hole one 24) (but is larger than 3 mm), coaxial arrangement of the input shaft 41, the connecting shaft one 42, the oil storage hole one 24, the flexible gear 3 and the output shaft 2 is formed, coaxiality is ensured, rotation reliability of each component is improved, as the connecting shaft one 42 and the oil storage hole one 24 do not rotate synchronously, clearance fit is formed between the connecting shaft one 42 and the oil storage hole one 24, the fit clearance is between 0.01 mm and 0.05mm, when assembling, liquid lubricating oil needs, because the flexible gear 3 and the output shaft 2 rotate synchronously, the flexible gear 3 and the output shaft 2 can be in interference fit.
According to a further technical scheme, as shown in fig. 2, a protrusion 25 is arranged on the output shaft 2, a protruding ring 33 is arranged on the flexible gear 3, a groove 34 corresponding to the protrusion 25 in structure is arranged on the protruding ring 33, when the connecting end 23 penetrates through the mounting hole 31 of the flexible gear 3, the protrusion 25 is correspondingly arranged in the groove 34, and the output shaft 2 is driven by the protrusion 25 and the groove 34 corresponding to the flexible gear 3 to rotate synchronously.
A further technical scheme is as shown in fig. 3-4, the lubricating device further comprises an oil reservoir 5, one end of the oil reservoir 5 is provided with a second connecting shaft 51, the other end of the oil reservoir is provided with a second oil storage hole 52, the first connecting shaft 42 is correspondingly inserted into the second oil storage hole 52, the insertion depth is 1/3-2/3 (but larger than 3 mm) of the depth of the second oil storage hole 52, the second connecting shaft 51 is correspondingly inserted into the first oil storage hole 24, the insertion depth is 1/3-2/3 (but larger than 3 mm) of the depth of the first oil storage hole 24, clearance fit is formed between the first connecting shaft 42 and the second oil storage hole 52 and between the second connecting shaft 51 and the first oil storage hole 24, the fit clearance is 0.01-0.05mm, and during assembly, liquid lubricating oil needs to be injected into the first oil storage hole 24 and the second oil storage hole 52 in advance.
The function of the oil reservoir 5 is set: the oil storage device is not only used for storing oil, but also can prolong the service life of the connecting end 23 and the connecting shaft I42 on the premise of ensuring the coaxiality of the input shaft 41 and the output shaft 2, the connecting shaft I42 and the input shaft 41 are coaxially arranged, so the connecting shaft I42 and the input shaft 41 are generally made of the same material through integral processing, the output shaft 2 and the connecting end 23 are also integrally processed, the input shaft 41 and the output shaft 2 are generally made of the same material, when the connecting shaft I42 is correspondingly inserted into the oil storage hole I24, direct friction of the same material can be caused to damage after long-time use, the oil storage device 5 made of different materials is added, the material is generally made of copper material, the oil storage hole II 52 is increased, and the service life of the connecting end 23 and the connecting shaft.
According to a further technical scheme, as shown in fig. 1-2, an annular baffle 22 is arranged on the output shaft 2, and the baffle 22 is positioned inside the steel wheel 1. The stop plate 22 prevents the output shaft 2 from being displaced to the outside of the steel wheel 1 during long-term use.
According to the further technical scheme, the steel wheel 1 is provided with a fixing screw hole 13, and the end cover 6 is correspondingly and fixedly arranged on the steel wheel 1 through the fixing screw hole 13.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may include only a single embodiment, and such description is for clarity only, and those skilled in the art will be able to make the description as a whole, and the embodiments may be appropriately combined to form other embodiments as will be apparent to those skilled in the art.
Claims (6)
1. A miniature built-in harmonic reducer is characterized by comprising a steel wheel, an output shaft, a flexible wheel, a wave generator and an end cover, the steel wheel is of a cylindrical shell structure, an output shaft hole is arranged on one end face of the steel wheel, internal teeth are arranged on the steel wheel, one end of the output shaft is an output end, the other end of the output shaft is a connecting end, the connecting end is positioned in the steel wheel, the output end passes through the output shaft hole and extends to the outside, the flexible gear is arranged in the steel gear and is provided with external teeth, the external teeth and the internal teeth are arranged correspondingly, the connecting end is connected with the flexible gear and rotates synchronously, one end of the wave generator is provided with an input shaft, the flexible gear is characterized in that an input shaft hole is formed in the end cover, the wave generator is arranged in the flexible gear, the input shaft penetrates through the input shaft hole to extend to the outside of the end cover, and the end cover is arranged at the other end of the steel gear.
2. The miniature built-in harmonic reducer according to claim 1, wherein the flexible gear is provided with a mounting hole, the connecting end extends into the flexible gear through the mounting hole, the connecting end is provided with a first oil storage hole, the other end of the wave generator is provided with a first connecting shaft, and the first connecting shaft is correspondingly inserted into the first oil storage hole.
3. The miniature built-in harmonic reducer according to claim 1, wherein the output shaft has a protrusion, the flexspline has a protrusion ring, the protrusion ring has a groove corresponding to the protrusion, the protrusion is correspondingly disposed in the groove when the connection end passes through the mounting hole of the flexspline, and the protrusion and the groove corresponding to the flexspline drive the output shaft to rotate synchronously.
4. The miniature built-in harmonic reducer according to claim 2, further comprising an oil reservoir, wherein one end of the oil reservoir is provided with a second connecting shaft, the other end of the oil reservoir is provided with a second oil storage hole, the first connecting shaft is correspondingly inserted into the second oil storage hole, and the second connecting shaft is correspondingly inserted into the first oil storage hole.
5. The miniature built-in harmonic reducer according to claim 1 wherein the output shaft is provided with an annular baffle, the baffle being located inside the steel wheel.
6. The miniature built-in harmonic reducer according to claim 1, wherein the steel wheel is provided with a fixing screw hole, and the end cover is correspondingly and fixedly arranged on the steel wheel through the fixing screw hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021151491.7U CN212928698U (en) | 2020-06-19 | 2020-06-19 | Miniature built-in harmonic speed reducer ware |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021151491.7U CN212928698U (en) | 2020-06-19 | 2020-06-19 | Miniature built-in harmonic speed reducer ware |
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| Publication Number | Publication Date |
|---|---|
| CN212928698U true CN212928698U (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021151491.7U Active CN212928698U (en) | 2020-06-19 | 2020-06-19 | Miniature built-in harmonic speed reducer ware |
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| CN (1) | CN212928698U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114198480A (en) * | 2021-12-13 | 2022-03-18 | 上海非夕机器人科技有限公司 | Speed reducer, speed reduction transmission system, robot joint comprising speed reduction transmission system and robot |
-
2020
- 2020-06-19 CN CN202021151491.7U patent/CN212928698U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114198480A (en) * | 2021-12-13 | 2022-03-18 | 上海非夕机器人科技有限公司 | Speed reducer, speed reduction transmission system, robot joint comprising speed reduction transmission system and robot |
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