A harmonic reducer

Abstract

The present invention discloses a harmonic reducer, which relates to the field of mechanical transmission technology. The harmonic reducer includes a wave generator, a flexible spline, a steel wheel and an oil supply mechanism. The flexible spline is sleeved outside the wave generator; the inner ring of the steel wheel is provided with a plurality of teeth at intervals, and a slide groove is provided between adjacent teeth. The steel wheel is provided with a through oil supply channel along the circumference, and the oil supply channel is connected to the slide groove through an oil outlet hole, so that the flexible spline can mesh with the teeth; the oil supply mechanism is provided in the slide groove along the radial direction of the steel wheel, and the oil supply mechanism can partially enter the oil supply channel under the pressure of the flexible spline to supply oil to the meshing part of the flexible spline and the teeth. The harmonic reducer can supply sufficient lubricating oil to the meshing part of the steel wheel and the flexible spline, thereby preventing excessive wear between the steel wheel and the flexible spline, and ensuring the accuracy and service life of the harmonic reducer.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular to a harmonic reducer. Background Art

[0002] Harmonic reducers are often used as transmission mechanisms in high-dynamic servo systems due to their high load capacity, large transmission ratio, compact size, light weight, high transmission efficiency, long life, smooth transmission, no impact, no noise, and high motion precision. Understandably, sufficient lubricant is required between the steel pulley and the flexspline of the harmonic reducer to meet the lubrication needs of the harmonic reducer and prevent excessive wear that affects the accuracy and service life of the harmonic reducer.

[0003] In existing technologies, harmonic reducers primarily lubricate the meshing teeth by placing them in a lubricating fluid. The movement of the gears drives the lubricating fluid, thereby achieving lubrication between the meshing teeth. However, this device has a simple structure, and when the gears drive the lubricating fluid to the top, the amount of lubricant remaining on the gears is low, resulting in uneven lubrication and a reduced service life for the equipment.

[0004] In view of the above problems, it is necessary to develop a harmonic reducer to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a harmonic reducer that can supply sufficient lubricating oil to the meshing point between the steel wheel and the flexible wheel, thereby preventing excessive wear between the steel wheel and the flexible wheel and ensuring the accuracy and service life of the harmonic reducer.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A harmonic reducer, comprising:

[0008] wave generator;

[0009] a flexible wheel, sleeved outside the wave generator;

[0010] A steel wheel, wherein a plurality of gear teeth are arranged at intervals on the inner ring of the steel wheel, a chute is provided between adjacent gear teeth, an oil supply passage is provided through the circumference of the steel wheel, the oil supply passage is connected to the chute via an oil outlet hole, and the flexible spline can mesh with the gear teeth;

[0011] An oil feeding mechanism is provided in the slide groove for radial sliding along the steel wheel, and the oil feeding mechanism can partially enter the oil supply passage under the pressure of the flexible wheel to supply oil to the meshing position of the flexible wheel and the gear teeth.

[0012] Preferably, the oil inlet mechanism comprises:

[0013] An oil outlet box, the oil outlet box is slidably arranged on the slide groove, and the oil outlet box is provided with a lubricating oil hole;

[0014] A connecting pipe, one end of which is connected to the oil outlet tank, the other end of which is blocked by a blocking member, an oil guide hole being provided on the side wall of the connecting pipe, the connecting pipe being slidably disposed in the oil outlet hole, the flexible wheel pressing against the oil outlet tank so that part of the connecting pipe enters the oil supply passage, and the oil supply passage is connected to the connecting pipe through the oil guide hole.

[0015] Preferably, the oil inlet mechanism also includes a flow limiting part, a connecting hole is opened on the side wall of the connecting pipe, the flow limiting part includes a flow limiting pad, a connecting rod and a limiting part connected in sequence, the connecting rod is slidably arranged in the connecting hole, the limiting part is located on the outside of the connecting pipe, the flow limiting pad is located on the inside of the connecting pipe, and the flow limiting pad can cover the oil guide hole.

[0016] Preferably, a sealing ring is provided in the oil outlet hole, and the connecting pipe passes through the sealing ring and is in sliding contact with the sealing ring.

[0017] Preferably, the oil outlet tank is provided with a plurality of lubricating oil holes at intervals.

[0018] Preferably, oil-soaked cotton is provided in the oil outlet box.

[0019] Preferably, the oil inlet mechanism further includes an elastic member, and two ends of the elastic member respectively abut against the bottom of the slide groove and the oil inlet mechanism.

[0020] Preferably, an abutment portion is provided at the opening of the chute, and the oil inlet mechanism can abut against the abutment portion when sliding in a direction away from the bottom of the chute.

[0021] Preferably, it further includes an oil supply mechanism, which includes an oil storage tank. The steel wheel is provided with an oil inlet hole, and both ends of the oil inlet hole are respectively connected to the oil storage tank and the oil supply channel.

[0022] Preferably, a buffer cotton is provided in the oil inlet hole.

[0023] Beneficial effects of the present invention:

[0024] The present invention provides a harmonic reducer. In this harmonic reducer, when the flexspline meshes with the steel wheel under the drive of a wave generator, the flexspline presses against the oil inlet mechanism at the meshing point, causing the oil inlet mechanism to partially enter the oil supply passage. Lubricating oil in the oil supply passage then flows through the oil inlet mechanism into the spaces between the teeth of the steel wheel, thereby lubricating the meshing point between the flexspline and the steel wheel and preventing excessive wear between the two wheels.

[0025] The harmonic reducer can supply sufficient lubricating oil to the meshing point between the steel wheel and the flexible wheel, thereby preventing excessive wear between the steel wheel and the flexible wheel and ensuring the accuracy and service life of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the harmonic reducer provided by the present invention;

[0027] Figure 2 is a cross-sectional view of the harmonic reducer provided by the present invention;

[0028] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle;

[0029] Figure 4 yes Figure 2 A partial enlarged view of point B in the middle;

[0030] Figure 5 It is a cross-sectional view of the steel wheel and the oil inlet mechanism provided by the present invention;

[0031] Figure 6 yes Figure 5 A partial enlarged view of point C in the middle;

[0032] Figure 7 is a cross-sectional view of the connecting pipe provided by the present invention;

[0033] Figure 8 yes Figure 7 A partial enlarged view of point E in the middle;

[0034] Figure 9 yes Figure 5 A partial enlarged view of point D in the middle.

[0035] In the picture:

[0036] 1. Wave generator; 2. Flexspline; 3. Steel wheel; 4. Oil inlet mechanism; 5. Oil supply mechanism; 6. Buffer cotton;

[0037] 31. Gear teeth; 32. Slideway; 33. Oil supply channel; 34. Oil outlet hole; 35. Oil inlet hole; 41. Oil outlet tank; 42. Connecting pipe; 43. Flow limiting element; 44. Oil-soaked cotton; 45. Elastic element; 46. Sealing ring; 51. Oil storage tank; 52. Liquid level sensor; 53. Oil pipe; 54. Valve;

[0038] 321. Abutment portion; 411. Lubricating oil hole; 421. Blocking member; 422. Oil guide hole; 423. Connecting hole; 431. Flow limiting pad; 432. Connecting rod; 433. Position limiting member. DETAILED DESCRIPTION

[0039] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0041] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed or removable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0042] Unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0043] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0044] Harmonic reducers are often used as transmission mechanisms in servo systems with high dynamic performance because of their advantages of high load capacity, large transmission ratio, small size, light weight, high transmission efficiency, long life, smooth transmission, no impact, no noise, and high motion precision.

[0045] like Figure 1As shown, the harmonic reducer includes a wave generator 1, a flexspline 2, and a steel pulley 3. The flexspline 2 is sleeved outside the wave generator 1. The inner ring of the steel pulley 3 is provided with a plurality of teeth 31 at intervals, and the flexspline 2 can mesh with the teeth 31. The input shaft is fixedly connected to the wave generator 1. When the input shaft rotates, it drives the wave generator 1 to rotate, generating periodic elastic deformation waves that deform the flexspline 2. The extended portion of the flexspline 2 meshes with the inner ring of the steel pulley 3, while the remaining portion disengages from the steel pulley 3. The flexspline 2 and steel pulley 3 have equal tooth pitch and a smaller number of teeth, allowing the flexspline 2 and steel pulley 3 to rotate relative to each other. When one of the two is fixed, the other acts as the output end to output torque and speed.

[0046] It is understandable that there needs to be sufficient lubricating fluid between the steel wheel 3 and the flexible wheel 2 of the harmonic reducer to meet the lubrication needs of the harmonic reducer and prevent the accuracy and service life of the harmonic reducer from being affected by excessive wear.

[0047] To solve this problem, this embodiment provides a harmonic reducer. Figure 2-Figure 5 As shown, the harmonic reducer also includes an oil feed mechanism 4. A chute 32 is defined between adjacent teeth 31 of the steel wheel 3 of the harmonic reducer. A through oil supply passage 33 is defined circumferentially along the steel wheel 3. The oil supply passage 33 communicates with the chute 32 via an oil outlet 34. The oil feed mechanism 4 slides radially along the steel wheel 3 within the chute 32. Under pressure from the flexspline 2, the oil feed mechanism 4 can partially enter the oil supply passage 33 to supply oil to the meshing area between the flexspline 2 and the teeth 31.

[0048] In this harmonic reducer, when the flexible spline 2 is driven by the wave generator 1 to mesh with the steel wheel 3, the flexible spline 2 can press the oil inlet mechanism 4 at the meshing point, so that part of the oil inlet mechanism 4 enters the oil supply channel 33. The lubricating oil in the oil supply channel 33 can enter between the gear teeth 31 of the steel wheel 3 through the oil inlet mechanism 4, thereby lubricating the meshing point between the flexible spline 2 and the steel wheel 3 and preventing excessive wear between the steel wheel 3 and the flexible spline 2.

[0049] The harmonic reducer can supply sufficient lubricating oil to the meshing point between the steel wheel 3 and the flexible spline 2, thereby preventing excessive wear between the steel wheel 3 and the flexible spline 2 and ensuring the accuracy and service life of the harmonic reducer.

[0050] It is understandable that a slot 32 is defined between every two adjacent gear teeth 31 , and an oil feed mechanism 4 is slidably disposed in each slot 32 to provide sufficient lubricating oil when the flexible wheel 2 and the steel wheel 3 are engaged.

[0051] like Figure 5 and Figure 6As shown, the oil inlet mechanism 4 includes an oil outlet tank 41 and a connecting pipe 42. The oil outlet tank 41 is slidably mounted in the chute 32 and defines a lubricating oil hole 411. One end of the connecting pipe 42 is connected to the oil outlet tank 41, and the other end of the connecting pipe 42 is blocked by a blocking member 421. An oil guide hole 422 is defined in the sidewall of the connecting pipe 42. The connecting pipe 42 is slidably mounted in the oil outlet hole 34. The flexible wheel 2 presses against the oil outlet tank 41 to allow a portion of the connecting pipe 42 to enter the oil supply passage 33. The oil supply passage 33 is connected to the connecting pipe 42 via the oil guide hole 422.

[0052] When the extended part of the flexible spline 2 meshes with the gear teeth 31 of the inner ring of the steel wheel 3, it will press the oil inlet mechanism 4, causing part of the connecting pipe 42 to enter the oil supply channel 33. The lubricating oil in the oil supply channel 33 can enter the connecting pipe 42 through the oil guide hole 422 and flow out through the lubricating oil hole 411 of the oil outlet tank 41, which can ensure that there is sufficient lubricating oil at the meshing point of the steel wheel 3 and the flexible spline 2, and can also prevent the lubricating oil from flowing out from the non-meshing part of the steel wheel 3 and the flexible spline 2, causing waste.

[0053] Specifically, the oil outlet tank 41 is provided with a plurality of lubricating oil holes 411 at intervals. The plurality of lubricating oil holes 411 are arranged at intervals along the thickness direction of the steel wheel 3, so that the lubricating oil can quickly fill the meshing portion of the flexible wheel 2 and the steel wheel 3, thereby improving lubrication efficiency.

[0054] Preferably, oil-soaked cotton 44 is provided in the oil outlet box 41. When the lubricating oil enters the oil outlet box 41, the lubricating oil is absorbed by the oil-soaked cotton 44, which restricts the oil outflow, thereby preventing the lubricating oil hole 411 from continuously outflowing oil when the gears are not engaged, causing waste of resources.

[0055] like Figure 7 and Figure 8 As shown, the oil inlet mechanism 4 also includes a flow limiting part 43, and a connecting hole 423 is opened on the side wall of the connecting pipe 42. The flow limiting part 43 includes a flow limiting pad 431, a connecting rod 432 and a limiting part 433 connected in sequence. The connecting rod 432 is slidably set in the connecting hole 423, the limiting part 433 is located on the outside of the connecting pipe 42, and the flow limiting pad 431 is located on the inside of the connecting pipe 42, and the flow limiting pad 431 can cover the oil guide hole 422.

[0056] The flow-limiting member 43 is capable of radial movement relative to the connecting pipe 42. When the flexible wheel 2 presses against the oil tank 41, the connecting pipe 42 enters the oil supply passage 33. The lubricating oil in the oil supply passage 33 and the lubricating oil remaining in the connecting pipe 42 jointly push the flow-limiting member 43. When the pressure outside the connecting pipe 42 is greater than the pressure inside, the flow-limiting member 43 moves toward the inside of the connecting pipe 42, and the flow-limiting pad 431 disengages from the oil guide hole 422, allowing the lubricating oil to enter the connecting pipe 42 through the guide hole. When the pressure outside the connecting pipe 42 is equal to or less than the pressure inside the connecting pipe 42, it indicates that the amount of lubricating oil in the connecting pipe 42 is sufficient. At this time, the flow-limiting member 43 moves toward the outside of the connecting pipe 42, and the flow-limiting pad 431 covers the oil guide hole 422, preventing the lubricating oil from entering the connecting pipe 42 and preventing the waste of resources.

[0057] Specifically, a plurality of connecting holes 423 are provided on the side wall of the connecting pipe 42, and a plurality of oil guide holes 422 are provided around each oil guide hole 422. Each connecting hole 423 is slidably arranged on a flow limiting member 43, and the flow limiting pad 431 of the flow limiting member 43 can cover the plurality of oil guide holes 422 around the connecting hole 423.

[0058] like Figure 6 As shown, a sealing ring 46 is provided in the oil outlet hole 34, and the connecting pipe 42 passes through the sealing ring 46 and slides against the sealing ring 46. The sealing ring 46 can seal the gap between the connecting pipe 42 and the oil outlet hole 34, and when the connecting pipe 42 does not enter the oil supply passage 33, it ensures that lubricating oil does not enter the connecting pipe 42.

[0059] like Figure 9 As shown, the oil inlet mechanism 4 further includes an elastic member 45, the ends of which respectively abut the bottom of the chute 32 and the oil inlet mechanism 4. Specifically, the ends of the elastic member 45 respectively abut the bottom of the chute 32 and the oil outlet tank 41. When the flexible spline 2 and the steel wheel 3 are not engaged, the elastic member 45 can drive the oil outlet tank 41 to extend out of the chute 32, thereby causing the connecting pipe 42 to slide out of the oil supply channel 33, thus avoiding continuous oil supply when the flexible spline 2 and the steel wheel 3 are not engaged, which would waste resources.

[0060] Furthermore, an abutment portion 321 is provided at the opening of the chute 32. When the oil inlet mechanism 4 slides away from the bottom of the chute 32, it abuts against the abutment portion 321. The abutment portion 321 prevents the oil inlet mechanism 4 from completely disengaging from the chute 32, thereby ensuring the sliding travel of the oil inlet mechanism 4. Specifically, the abutment portion 321 abuts against the oil outlet tank 41.

[0061] like Figure 1-Figure 3As shown, the harmonic reducer also includes an oil supply mechanism 5, which includes an oil tank 51. The steel drum 3 is provided with an oil inlet hole 35, and the two ends of the oil inlet hole 35 are connected to the oil tank 51 and the oil supply channel 33. The oil tank 51 can store lubricating oil. When the pressure outside the connecting pipe 42 is greater than the pressure inside, the flow restrictor 43 moves toward the inside of the connecting pipe 42, and the flow restrictor pad 431 disengages the oil guide hole 422, allowing the lubricating oil to enter the connecting pipe 42 through the guide hole. At this time, the lubricating oil in the oil tank 51 is also replenished into the oil supply channel 33 to ensure sufficient lubricating oil.

[0062] Preferably, a liquid level sensor 52 is provided on the inner wall of the oil storage tank 51, and an oil supply pipe 53 is fixedly connected to the oil storage tank 51. The oil supply pipe 53 is communicated with the oil storage tank 51, and a valve 54 is provided on the oil supply pipe 53. The liquid level of the lubricating oil in the oil storage tank 51 is detected by the liquid level sensor 52, and then the oil supply of the oil supply pipe 53 is controlled by the valve 54 to ensure that there is sufficient lubricating liquid in the oil storage tank 51.

[0063] Preferably, a buffer cotton 6 is provided in the oil inlet hole 35. The buffer cotton 6 can slow down the oil output speed of the steel wheel 3 and the flexible wheel 2 when they are not engaged, thereby achieving the purpose of saving resources.

[0064] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A harmonic reducer, characterized in that: include: Wave generator (1); A flexible wheel (2) is sleeved outside the wave generator (1); A steel wheel (3), wherein the inner ring of the steel wheel (3) is provided with a plurality of gear teeth (31) at intervals, a slide groove (32) is provided between adjacent gear teeth (31), the steel wheel (3) is provided with a through oil supply passage (33) along the circumferential direction, the oil supply passage (33) is communicated with the slide groove (32) through an oil outlet hole (34), and the flexible wheel (2) is capable of meshing with the gear teeth (31); An oil feed mechanism (4), the oil feed mechanism (4) is slidably disposed in the slide groove (32) along the radial direction of the steel wheel (3), and the oil feed mechanism (4) can partially enter the oil supply passage (33) under the pressure of the flexible wheel (2) to supply oil to the meshing portion between the flexible wheel (2) and the gear teeth (31); The oil inlet mechanism (4) comprises: An oil outlet box (41), the oil outlet box (41) is slidably arranged on the slide groove (32), and the oil outlet box (41) is provided with a lubricating oil hole (411); A connecting pipe (42), one end of which is connected to the oil outlet box (41), and the other end of which is blocked by a blocking member (421). An oil guide hole (422) is provided on the side wall of the connecting pipe (42). The connecting pipe (42) is slidably arranged in the oil outlet hole (34). The flexible wheel (2) presses against the oil outlet box (41) to allow part of the connecting pipe (42) to enter the oil supply passage (33). The oil supply passage (33) is connected to the connecting pipe (42) through the oil guide hole (422).

2. The harmonic reducer according to claim 1, characterized in that: The oil inlet mechanism (4) further comprises a flow limiting member (43); a communicating hole (423) is provided on the side wall of the communicating tube (42); the flow limiting member (43) comprises a flow limiting pad (431), a connecting rod (432) and a position limiting member (433) connected in sequence; the connecting rod (432) is slidably arranged in the communicating hole (423); the position limiting member (433) is located on the outside of the communicating tube (42); the flow limiting pad (431) is located on the inside of the communicating tube (42); and the flow limiting pad (431) is capable of covering the oil guide hole (422).

3. The harmonic reducer according to claim 1, characterized in that: A sealing ring (46) is provided in the oil outlet hole (34), and the connecting pipe (42) passes through the sealing ring (46) and is in sliding contact with the sealing ring (46).

4. The harmonic reducer according to claim 1, characterized in that: The oil outlet box (41) is provided with a plurality of lubricating oil holes (411) at intervals.

5. The harmonic reducer according to claim 1, characterized in that: Oil-soaked cotton (44) is arranged in the oil outlet box (41).

6. The harmonic reducer according to claim 1, characterized in that: The oil inlet mechanism (4) further comprises an elastic member (45), and two ends of the elastic member (45) respectively abut against the bottom of the slide groove (32) and the oil inlet mechanism (4).

7. The harmonic reducer according to claim 1, characterized in that: An abutment portion (321) is provided at the opening of the slide groove (32), and the oil inlet mechanism (4) can abut against the abutment portion (321) when sliding in a direction away from the bottom of the slide groove (32).

8. The harmonic reducer according to any one of claims 1 to 7, characterized in that: The invention also includes an oil supply mechanism (5), wherein the oil supply mechanism (5) includes an oil storage tank (51), and the steel wheel (3) is provided with an oil inlet hole (35), and the two ends of the oil inlet hole (35) are respectively connected to the oil storage tank (51) and the oil supply passage (33).

9. The harmonic reducer according to claim 8, characterized in that: Buffer cotton (6) is arranged in the oil inlet hole (35).

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