CN213332271U - Harmonic reducer and robot - Google Patents
Harmonic reducer and robot Download PDFInfo
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- CN213332271U CN213332271U CN202021421414.9U CN202021421414U CN213332271U CN 213332271 U CN213332271 U CN 213332271U CN 202021421414 U CN202021421414 U CN 202021421414U CN 213332271 U CN213332271 U CN 213332271U
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- roller bearing
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 39
- 230000000994 depressogenic effect Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 210000001503 joint Anatomy 0.000 description 5
- 238000007789 sealing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Abstract
The embodiment of the utility model provides a be applicable to the transmission field, provide a harmonic speed reducer ware and robot, including wave generator, flexbile gear, rigid gear and cross roller bearing, the flexbile gear cup joints on the wave generator, the rigid gear with cross roller bearing cup joints on the flexbile gear, the flexbile gear include with the first connecting wall of the internal perisporium meshing of rigid gear, cross roller bearing's inner circle orientation be provided with the bellying on the terminal surface of rigid gear, the axial terminal surface of rigid gear corresponds the depressed part has been seted up to the bellying, the bellying inserts in the depressed part. The utility model discloses can solve the great problem of current harmonic speed reducer ware axial dimension big, occupation space.
Description
Technical Field
The utility model belongs to the technical field of transmission, especially, relate to a harmonic speed reducer ware and robot.
Background
The harmonic reducer has the advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission and high transmission precision, and is widely applied to the industries of electronics, aerospace, aviation, robots and the like. The existing harmonic reducer has the defect of large axial size, so that the whole harmonic reducer body occupies a large space.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a technical problem that will solve provides a harmonic speed reducer ware and robot, aims at solving the great problem of current harmonic speed reducer ware axial dimension big, occupation space.
The embodiment of the utility model provides a realize like this, a harmonic speed reducer ware, including wave generator, flexbile gear, rigid gear and cross roller bearing, the flexbile gear cup joints on the wave generator, the rigid gear with cross roller bearing cup joints on the flexbile gear, the flexbile gear include with the first connecting wall of the internal perisporium meshing of rigid gear, cross roller bearing's inner circle orientation be provided with the bellying on the terminal surface of rigid gear, the axial terminal surface of rigid gear corresponds the depressed part has been seted up to the bellying, the bellying inserts in the depressed part.
Further, the convex part is of an annular structure circumferentially surrounding along the inner ring of the crossed roller bearing, and the concave part is of an annular structure circumferentially surrounding along the rigid wheel.
Furthermore, the flexbile gear further comprises a second connecting wall extending outwards in the radial direction of the flexbile gear from one end of the first connecting wall, and the crossed roller bearing is clamped between the axial end face of the rigid gear and the second connecting wall and fixedly connected with the outer ring of the crossed roller bearing and the second connecting wall.
Further, the harmonic reducer still includes the protecgulum, the protecgulum lid connects the flexbile gear is kept away from cross roller bearing one end, cross roller bearing's outer lane, second connection wall and the protecgulum passes through the screw connection.
Further, the wave generator comprises a hollow cam and a flexible bearing, the flexible bearing is sleeved on the cam, and the flexible bearing and the cam are fixed through interference fit.
Further, wave generator includes hollow cam, flexible bearing and connecting axle, the connecting axle with the cam butt joint, flexible bearing cup joints on the cam, flexible bearing with the cam is fixed through interference fit, the connecting axle with the cam is fixed through interference fit.
Further, deep groove ball bearings are mounted between the rigid wheel and the cam and between the front cover and the cam.
Further, deep groove ball bearings are mounted between the rigid wheel and the connecting shaft and between the front cover and the cam.
Further, the outer ring of the crossed roller bearing extends towards the rigid wheel direction, and the outer ring of the crossed roller bearing and the radial end face of the rigid wheel are sealed through oil seals.
The embodiment of the utility model provides a still provide a robot, the robot includes as above harmonic speed reducer ware.
Compared with the prior art, the embodiment of the utility model, beneficial effect lies in: the utility model discloses set up the bellying on the terminal surface of the inner circle orientation rigid wheel of cross roller bearing, the bellying realizes the location in inserting rigid wheel axial terminal surface depressed part, can effectively reduce the axial dimensions of harmonic reduction gear for the whole more compactness of harmonic reduction gear.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a harmonic reducer according to an embodiment of the present invention;
FIG. 2 is a schematic view of the cutaway structure of FIG. 1;
FIG. 3 is a rear view of the structure of FIG. 1;
fig. 4 is a sectional structure diagram of a harmonic reducer according to another embodiment of the present invention.
In the drawings, each reference numeral denotes:
1. a flexible gear; 2. a rigid wheel; 3. a crossed roller bearing; 4. a front cover; 5. a compliant bearing; 6. a cam; 7. a deep groove ball bearing; 8. oil sealing; 11. a first connecting wall; 12. a second connecting wall; 31. an outer ring; 32. an inner ring; 321. a boss portion; 9. a screw; 10. and (7) connecting the shafts.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, it is a harmonic reducer provided by an embodiment of the present invention, including wave generator, flexbile gear 1, rigid gear 2 and crossed roller bearing 3, flexbile gear 1 cup joints on wave generator, rigid gear 2 and crossed roller bearing 3 cup joint on flexbile gear 1, flexbile gear 1 includes first connecting wall 11 engaged with the internal perisporium of rigid gear 2 and second connecting wall 12 extending radially outwards from first connecting wall 11 one end along flexbile gear 1. The flexible gear 1 is at least partially meshed with the inner peripheral wall of the rigid gear 2, the flexible gear 1 is elastically deformed under the driving of the wave generator, and the meshed parts of the flexible gear 1 and the rigid gear 2 are sequentially changed, so that variable-speed transmission is realized.
In the present embodiment, the cross roller bearing 3 is interposed between the axial end surface of the rigid wheel 2 and the second connecting wall 12, and the outer ring 31 of the cross roller bearing 3 is fixedly connected to the second connecting wall 12, so that the cross roller bearing 3 ensures the accuracy and reliability of power transmission. Alternatively, the outer race 31 of the cross roller bearing 3 and the second connecting wall 12 are connected by a screw 9. It is understood that, in other possible embodiments, the outer ring 31 of the cross roller bearing 3 and the second connecting wall 12 may be connected by bolts or fasteners, and the present embodiment is not limited thereto. The inner ring 32 of the crossed roller bearing 3 is provided with a convex portion 321 on the end surface facing the rigid wheel 2, the axial end surface of the rigid wheel 2 is provided with a concave portion corresponding to the convex portion 321, and the convex portion 321 is inserted into the concave portion, so that the axial size of the harmonic reducer can be effectively reduced, and the harmonic reducer is more compact.
Preferably, the convex portion 321 is an annular structure circumferentially surrounding the inner ring 32 of the cross roller bearing 3, and correspondingly, the concave portion is an annular structure circumferentially surrounding the rigid wheel 2, so that the connection between the inner ring 32 of the cross roller bearing 3 and the rigid wheel 2 is tighter. In other possible embodiments, the protrusion 321 and the recess may also be a plurality of block-shaped structures arranged at intervals around the circumference, which is not limited by the embodiment.
Preferably, the harmonic reducer further comprises a front cover 4, the front cover 4 covers one end of the flexible gear 1 far away from the crossed roller bearing 3, and the outer ring 31 of the crossed roller bearing 3, the second connecting wall 12 and the front cover 4 are connected through a screw 9. The front cover 4 not only can play a role in protection, but also can improve the overall strength of the harmonic reducer. The screw 9 is also connected between the inner ring 32 of the crossed roller bearing 3 and the rigid wheel 2, so that the stability of the connection between the inner ring 32 of the crossed roller bearing 3 and the rigid wheel 2 is further enhanced. In addition, the outer ring 31 of the cross roller bearing 3 extends toward the rigid wheel 2, that is, the projections of the outer ring 31 of the cross roller bearing 3 and the rigid wheel 2 on the central axis of the rigid wheel 2 at least partially overlap, and the axial dimension of the harmonic reducer is further reduced. Further, the outer ring 31 of the crossed roller bearing 3 and the radial end face of the rigid wheel 2 are sealed through an oil seal 8, and the sealing performance of the harmonic reducer is guaranteed.
In one embodiment of the present invention, as shown in fig. 2 and 3, the wave generationThe device comprises a hollow cam 6 and a flexible bearing 5, wherein the flexible bearing 5 is sleeved on the cam 6, and the flexible bearing 5 and the cam 6 are fixed through interference fit. The harmonic reducer in the embodiment has a total length of 40.5mm and a volume of 178524.1mm3The volume of the hollow shaft speed reducer is reduced by 25.6 percent compared with the volume of a conventional hollow shaft speed reducer. In addition, deep groove ball bearings 7 are arranged between the rigid wheel 2 and the cam 6 and between the front cover 4 and the cam 6, the relative position of the cam 6 is fixed through the deep groove ball bearings 7, and the front cover 4 and the cam 6 are sealed through oil seals 8. The deep groove ball bearing 7 can also play a role in sealing, and besides, the deep groove ball bearing 7 also has a role in bearing load and supporting.
In another embodiment of the present invention, as shown in fig. 4, the wave generator includes a hollow cam 6, a flexible bearing 5 and a connecting shaft 10, the connecting shaft 10 is butted with the cam 6, the flexible bearing 5 is sleeved on the cam 6, the flexible bearing 5 and the cam 6 are fixed by interference fit, and the connecting shaft 10 is fixed by interference fit with the cam 6. The harmonic reducer in the embodiment has large wiring space, the diameter of a through hole of the wave generator is 31mm, and the wiring space is 118% higher than that of a conventional hollow shaft reducer. In addition, deep groove ball bearings 7 are arranged between the rigid wheel 2 and the connecting shaft 10 and between the front cover 4 and the cam 6, the relative positions of the cam 6 and the connecting shaft 10 are fixed through the deep groove ball bearings 7, and the front cover 4 and the cam 6 are sealed through oil seals 8.
The embodiment of the utility model provides a still provide a robot, this robot includes the harmonic reduction gear among the above-mentioned technical scheme.
To sum up, the utility model discloses set up bellying 321 on the inner circle 32 of cross roller bearing 3 towards the terminal surface of rigid wheel 2, bellying 321 realizes the location in inserting the 2 axial terminal surface depressed parts of rigid wheel, can effectively reduce the axial dimensions of harmonic speed reducer ware for the whole more compactness of harmonic speed reducer ware.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a harmonic speed reducer ware, its characterized in that, includes wave generator, flexbile gear (1), rigid gear (2) and cross roller bearing (3), flexbile gear (1) cup joints on the wave generator, rigid gear (2) with cross roller bearing (3) cup joint on flexbile gear (1), flexbile gear (1) include with first connecting wall (11) of the internal perisporium meshing of rigid gear (2), inner circle (32) orientation of cross roller bearing (3) be provided with bellying (321) on the terminal surface of rigid gear (2), the axial terminal surface of rigid gear (2) corresponds bellying (321) has seted up the depressed part, bellying (321) insert in the depressed part.
2. A harmonic reducer as claimed in claim 1, characterized in that said relief (321) is an annular structure circumferentially surrounding the inner ring (32) of the crossed roller bearing (3) and said recess is an annular structure circumferentially surrounding the rigid wheel (2).
3. The harmonic reducer according to claim 1, wherein the flexspline (1) further includes a second connecting wall (12) extending outward in a radial direction of the flexspline (1) from one end of the first connecting wall (11), the cross roller bearing (3) is interposed between an axial end face of the ring gear (2) and the second connecting wall (12), and an outer race (31) of the cross roller bearing (3) is fixedly connected to the second connecting wall (12).
4. A harmonic reducer according to claim 3, characterized in that it further comprises a front cover (4), said front cover (4) covering the end of the flexspline (1) remote from the crossed roller bearing (3), the outer ring (31) of the crossed roller bearing (3), the second connecting wall (12) and the front cover (4) being connected by means of screws (9).
5. Harmonic reducer according to claim 4, in which the wave generator comprises a hollow cam (6) and a flexible bearing (5), the flexible bearing (5) being sleeved on the cam (6), the flexible bearing (5) and the cam (6) being fixed by interference.
6. The harmonic reducer according to claim 4, wherein the wave generator comprises a hollow cam (6), a flexible bearing (5) and a connecting shaft (10), the connecting shaft (10) is butted with the cam (6), the flexible bearing (5) is sleeved on the cam (6), the flexible bearing (5) and the cam (6) are fixed through interference fit, and the connecting shaft (10) and the cam (6) are fixed through interference fit.
7. Harmonic reducer according to claim 5, characterized in that between the rigid wheel (2) and the cam (6) and between the front cover (4) and the cam (6) there are mounted deep groove ball bearings (7).
8. Harmonic reducer according to claim 6, characterized in that between the rigid wheel (2) and the connection shaft (10) and between the front cover (4) and the cam (6) there are mounted deep groove ball bearings (7).
9. A harmonic reducer as claimed in claim 3, wherein the outer ring (31) of the crossed roller bearing (3) extends towards the rigid wheel (2), the outer ring (31) of the crossed roller bearing (3) and the radial end faces of the rigid wheel (2) being sealed by an oil seal (8).
10. A robot characterized in that it comprises a harmonic reducer according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021421414.9U CN213332271U (en) | 2020-07-17 | 2020-07-17 | Harmonic reducer and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021421414.9U CN213332271U (en) | 2020-07-17 | 2020-07-17 | Harmonic reducer and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213332271U true CN213332271U (en) | 2021-06-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021421414.9U Active CN213332271U (en) | 2020-07-17 | 2020-07-17 | Harmonic reducer and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213332271U (en) |
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2020
- 2020-07-17 CN CN202021421414.9U patent/CN213332271U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230117 Address after: 518000 101 201 301 401, Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen, Guangdong Province Patentee after: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. Patentee before: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 518103 Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen City, Guangdong Province 101201301401 Patentee after: Shenzhen Shanchuan Harmonic Transmission Technology Co.,Ltd. Country or region after: China Address before: 518000 101 201 301 401, Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen, Guangdong Province Patentee before: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address |