Harmonic speed reducer

Abstract

The invention discloses a harmonic speed reducer comprising supporting and fixing devices, a fixed plate and a shell. The fixed plated is fixedly welded to one end of the shell; the supporting and fixing devices are symmetrically and fixedly mounted on the two sides of the shell; a speed reduction main body is fixedly mounted inside the shell; a rotating shaft is fixedly inserted inside the speedreduction main body and internally provided with a connection inserting hole; a fixed bottom plate is fixedly mounted at one end of the speed reduction main body; a shock wave device is rotatably mounted at the center of the fixed bottom plate; a protective gasket is rotatably mounted on the outer side of the shock wave device; a flexible wheel is fixedly connected to the outer side of the protective gasket; a steel wheel is rotatably mounted on the outer side of the flexible wheel; telescopic blocks are fixedly mounted in the supporting and fixing devices; rotary screwing knobs are rotatablymounted on the telescopic blocks in a threaded mode; and second thread holes are symmetrically formed in the bottom ends of the telescopic blocks. The harmonic speed reducer can take the speed reduction effect effectively in the using process, the service life is prolonged, and fixing and mounting are facilitated.

Description

technical field [0001] The invention relates to the technical field of robotic equipment, in particular to a harmonic reducer. Background technique [0002] During the working process of the harmonic reducer, the wave generator is a component that causes the flexspline to produce controllable elastic deformation. When the wave generator is installed in the flexspline, the section of the flexspline is forced to change from the original circle to an ellipse, and its long axis The teeth near both ends are completely meshed with the teeth of the rigid wheel, while the teeth near both ends of the short axis are completely disengaged from the rigid wheel, and the teeth on other sections of the circumference are in a transitional state of meshing and disengagement. When the wave generator moves along When the direction shown in the figure is continuously rotated, the deformation of the flexible spline is constantly changing, so that the meshing state of the flexible spline and the ...

AI Technical Summary

Problems solved by technology

[0002] During the working process of the harmonic reducer, the wave generator is a component that causes the flexspline to produce controllable elastic deformation. When the wave generator is installed in the flexspline, the section of the flexspline is forced to change from the original circle to an ellipse, and its long axis The teeth near both ends are completely meshed with the teeth of the rigid wheel, while the teeth near both ends of the short axis are completely disengaged from the rigid wheel, and the teeth on other sections of the circumference are in a transitional state of meshing and disengagement. When the wave generator moves along When the direction shown in the figure is continuously rotated, the deformation of the flexible spline is constantly changing, so that the meshing state of the flexible spline and the rigid spline is also constantly changing, from meshing in, meshing, meshing out, disengaging, and meshing again, so as to realize the flexible spline. The wheel rotates slowly in the opposite direction of the wave generator H relative to the rigid wheel. The fixed steel wheel is driven by the motor to rotate the wave generator, and the flexible wheel is used as a driven wheel to output rotation and drive the load to move. Currently, the harmonic reducer used in the robot is used It is not convenient for fixed installation during the process and the service life of the reducer is greatly reduced due to the easy wear of the flexible spline

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