CN219623183U

CN219623183U - Mini harmonic reducer ware

Info

Publication number: CN219623183U
Application number: CN202320998686.2U
Authority: CN
Inventors: 周孜镠; 薛鹏飞; 裘锦苑; 张�杰
Original assignee: Zhejiang Laifual Harmonic Drive Co ltd
Current assignee: Zhejiang Laifual Harmonic Drive Co ltd
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-09-01
Anticipated expiration: 2033-04-26

Abstract

The utility model relates to the technical field of speed reducers, in particular to a mini harmonic speed reducer, wherein a power input end drives a wave generator to rotate, when the wave generator continuously rotates, the deformation of a flexible wheel is continuously changed, so that the meshing state of the flexible wheel and a rigid wheel is also continuously changed, and the meshing, meshing out, disengaging and re-meshing are performed repeatedly, so that the slow rotation of the flexible wheel relative to the rigid wheel along the opposite direction of the wave generator is realized, and compared with the traditional harmonic speed reducer, the speed reducer has a more compact structure and a smaller volume. And the original split type mounting structure of the rigid wheel and the crossed bearing is changed into an integrated structure, so that the assembly error generated when the rigid wheel is assembled by the traditional harmonic reducer is avoided, and the assembly efficiency and the assembly precision are greatly improved.

Description

Mini harmonic reducer ware

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a mini harmonic speed reducer.

Background

The speed reducer is a power transmission mechanism that reduces the number of revolutions of a motor to a desired number of revolutions by a speed converter of a gear, and obtains a large torque. The speed reducer has various types and different purposes, wherein the harmonic speed reducer is a novel speed reducer developed by utilizing a planetary gear transmission principle, and has the unique advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission, high transmission precision and the like, so that the harmonic speed reducer is widely applied to the industries of electronics, aerospace, robots and the like. With the continuous change of the market, the requirements of the robot industry and various other industries on the volume and the weight of the speed reducer are higher and higher, so that the speed reducer with lighter weight and miniaturization is required to be applied to products.

Aiming at the technical problems, the utility model provides a miniature harmonic reducer with high precision and small volume.

Disclosure of Invention

Aiming at the technical defects, the utility model aims to provide a mini harmonic reducer which comprises a flexible gear and a wave generator connected with a power input end, wherein the wave generator is arranged in an inner hole of the flexible gear through a flexible bearing;

preferably, the speed reducing bearing is a cross bearing, the cross bearing is divided into a cross bearing inner ring and a cross bearing outer ring, and the cross bearing inner ring and the cross bearing outer ring are connected in a sealing way through a sealing ring.

Preferably, the crossed bearing inner ring and the rigid wheel are integrally formed, so that the integrated rigid wheel can be meshed with the flexible wheel for transmission.

Preferably, the cross bearing outer ring is connected with the flexible wheel, and the cross bearing outer ring is sleeved on the outer side of the cross bearing inner ring.

Preferably, the connection part of the wave generator and the flexible gear is an elliptical part, and the flexible bearing is arranged at the elliptical part of the wave generator, so that the flexible bearing and the wave generator also become elliptical together.

Preferably, the rigid gear can be meshed with the flexible gear, and the number of teeth of the rigid gear is more than that of the flexible gear;

preferably, an inner hole ring is arranged on the flange body of the flexible gear, the wave generator and the flexible bearing are both positioned in the inner hole ring, and the outer edge of the inner hole ring is meshed with the rigid gear.

Preferably, the meshing part of the inner hole ring and the rigid gear is provided with a differential tooth part, the differential tooth part is meshed with the tooth part of the rigid gear, and the number of teeth of the differential tooth part is two less than that of the tooth part of the rigid gear.

The flexible bearing and the wave generator are arranged in an inner hole of the flexible gear, the flexible gear is deformed into an ellipse, when partial power of the wave generator is input, the flexible gear continuously deforms into the ellipse through the rotation of the wave generator, the flexible gear is meshed with the rigid gear, the number of teeth of the rigid gear is larger than that of the flexible gear, and therefore differential tooth movement of the teeth can be achieved.

The utility model has the beneficial effects that: compared with the traditional harmonic speed reducer, the utility model has more compact structure and smaller volume. And the original split type mounting structure of the rigid wheel and the crossed bearing is changed into an integrated structure, so that the assembly error generated when the rigid wheel is assembled by the traditional harmonic reducer is avoided, and the assembly efficiency and the assembly precision are greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a half cross-sectional view of the present utility model.

Fig. 2 is a left side view of the present utility model.

Fig. 3 is a right side view of the present utility model.

Fig. 4 is a half cross-sectional view of the reduction bearing of the present utility model.

Fig. 5 is a half cross-sectional view of an exploded view of the present utility model.

Reference numerals illustrate:

a 1-wave generator; 1 a-an elliptical portion; 2-flexible bearings; 3-crossed bearing inner rings; 4-crossed bearing outer rings; 5-flexible wheel; 5 a-differential teeth, 5 b-inner bore ring; 6-rigid wheel.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1 to 5, the following technical solutions are provided:

the miniature harmonic reducer comprises a flexible gear 5 and a wave generator 1 connected with a power input end, wherein the wave generator 1 is arranged in an inner hole of the flexible gear 5 through a flexible bearing 2, the flexible bearing 2 is sleeved on the outer side of the wave generator 1 and positioned between the inner hole of the flexible gear 5 and the wave generator 1, a speed reducing bearing is arranged on the outer side of the flexible gear 5, a rigid gear 6 is arranged on the speed reducing bearing, and meshing transmission can be realized between the rigid gear 6 and the flexible gear 5;

the power input end drives the wave generator 1 to rotate, when the wave generator 1 continuously rotates, the deformation of the flexible gear 5 is continuously changed, so that the meshing state of the flexible gear 5 and the rigid gear 6 is also continuously changed, and the process of meshing, meshing out, disengaging and re-meshing is performed repeatedly, so that the slow rotation of the flexible gear 5 relative to the rigid gear 6 along the opposite direction of the wave generator 1 is realized.

The speed reducing bearing is a crossed bearing, the crossed bearing is divided into a crossed bearing inner ring 3 and a crossed bearing outer ring 4, and the crossed bearing inner ring 3 and the crossed bearing outer ring 4 are connected in a sealing way through a sealing ring.

The rigid gear 6 and the inner ring 3 of the crossed bearing are integrated, and the flexible gear 5 is connected with the outer ring of the crossed bearing. The cross bearing inner ring 3 and the cross bearing outer ring 4 are sealed by a sealing ring due to the size problem, so that the tightness of the whole machine is ensured.

The crossed bearing inner ring 3 and the rigid wheel 6 are integrally formed, and the integrated rigid wheel 6 can be meshed with the flexible wheel 5 to drive the crossed bearing inner ring 3.

During manufacturing, the rigid wheel 6 changes the traditional design structure, and adopts an integrated process, and the rigid wheel 6 and the cross bearing inner ring 3 are integrated. Compared with the traditional ball bearing, the crossed bearing adopted by the speed reducer is a roller, is designed to be a full roller, and can effectively ensure the rigidity of the whole product. The bearing adopts a negative clearance design to ensure that the product can effectively reach the precision of the whole machine while bearing bending moment.

The crossed bearing outer ring 4 is connected with the flexible wheel 5, and the crossed bearing outer ring 4 is sleeved on the outer side of the crossed bearing inner ring 3.

The connection between the wave generator 1 and the flexspline 5 is an elliptical portion 1a, and the flexible bearing 2 is mounted on the elliptical portion 1a of the wave generator 1, so that the flexible bearing 2 also becomes elliptical together with the wave generator 1.

The rigid gear 6 can be meshed with the flexible gear 5, and the number of teeth of the rigid gear 6 is more than that of the flexible gear 5; an inner hole ring 5b is arranged on the flange body of the flexible gear 5, the wave generator 1 and the flexible bearing 2 are both positioned in the inner hole ring 5b, and the outer edge of the inner hole ring 5b is meshed with the rigid gear 6.

The meshing position of the inner hole ring 5b and the rigid gear 6 is provided with a differential tooth part 5a, the differential tooth part 5a is meshed with the tooth part of the rigid gear 6, and the number of teeth of the differential tooth part 5a is two less than that of the tooth part of the rigid gear 6.

The assembly of the flexible bearing 2 and the wave generator 1 is arranged in the inner hole of the flexible gear 5, the inner hole ring 5b of the flexible gear 5 is deformed into an ellipse, when partial power of the wave generator 1 is input, the inner hole ring 5b of the flexible gear 5 continuously deforms into an ellipse through the rotation of the wave generator 1, the differential tooth part 5a on the inner hole ring 5b is meshed with the rigid gear 6 in the tooth part, the number of teeth of the rigid gear 6 is larger than that of the differential tooth part 5a, and therefore differential tooth movement of the tooth part can be realized.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. The utility model provides a miniature harmonic reducer, a serial communication port, including flexbile gear (5) and wave generator (1) be connected with the power input, wave generator (1) are installed in the hole of flexbile gear (5) through flexible bearing (2), flexible bearing (2) cup joint in the outside of wave generator (1) and lie in between flexbile gear (5) hole and wave generator (1), speed reducing bearing is installed in the outside of flexbile gear (5), be provided with rigid gear (6) on the speed reducing bearing, rigid gear (6) and speed reducing bearing's inner circle integrated into one piece, meshing transmission between rigid gear (6) and flexbile gear (5).

2. A miniature harmonic reducer as claimed in claim 1, wherein the reducer bearing is a cross bearing comprising a cross bearing inner ring (3) and a cross bearing outer ring (4), the cross bearing inner ring (3) and the cross bearing outer ring (4) being sealingly connected by a sealing ring (7).

3. A mini harmonic reducer as claimed in claim 2, characterized in that the cross bearing inner ring (3) is integrally formed with the rigid wheel (6), and the integral rigid wheel (6) is capable of meshing with the flexible wheel (5) to drive the cross bearing inner ring (3).

4. A miniature harmonic reducer as claimed in claim 2, characterized in that the cross bearing outer ring (4) is connected with the flexspline (5), the cross bearing outer ring (4) being sleeved outside the cross bearing inner ring (3).

5. A miniature harmonic reducer as claimed in claim 1, characterized in that the junction of the wave generator (1) and the flexspline (5) is an elliptical portion (1 a), and the flexible bearing (2) is mounted on the elliptical portion (1 a) of the wave generator (1) so that the flexible bearing (2) also becomes elliptical with the wave generator (1).

6. A miniature harmonic reducer as claimed in claim 5, characterized in that the rigid wheel (6) is capable of meshing with the flexspline (5) and the number of teeth of the rigid wheel (6) is greater than the number of teeth of the flexspline (5).

7. A miniature harmonic reducer as claimed in claim 6, characterized in that the flange body of the flexspline (5) is provided with an inner bore ring (5 b), the wave generator (1) and the flexible bearing (2) are both located in the inner bore ring (5 b), and the outer edge of the inner bore ring (5 b) is meshed with the rigid spline (6).

8. A miniature harmonic reducer as claimed in claim 7, characterized in that the female ring (5 b) is provided with a differential tooth (5 a) at the engagement with the rigid wheel (6), the differential tooth (5 a) being engaged with the tooth of the rigid wheel (6), the number of teeth of the differential tooth (5 a) being two less than the number of teeth of the tooth of the rigid wheel (6).