Micro harmonic speed reducer

Abstract

The invention discloses a micro harmonic speed reducer. The micro harmonic speed reducer comprises a shell body, an outer bearing ring, an inner bearing ring, a rigid wheel, a flexible wheel, a flexible bearing, a wave generator, an inner shell head tooth ring, an inner shell tail thread, an inner rigid wheel tooth ring, an outer rigid wheel tooth ring, an outer flexible head tooth ring, an outerflexible tail thread, an outer bearing thread and an inner bearing thread, wherein the inner shell head tooth ring of the shell body and the outer rigid wheel tooth ring of the rigid wheel are mutually fixedly connected in an embedding manner; and the inner rigid wheel tooth ring and the outer flexible head tooth ring form tooth joint, the outer flexible head tooth ring is equipped with the wave generator through the flexible bearing, the inner shell tail thread and the outer bearing thread are mutually screwed and fixed, and the outer flexible tail thread and the inner bearing thread are mutually screwed and fixed. According to the micro harmonic speed reducer disclosed by the invention, the total volume and weight are relatively greatly reduced with the adoption of screw joint and the embedded tooth joint; the micro harmonic speed reducer is small in size, light in weight and stable in transmission; the micro harmonic speed reducer is of great significance in projects with quality and volume requirements; and moreover, a process of machining thread holes and a link of assembling screws are omitted, so that the assembly efficiency is greatly increased.

Description

technical field [0001] The invention relates to the field of harmonic reducer technical equipment, in particular to a miniature harmonic reducer. Background technique [0002] Harmonic reducer is a high-precision transmission reduction device, which is mainly composed of three basic components: wave generator, flexible spline and rigid spline. Mesh to transmit motion and power. [0003] In the prior art, the transmission parts of the simulation robot, such as legs, arms, fingers, and torso, all adopt harmonic reducers. For small joints such as micro-robots or robot fingers, the space available for the installation of the reducer is greatly limited due to the limitation of the shape and structure. The defect of the traditional reducer is that most of the shells, inner and outer rings, rigid wheels and flexible wheels are connected by several screws, which will occupy a large space and are not suitable for application. Contents of the invention [0004] In order to solve ...

AI Technical Summary

Problems solved by technology

For small joints such as micro-robots or robot fingers, the space available for the installation of the reducer is greatly limited due to the limitation of the shape and structure.

The defect of the tra

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