Harmonic reducer

Abstract

The utility model discloses a harmonic reducer and relates to the technical field of reducers, the reducer comprises a shell, a cylindrical gear transmission structure, an output shaft, a bevel gear transmission assembly and a flexible gear transmission assembly, the shell comprises an upper shell, a lower shell and a motor mounting shell, and the upper shell and the lower shell are respectively connected to two sides of the motor mounting shell; the cylindrical gear transmission structure comprises a first cylindrical gear and a second cylindrical gear, and the two sides of a stepped shaft of the first cylindrical gear are rotationally supported in the motor mounting shell; a first shaft section of the output shaft is mounted in the first bearing hole through a second bearing, and a third shaft section of the output shaft is mounted in the second bearing hole through a third bearing; the bevel gear transmission assembly comprises a large bevel gear, a small bevel gear and a fourth bearing, and the large bevel gear and the small bevel gear are in meshing transmission. The flexible gear transmission assembly comprises a rigid gear, a flexible gear and a flexible bearing, and the rigid gear and the flexible gear are in meshing transmission. The three-stage gear transmission is adopted, the structure is compact, the size is small, and the speed ratio is high.

Description

Technical Field

[0001] The utility model relates to the technical field of harmonic reducers, in particular to a harmonic reducer. Background Art

[0002] The harmonic reducer is a new transmission structure in the gear reducer. It uses flexible gears to generate controllable elastic deformation waves, causing the teeth of the rigid wheel and the flexible wheel to be staggered relative to each other to transmit power and motion. The use of harmonic reducers in servo systems with particularly high dynamic performance can better demonstrate the superiority of harmonic reducers.

[0003] In the existing technology, the traditional harmonic reducer is large in size, and the harmonic reducer structure generally adopts a primary structure, the speed ratio is basically below 200, and the input and output are coaxial, which leads to higher installation requirements during the installation process. Moreover, for applications that require a speed ratio of more than 200, a smaller size, and a larger torque, traditional reducers on the market cannot meet these requirements. Utility Model Content

[0004] The main purpose of the utility model is to provide a harmonic reducer, aiming to solve the technical problem that the speed ratio, volume and torque of the traditional harmonic reducer cannot meet the use requirements.

[0005] In order to achieve the above object, the utility model proposes a harmonic reducer, comprising:

[0006] A housing, comprising an upper housing, a lower housing and a motor mounting housing, wherein the upper housing and the lower housing are respectively supported and connected to two sides of the motor mounting housing, and a first bearing hole is formed between the upper housing and the lower housing, and a second bearing hole is provided on the lower housing coaxially opposite to the first bearing hole;

[0007] A cylindrical gear transmission structure, comprising a first cylindrical gear and a second cylindrical gear meshing with each other, wherein two sides of a first cylindrical gear stepped shaft of the first cylindrical gear are rotatably supported in the motor mounting housing by a first bearing and a second bearing respectively;

[0008] The output shaft comprises a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are coaxially connected in sequence, wherein the diameters of the first shaft section, the second shaft section and the third shaft section increase in sequence, and the diameter of the fourth shaft section is smaller than the diameter of the third shaft section and larger than the diameter of the second shaft section; the first shaft section is installed in the first bearing hole through a third bearing, and the third shaft section is installed in the second bearing hole through a fourth bearing;

[0009] A bevel gear transmission assembly, comprising a large bevel gear sleeved on the first shaft section of the output shaft, a small bevel gear inserted on the top of the first cylindrical gear stepped shaft, and a fifth bearing located between the first shaft section and the first inner stop of the large bevel gear, the large bevel gear is perpendicular to the central axis of the small bevel gear, and the large bevel gear and the small bevel gear are meshed with each other for transmission;

[0010] The flexible wheel transmission assembly comprises a rigid wheel embedded between the upper shell and the lower shell, a flexible wheel sleeved on the second shaft segment and a flexible bearing sleeved between the outer ring of the large bevel gear and the inner ring of the flexible wheel. The rigid wheel and the flexible wheel are meshed for transmission.

[0011] Optionally, a first pin hole extending horizontally through the first cylindrical gear stepped shaft is provided on a side close to the small bevel gear, a first center hole extending along the axial direction and a second pin hole extending perpendicularly to the axial direction through the small bevel gear are provided on an end of the small bevel gear close to the first cylindrical gear, the first cylindrical gear stepped shaft is suitable for being inserted into the first center hole, and pins are inserted into the second pin hole and the first pin hole.

[0012] Optionally, the bevel gear transmission assembly also includes a large bevel gear baffle plate sleeved on the second shaft segment, the large bevel gear baffle plate is connected to the side of the large bevel gear away from the third bearing, and the first outer stop of the large bevel gear baffle plate is suitable for being inserted into the first inner stop of the large bevel gear and abutting against the end face of the fifth bearing.

[0013] Optionally, a first sleeve is further sleeved on the first shaft segment, and the first sleeve is located between the third bearing and the fifth bearing, and abuts against end surfaces of the third bearing and the fifth bearing.

[0014] Optionally, a first shoulder is provided on a side of the second shaft segment close to the third shaft segment, a first boss is provided at the bottom of the flexible wheel, and the first shoulder is suitable for being inserted into the inner hole of the first boss, and the first boss is suitable for being inserted into the second inner stop of the third shaft segment.

[0015] Optionally, the flexible wheel transmission assembly further comprises a flexible wheel pressure plate sleeved on the second shaft segment and located inside the flexible wheel, and the flexible wheel pressure plate, the flexible wheel and the third shaft segment are connected via a plurality of evenly distributed second locking members and cylindrical pins.

[0016] Optionally, a first outer stop is further provided at one end of the large bevel gear baffle close to the large bevel gear, and the first outer stop is suitable for being inserted into the first inner stop of the large bevel gear so that the first outer stop abuts against the right end face of the fifth bearing, and the outer end of the large bevel gear baffle abuts against the end face of the flexible bearing, and the large bevel gear baffle is fixedly connected to the large bevel gear by a number of evenly distributed first locking members.

[0017] Optionally, a second shaft shoulder is provided at one end of the third shaft segment close to the second shaft segment, and the second shaft shoulder is suitable for abutting against the fourth bearing.

[0018] Optionally, a boss is provided at the center of the outer circumference of the rigid wheel, one side of the boss is suitable for being clamped between the upper shell and the lower shell, and is tightly flush with the outer end surfaces of the upper shell and the lower shell, and the other side of the boss is suitable for being clamped between the motor mounting shell and the lower shell, and is supported on the inner wall of the motor mounting shell.

[0019] Optionally, a potentiometer mounting plate is further connected to the outer end between the upper shell and the motor mounting shell near the first bearing hole, and the outer end surface of the potentiometer mounting plate is flush with the outer end surfaces of the upper shell and the motor mounting shell.

[0020] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0021] In the technical solution of the utility model, the harmonic reducer is composed of a housing, a cylindrical gear transmission structure, an output shaft, a bevel gear transmission assembly and a flexible wheel transmission assembly. The reducer structure is a three-stage transmission, the first stage is a cylindrical gear transmission, the second stage is a bevel gear transmission, and the third stage is a flexible wheel transmission, which improves the speed ratio and the maximum output torque. The housing serves as a load-bearing housing, which is connected by an upper housing, a lower housing and a motor mounting housing to form an installation space, so that it is convenient for shaft transmission while having a compact structure; the cylindrical gear transmission structure serves as a first-stage input transmission structure, which is composed of a first cylindrical gear and a second cylindrical gear, and the first cylindrical gear and the second cylindrical gear are meshed with each other for transmission, and the first cylindrical gear stepped shaft of the first cylindrical gear is rotatably supported in the motor mounting housing on both sides by first bearings and second bearings respectively.

[0022] The output shaft is composed of a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are coaxially connected in sequence, wherein the first shaft section of the output shaft is rotatably supported and connected to the upper housing through a third bearing, and the third shaft section of the output shaft is rotatably supported and connected to the lower housing through a fourth bearing, so that the output shaft can rotate freely on the upper housing and the lower housing; the bevel gear transmission assembly serves as an intermediate transmission structure, which is composed of a large bevel gear, a small bevel gear and a fifth bearing, wherein the large bevel gear is rotatably connected to the first shaft section of the output shaft through a fifth bearing sleeve, and the small bevel gear is vertically installed on the top of the first cylindrical gear stepped shaft, and the large bevel gear The wheel is meshed and driven with the small bevel gear, and the fifth bearing is located between the first shaft section and the first inner stop of the large bevel gear to support the rotation of the large bevel gear on the output shaft; the flexible wheel transmission assembly serves as the last-stage transmission structure, which is composed of a rigid wheel, a flexible wheel and a flexible bearing, and the rigid wheel is embedded between the upper shell and the lower shell, and a flexible wheel is sleeved on the second shaft section of the output shaft, the flexible wheel is connected to the output shaft and rotates with the output shaft, and the outer teeth of the flexible wheel are meshed and driven with the inner teeth of the rigid wheel, and the flexible bearing is installed between the inner wall of the flexible wheel and the outer ring of the large bevel gear to support the meshing transmission of the flexible wheel. When the cylindrical gear transmission structure is connected to an external motor for power input, the small bevel gear is driven by the first cylindrical gear step shaft in the cylindrical gear transmission structure, and the large bevel gear and the small bevel gear are meshed with each other. The manufacturing is simple, the torque transmission is stable, and the normal force capacity is large. The structure is compact, the speed ratio is high, the output torque is large, the weight is light, and the noise is low. It is suitable for tooling in small spaces and high precision positions. The whole structure has modular characteristics. Small harmonic reducers with different speed ratios can be selected to meet different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the internal cross-sectional structure of an embodiment of a harmonic reducer provided in an embodiment of the utility model;

[0025] Figure 2 It is a schematic diagram of the internal cross-sectional structure of the housing provided in an embodiment of the utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the output shaft provided in an embodiment of the utility model;

[0027] Figure 4It is a schematic diagram of the assembly structure of the bevel gear transmission assembly and the flexible gear transmission assembly provided in the embodiment of the utility model;

[0028] Figure 5 It is a schematic diagram of the assembly structure of the flexible gear transmission assembly and the output shaft provided in the embodiment of the utility model;

[0029] Figure 6 The figure is a schematic diagram of the assembly structure of the flexible wheel transmission assembly and the output shaft provided in the embodiment of the utility model.

[0030] Description of reference numerals:

[0031] 1- housing;

[0032] 11- upper shell;

[0033] 12-lower housing; 121-second output shaft stepped hole; 1211-second bearing hole;

[0034] 13-motor mounting housing; 131-gear mounting hole; 1311-third bearing hole; 1312-fourth bearing hole; 14-potentiometer mounting plate; 15-first bearing hole;

[0035] 2-Cylindrical gear transmission structure;

[0036] 21-first cylindrical gear; 211-first cylindrical gear stepped shaft; 2111-first pin hole; 22-second cylindrical gear; 23-first bearing; 24-second bearing;

[0037] 3- output shaft;

[0038] 31-first shaft section; 32-second shaft section; 321-first shaft shoulder; 33-third shaft section; 331-second shaft shoulder; 332-second inner stop; 34-fourth shaft section; 35-third bearing; 36-fourth bearing;

[0039] 4-bevel gear transmission assembly;

[0040] 41-large bevel gear; 411-first inner stop; 42-small bevel gear; 421-first center hole; 422-second pin hole; 423-latch pin; 43-fifth bearing; 44-large bevel gear baffle; 441-first outer stop; 442-first locking piece; 45-first sleeve;

[0041] 5-flexwheel transmission assembly;

[0042] 51-rigid wheel; 511-protruding column; 52-flexible wheel; 521-first boss; 53-flexible bearing; 54-flexible wheel pressure plate; 541-second locking member; 542-cylindrical pin. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0046] See also Figure 1-6 As shown, the embodiment of the utility model provides a harmonic reducer, which includes a housing 1, a cylindrical gear transmission structure 2, an output shaft 3, a bevel gear transmission assembly 4 and a flexible gear transmission assembly 5, wherein:

[0047] The housing 1 includes an upper housing 11, a lower housing 12 and a motor mounting housing 13. The upper housing 11 and the lower housing 12 are respectively supported and connected on both sides of the motor mounting housing 13, and a first bearing hole 15 is formed between the upper housing 11 and the motor mounting housing 13. The lower housing 12 is provided with a second bearing hole 1211 coaxially arranged opposite to the first bearing hole 15.

[0048] The cylindrical gear transmission structure 2 includes a first cylindrical gear 21 and a second cylindrical gear 22 which mesh with each other. Both sides of a first cylindrical gear stepped shaft 211 of the first cylindrical gear 21 are rotatably supported in the motor mounting housing 13 by a first bearing 23 and a second bearing 24 respectively.

[0049] The output shaft 3 includes a first shaft section 31, a second shaft section 32, a third shaft section 33 and a fourth shaft section 34 which are coaxially connected in sequence, and the diameters of the first shaft section 31, the second shaft section 32 and the third shaft section 33 increase successively, and the diameter of the fourth shaft section 34 is smaller than the diameter of the third shaft section 33 and larger than the diameter of the second shaft section 32; the first shaft section 31 is installed in the first bearing hole 15 through the third bearing 35, and the third shaft section 33 is installed in the second bearing hole 1211 through the fourth bearing 36.

[0050] The bevel gear transmission assembly 4 includes a large bevel gear 41, a small bevel gear 42 and a fifth bearing 43. The large bevel gear 41 is sleeved on the first shaft section 31 of the output shaft 3, and the small bevel gear 42 is inserted on the top of the first cylindrical gear stepped shaft 211. The fifth bearing 43 is located between the first shaft section 31 and the first inner stop 411 of the large bevel gear 41. The central axes of the large bevel gear 41 and the small bevel gear 42 are perpendicular, and the large bevel gear 41 and the small bevel gear 42 are meshed with each other for transmission.

[0051] The flexible wheel transmission assembly 5 includes a rigid wheel 51, a flexible wheel 52 and a flexible bearing 53. The rigid wheel 51 is embedded between the upper shell 11 and the lower shell 12. The flexible wheel 52 is sleeved on the first shaft section 31. The flexible bearing 53 is sleeved between the outer ring of the large bevel gear 41 and the inner ring of the flexible wheel 52. The rigid wheel 51 and the flexible wheel 52 are meshed for transmission.

[0052] See also Figure 1 As shown, in the specific scheme of the utility model, the harmonic reducer is composed of a housing 1, a cylindrical gear transmission structure 2, an output shaft 3, a bevel gear transmission assembly 4 and a flexible wheel transmission assembly 5. The reducer structure is a three-stage transmission, the first stage is a cylindrical gear transmission, the second stage is a bevel gear transmission, and the third stage is a flexible wheel transmission, which improves the speed ratio and the maximum output torque.

[0053] The housing 1 is used as a bearing housing. In the embodiment of the utility model, the housing 1 is connected by an upper housing 11, a lower housing 12 and a motor mounting housing 13 to form an installation space, so that the structure is compact and the shaft transmission is also convenient. The connection between the upper housing 11 and the motor mounting housing 13 forms a first bearing hole 15, and the lower housing 12 has a second bearing hole 1211, and the first bearing hole 15 and the second bearing hole 1211 are arranged concentrically.

[0054] The cylindrical gear transmission structure 2 serves as the first-stage input transmission structure. In this embodiment, it is composed of a first cylindrical gear 21 and a second cylindrical gear 22, and the first cylindrical gear 21 and the second cylindrical gear 22 are meshed with each other for transmission. A gear mounting hole 131 is provided in the motor mounting housing 13, and a third bearing hole 1311 and a fourth bearing hole 1312 are respectively provided on both sides of the gear mounting hole 131, wherein a first bearing 23 is installed in the third bearing hole 1311, and a second bearing 24 is installed in the fourth bearing hole 1312, and both sides of the first cylindrical gear stepped shaft 211 of the first cylindrical gear 21 are rotatably supported in the motor mounting housing 13 by the first bearing 23 and the second bearing 24 respectively.

[0055] The output shaft 3 is composed of a first shaft section 31, a second shaft section 32, a third shaft section 33 and a fourth shaft section 34 which are coaxially connected in sequence, wherein the first shaft section 31 of the output shaft 3 is rotatably supported and connected to the upper housing 11 via a third bearing 35, and the third shaft section 33 of the output shaft 3 is rotatably supported and connected to the lower housing 12 via a fourth bearing 36, so that the output shaft 3 can rotate freely on the upper housing 11 and the lower housing 12.

[0056] The bevel gear transmission assembly 4 serves as an intermediate transmission structure. In the present embodiment, the bevel gear transmission assembly 4 is composed of a large bevel gear 41, a small bevel gear 42 and a fifth bearing 43, wherein the large bevel gear 41 is rotatably connected to the first shaft section 31 of the output shaft 3 through the fifth bearing 43, and the small bevel gear 42 is vertically installed on the top of the first cylindrical gear stepped shaft 211, and the large bevel gear 41 and the small bevel gear 42 are meshed and transmitted to each other, and the fifth bearing 43 is located between the first shaft section 31 and the first inner stop 411 of the large bevel gear 41 to support the rotation of the large bevel gear 41 on the output shaft 3.

[0057] The flexible wheel transmission assembly 5 serves as the last stage transmission structure. In this embodiment, the flexible wheel transmission assembly 5 is composed of a rigid wheel 51, a flexible wheel 52 and a flexible bearing 53, and the rigid wheel 51 is embedded between the upper shell 11 and the lower shell 12, and a flexible wheel 52 is sleeved on the second shaft section 32 of the output shaft 3. The flexible wheel 52 is connected to the output shaft 3 and rotates with the output shaft 3. The outer teeth of the flexible wheel 52 are meshed with the inner teeth of the rigid wheel 51 for transmission, and the flexible bearing 53 is installed between the inner wall of the flexible wheel 52 and the outer ring of the large bevel gear 41 to support the meshing transmission of the flexible wheel 52.

[0058] In this embodiment, the cylindrical gear transmission structure 2 is connected to an external motor for power input, and the small bevel gear 42 is driven by the first cylindrical gear stepped shaft 211 in the cylindrical gear transmission structure 2. The large bevel gear 41 and the small bevel gear 42 are meshed with each other. The manufacturing is simple, the torque transmission is stable, the normal force capacity is large, and the transmission ratio is constant, so that the output shaft 3 can transmit a larger torque, thereby improving the practicality of the harmonic reducer; at the same time, the flexible wheel transmission assembly 5 has the characteristics of small friction coefficient, low noise, low vibration, and good stability, so that the operation of the harmonic reducer can be smoother and more stable, further reducing noise, reducing speed, and increasing torque.

[0059] It should be noted that the third bearing 35 in this embodiment is preferably a deep groove ball bearing, and the fourth bearing 36 is preferably a deep groove ball bearing. Deep groove ball bearings have the characteristics of low friction coefficient, low noise, low vibration, and good stability. Therefore, by setting the third bearing 35 and the fourth bearing 36 to be deep groove ball bearings and being located at both ends of the output shaft 3, the operation of the harmonic reducer can be smoother and more stable, and the noise can be further reduced.

[0060] Finally, the shaft diameter of the output shaft 3 and the matching deep groove ball bearing are maximized within the limited installation space. This approach not only has a compact structure and high precision, but also greatly increases the ability to withstand bending moments.

[0061] Furthermore, a first pin hole 2111 is horizontally penetrated on one side of the first cylindrical gear stepped shaft 211 close to the small bevel gear 42, and a first center hole 421 extending along the axial direction and a second pin hole 422 penetrating the small bevel gear 42 perpendicular to the axial direction are formed on one end of the small bevel gear 42 close to the first cylindrical gear 21. The first cylindrical gear stepped shaft 211 is suitable for being inserted into the first center hole 421, and a pin 423 is inserted into the second pin hole 422 and the first pin hole 2111.

[0062] See also Figure 3 , 5 As shown, in a specific solution of the present utility model, the cylindrical gear transmission structure 2 and the bevel gear transmission assembly 4 are connected by a pin shaft to transmit the torque of the first cylindrical gear stepped shaft 211 to the small bevel gear 42.

[0063] Furthermore, the bevel gear transmission assembly 4 also includes a large bevel gear baffle 44, which is sleeved on the second shaft section 32, and is connected to the side of the large bevel gear 41 away from the third bearing 35, and the first outer stop 441 of the large bevel gear baffle 44 is suitable for being inserted into the first inner stop 411 of the large bevel gear 41 and abutting against the end face of the fifth bearing 43.

[0064] See also Figure 5As shown, in the specific solution of the utility model, the large bevel gear baffle 44 is used to realize the axial positioning of the large bevel gear 41. At the same time, a first outer stop 441 can be set on one side of the inner hole of the large bevel gear baffle 44, and the first outer stop 441 is inserted into the first inner stop 411 of the large bevel gear 41, so that the end face of one side of the fifth bearing 43 can be axially limited.

[0065] Furthermore, a first shaft sleeve 45 is sleeved on the first shaft section 31 , and the first shaft sleeve 45 is located between the third bearing 35 and the fifth bearing 43 , and abuts against end surfaces of the third bearing 35 and the fifth bearing 43 .

[0066] Specifically, see Figure 5 As shown, in a specific solution of the present invention, two ends of the first sleeve 45 abut against the fifth bearing 43 and the third bearing 35 respectively, so that the first sleeve 45 limits the axial position of the fifth bearing 43 and the third bearing 35 .

[0067] Furthermore, a first shaft shoulder 321 is provided on one side of the second shaft segment 32 close to the third shaft segment 33, a first boss 521 is provided at the bottom of the flexible wheel 52, and the first shaft shoulder 321 is suitable for being inserted into the inner hole of the first boss 521, and the first boss 521 is suitable for being inserted into the second inner stop 332 of the third shaft segment 33.

[0068] Specifically, see Figure 3 , 6 As shown, in a specific solution of the present invention, the flexible wheel 52 is sleeved on a side of the second shaft segment 32 close to the third shaft segment 33. Since a first boss 521 is provided at the bottom of the flexible wheel 52, a first shaft shoulder 321 is provided on a side of the second shaft segment 32 close to the third shaft segment 33. The first shaft shoulder 321 is inserted into the inner hole of the first boss 521, so that the flexible wheel 52 can be radially positioned.

[0069] Furthermore, the flexwheel transmission assembly 5 also includes a flexwheel pressure plate 54 sleeved on the second shaft section 32 and located inside the flexwheel 52 , and the flexwheel pressure plate 54 , the flexwheel 52 and the third shaft section 33 are connected by a plurality of evenly distributed second locking members 541 and cylindrical pins 542 .

[0070] Specifically, see Figure 6 As shown, in a specific embodiment of the present invention, the flexible wheel transmission assembly 5 also includes a flexible wheel pressure plate 54. In this embodiment, the flexible wheel pressure plate 54 is sleeved and connected to the second shaft segment 32 and is located inside the flexible wheel 52. By sleeved the flexible wheel pressure plate 54 on the second shaft segment 32, and providing inner and outer stoppers at the bottom of the flexible wheel 52, the radial limitation of the flexible wheel 52 can be achieved by cooperating the inner and outer stoppers of the flexible wheel 52 with the second inner stopper 332 on the third shaft segment 33.

[0071] In order to achieve a fixed connection between the flexible wheel pressure plate 54 and the flexible wheel 52, a plurality of evenly distributed second locking members 541 and cylindrical pins 542 are provided on the flexible wheel pressure plate 54 parallel to the central axis of the second shaft segment 32, and the flexible wheel pressure plate 54 is completely locked on the flexible wheel 52 and the third shaft segment 33 through the second locking members 541.

[0072] Furthermore, a first outer stop 441 is provided at one end of the large bevel gear baffle 44 close to the large bevel gear 41. The first outer stop 441 is suitable for being inserted into the first inner stop 411 of the large bevel gear 41, so that the first outer stop 441 abuts against the right end face of the fifth bearing 43, and the outer end of the large bevel gear baffle 44 abuts against the end face of the flexible bearing 53. The large bevel gear baffle 44 and the large bevel gear 41 are fixedly connected by a number of evenly distributed first locking members 442.

[0073] Specifically, see Figure 5 As shown, in the specific solution of the utility model, the large bevel gear baffle 44 and the large bevel gear 41 are provided with inner and outer stoppers, so as to realize the axial limitation of the large bevel gear 41 and the limitation of the flexible bearing 53 at the same time.

[0074] In order to achieve the fixation between the large bevel gear baffle 44 and the large bevel gear 41 , evenly distributed first locking members 442 are provided on the right end face of the large bevel gear 41 , and the large bevel gear baffle 44 and the large bevel gear 41 are fixed by the first locking members 442 .

[0075] Furthermore, a second shaft shoulder 331 is provided at one end of the third shaft segment 33 close to the second shaft segment 32 , and the second shaft shoulder 331 is suitable for abutting against the fourth bearing 36 .

[0076] See also Figure 1 , 2 As shown in Figures 4 and 5, in a specific embodiment of the present invention, the fourth bearing 36 is suitable for being installed in the second bearing hole 1211, and one side of the fourth bearing 36 abuts against the inner wall of the second output shaft stepped hole 121, and the other side bottom end surface of the fourth bearing 36 is axially limited by the second shaft shoulder 331 on the third shaft segment 33.

[0077] Furthermore, a boss 511 is provided at the center of the outer circumference of the rigid wheel 51, one side of the boss 511 is suitable for being clamped between the upper shell 11 and the lower shell 12, and is tightly flush with the outer end surfaces of the upper shell 11 and the lower shell 12, and the other side of the boss 511 is suitable for being clamped between the motor mounting shell 13 and the lower shell 12, and is supported on the inner wall of the motor mounting shell 13.

[0078] See also Figure 6As shown, in the specific solution of the present utility model, through the structural arrangement of the upper shell 11 and the lower shell 12, the overall structure can be beautiful while ensuring the reliable installation of the rigid wheel 51.

[0079] Furthermore, a potentiometer mounting plate 14 is connected to the outer ends of the upper housing 11 and the motor mounting housing 13 near the first bearing hole 15 , and the outer end surface of the potentiometer mounting plate 14 is flush with the outer end surfaces of the upper housing 11 and the motor mounting housing 13 .

[0080] The potentiometer mounting plate 14 is one of the accessories on the potentiometer, and plays the role of fixing and limiting the carbon sheet. The potentiometer mounting plate 14 in this embodiment is similar to a cylindrical end cap structure, which can be just inserted into the gap formed between the upper housing 11 and the motor mounting housing 13.

[0081] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A harmonic reducer, characterized in that: include: A housing (1) comprising an upper housing (11), a lower housing (12) and a motor mounting housing (13); the upper housing (11) and the lower housing (12) are respectively supported and connected to two sides of the motor mounting housing (13); a first bearing hole (15) is formed between the upper housing (11) and the motor mounting housing (13); and the lower housing (12) is provided with a second bearing hole (1211) coaxially arranged opposite to the first bearing hole (15); A cylindrical gear transmission structure (2), comprising a first cylindrical gear (21) and a second cylindrical gear (22) meshing with each other for transmission, wherein two sides of a first cylindrical gear stepped shaft (211) of the first cylindrical gear (21) are rotatably supported in the motor mounting housing (13) via a first bearing (23) and a second bearing (24) respectively; The output shaft (3) comprises a first shaft section (31), a second shaft section (32), a third shaft section (33) and a fourth shaft section (34) which are coaxially connected in sequence, wherein the diameters of the first shaft section (31), the second shaft section (32) and the third shaft section (33) increase in sequence, and the diameter of the fourth shaft section (34) is smaller than the diameter of the third shaft section (33) and larger than the diameter of the second shaft section (32); the first shaft section (31) is mounted in the first bearing hole (15) via a third bearing (35), and the third shaft section (33) is mounted in the second bearing hole (1211) via a fourth bearing (36); A bevel gear transmission assembly (4), comprising a large bevel gear (41) sleeved on the first shaft section (31) of the output shaft (3), a small bevel gear (42) inserted on the top of the first cylindrical gear stepped shaft (211), and a fifth bearing (43) located between the first shaft section (31) and the first inner stop (411) of the large bevel gear (41), wherein the central axes of the large bevel gear (41) and the small bevel gear (42) are perpendicular, and the large bevel gear (41) and the small bevel gear (42) are meshed with each other for transmission; The flexible wheel transmission assembly (5) comprises a rigid wheel (51) embedded between the upper housing (11) and the lower housing (12), a flexible wheel (52) sleeved on the second shaft section (32), and a flexible bearing (53) sleeved between the outer ring of the large bevel gear (41) and the inner ring of the flexible wheel (52), wherein the rigid wheel (51) and the flexible wheel (52) are meshed for transmission.

2. The harmonic reducer according to claim 1, characterized in that: A first pin hole (2111) is provided on one side of the first cylindrical gear step shaft (211) close to the small bevel gear (42) and passes through horizontally; a first center hole (421) extending along the axial direction and a second pin hole (422) passing through the small bevel gear (42) perpendicular to the axial direction are provided on one end of the small bevel gear (42) close to the first cylindrical gear (21); the first cylindrical gear step shaft (211) is suitable for being inserted into the first center hole (421), and a pin (423) is inserted into the second pin hole (422) and the first pin hole (2111).

3. The harmonic reducer according to claim 1, characterized in that: The bevel gear transmission assembly (4) further comprises a large bevel gear baffle (44) sleeved on the second shaft section (32), the large bevel gear baffle (44) being connected to a side of the large bevel gear (41) away from the third bearing (35), and a first outer stop (441) of the large bevel gear baffle (44) being adapted to be inserted into a first inner stop (411) of the large bevel gear (41) and abutting against an end face of the fifth bearing (43).

4. The harmonic reducer according to claim 1, characterized in that: A first shaft sleeve (45) is also sleeved on the first shaft section (31), and the first shaft sleeve (45) is located between the third bearing (35) and the fifth bearing (43), and abuts against the end surfaces of the third bearing (35) and the fifth bearing (43).

5. The harmonic reducer according to claim 1, characterized in that: A first shaft shoulder (321) is provided on a side of the second shaft section (32) close to the third shaft section (33), a first boss (521) is provided at the bottom of the flexible wheel (52), and the first shaft shoulder (321) is suitable for being inserted into the inner hole of the first boss (521), and the first boss (521) is suitable for being inserted into the second inner stop (332) of the third shaft section (33).

6. The harmonic reducer according to claim 1, characterized in that: The flexible wheel transmission assembly (5) further comprises a flexible wheel pressure plate (54) sleeved on the second shaft section (32) and located inside the flexible wheel (52), and the flexible wheel pressure plate (54), the flexible wheel (52) and the third shaft section (33) are connected via a plurality of evenly distributed second locking members (541) and cylindrical pins (542).

7. The harmonic reducer according to claim 3, characterized in that: The large bevel gear baffle (44) is also provided with a first outer stop (441) at one end close to the large bevel gear (41), and the first outer stop (441) is suitable for being inserted into the first inner stop (411) of the large bevel gear (41), so that the first outer stop (441) abuts against the right end face of the fifth bearing (43), and the outer end of the large bevel gear baffle (44) abuts against the end face of the flexible bearing (53), and the large bevel gear baffle (44) and the large bevel gear (41) are fixedly connected by a plurality of evenly distributed first locking members (442).

8. The harmonic reducer according to claim 1, characterized in that: A second shaft shoulder (331) is provided at one end of the third shaft section (33) close to the second shaft section (32), and the second shaft shoulder (331) is suitable for abutting against the fourth bearing (36).

9. The harmonic reducer according to claim 8, characterized in that: A boss (511) is provided at the center of the outer circumference of the rigid wheel (51), one side of the boss (511) is suitable for being clamped between the upper shell (11) and the lower shell (12), and is closely aligned with the outer end surfaces of the upper shell (11) and the lower shell (12), and the other side of the boss (511) is suitable for being clamped between the motor mounting shell (13) and the lower shell (12), and is supported on the inner wall of the motor mounting shell (13).

10. The harmonic reducer according to any one of claims 1 to 9, characterized in that: A potentiometer mounting plate (14) is also connected to the outer end between the upper housing (11) and the motor mounting housing (13) near the first bearing hole (15), and the outer end surface of the potentiometer mounting plate (14) is flush with the outer end surfaces of the upper housing (11) and the motor mounting housing (13).

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