Harmonic reducer for inhibiting motion trend caused by axial force

Abstract

A harmonic reducer capable of restraining motion trend caused by axial force comprises an input shaft, the end of the input shaft is connected with a wave generator, the outer side of the middle of the input shaft is connected with a first fixing flange through a first crossed roller bearing, the first fixing flange is connected with one end face of a rigid wheel, and the other end face of the rigid wheel is connected with a second fixing flange. The second fixing flange is connected with an output shaft through a second crossed roller bearing, the end of the output shaft is connected with a flexible gear, the outer side of the flexible gear is meshed with a rigid gear, and the inner side is in contact with a wave generator. The axial positioning device of the crossed roller bearing is additionally arranged, and the non-supporting structure is fixed relative to the axial position of the fixed supporting structure, so that the movement trend caused by axial force is effectively restrained, the axial force generated by the harmonic gear reducer can be restrained, and the service life of the motor and the service life of the reducer can be remarkably prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of harmonic gear reducers, and in particular to a harmonic reducer capable of suppressing movement tendency caused by axial force. Background Art

[0002] The harmonic gear reducer is a high-precision, high-torque reduction device, mainly composed of a flexible wheel, a rigid wheel and a wave generator. Its working principle relies on the flexible bearing on the wave generator to make the flexible wheel produce controllable elastic deformation and mesh with the rigid wheel to transmit motion and power.

[0003] In actual operation, due to installation errors and other reasons, the flexible wheel will inevitably come into oblique contact with the rigid wheel, thereby generating axial force components; these axial forces may aggravate the frictional heat between the flexible wheel and the rigid wheel, leading to lubrication failure or material performance degradation; they may also cause uneven elastic deformation of the flexible wheel, causing the meshing position with the rigid wheel to deviate from the design, generating uneven tooth surface contact stress, causing transmission errors or vibrations, and further aggravating fatigue damage to the flexible wheel; in addition, the axial force may also pull the transmission shaft connecting the two ends of the reducer to the middle, causing interference with the internal structure of the reducer, and ultimately damaging the structure of the motor and reducer. Therefore, it is of great significance to reasonably suppress the axial force generated by the reducer to extend the service life of core components, reduce maintenance costs, improve transmission accuracy, ensure operational stability, reduce energy consumption and noise, and optimize system efficiency. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a harmonic reducer that suppresses the movement trend caused by axial force, and effectively ensures the smooth and safe operation of the harmonic reducer by controlling the axial force at low cost.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A harmonic reducer for suppressing movement tendency caused by axial force comprises an input shaft 1, an end of the input shaft 1 is connected to a wave generator 2, the outer side of the middle part of the input shaft 1 is connected to a first fixed flange 4 through a first cross roller bearing 3, the first fixed flange 4 is connected to one end face of a rigid wheel 5, and the other end face of the rigid wheel 5 is connected to a second fixed flange 7; the second fixed flange 7 is connected to an output shaft 11 through a second cross roller bearing 9, the end of the output shaft 11 is connected to a flexible wheel 6, the outer side of the flexible wheel 6 is meshed with the rigid wheel 5, and the inner side is in contact with the wave generator 2.

[0007] The inner ring of the first cross roller bearing 3 contacts the step surface of the input shaft 1, and the outer ring contacts the step surface of the first fixed flange 4. The first cross roller bearing 3 is used to fix the axial position of the wave generator 2 and the input shaft 1 relative to the first fixed flange 4; one side of the inner ring of the second cross roller bearing 9 contacts the flexible wheel 6, and the other side contacts the second retaining spring 10, so that the inner ring of the bearing is fixed to the output shaft 11; one side of the outer ring contacts the first retaining spring 8, and the other side contacts the second fixed flange 7, so that the outer ring of the bearing is fixed to the second fixed flange 7, and the axial position of the flexible wheel 6 and the output shaft 11 relative to the second fixed flange 7 is fixed by the second cross roller bearing 9.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] The present invention adds an axial positioning device of a cross roller bearing between the transmission shaft and the fixed flange at both ends of the harmonic gear reducer, so as to fix the axial position of the non-support structure relative to the fixed support structure, thereby effectively suppressing the movement trend caused by the axial force, which can not only suppress the axial force generated by the harmonic gear reducer, but also significantly extend the service life of the motor and the reducer; in addition, the overall transmission system of the present invention is more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is an exploded view of an embodiment of the present invention.

[0011] Figure 2 It is a main cross-sectional view of an embodiment of the present invention. DETAILED DESCRIPTION

[0012] The technical solution of the present invention is further described below in conjunction with embodiments and drawings.

[0013] Reference Figure 1 and Figure 2 A harmonic reducer for suppressing the movement tendency caused by axial force, comprising an input shaft 1, a wave generator 2, a first cross roller bearing 3, a first fixed flange 4, a rigid wheel 5, a flexible wheel 6, a second fixed flange 7, a first retaining spring 8, a second cross roller bearing 9, a second retaining spring 10, and an output shaft 11; the end of the input shaft 1 is connected to the wave generator 2 by bolts and gaskets, the outer side of the middle part of the input shaft 1 is connected to the first fixed flange 4 by the first cross roller bearing 3, the first fixed flange 4 is connected to one end face of the rigid wheel 5 by bolts, and the other end face of the rigid wheel 5 is connected to the second fixed flange 7 by bolts; the second fixed flange 7 is connected to the output shaft 11 by the second cross roller bearing 9, the end of the output shaft 11 is connected to the flexible wheel 6 by bolts, the outer side of the flexible wheel 6 is meshed with the rigid wheel 5, and the inner side is in contact with the wave generator 2.

[0014] The inner ring of the first cross roller bearing 3 contacts the step surface of the input shaft 1, and the outer ring contacts the step surface of the first fixed flange 4. The first cross roller bearing 3 is used to fix the axial position of the wave generator 2 and the input shaft 1 relative to the first fixed flange 4 of the fixed support structure, thereby suppressing the movement tendency of the wave generator and the input shaft due to the influence of the axial force; one side of the inner ring of the second cross roller bearing 9 contacts the flexible wheel 6, and the other side contacts the second retaining spring 10, fixing the inner ring of the bearing on the output shaft 11; one side of the outer ring contacts the first retaining spring 8, and the other side contacts the second fixed flange 7, fixing the outer ring of the bearing on the second fixed flange 7; the second cross roller bearing 9 is used to fix the axial position of the flexible wheel 6 and the output shaft 11 relative to the second fixed flange 7 of the fixed support structure, thereby suppressing the movement tendency of the flexible wheel 6 and the output shaft 11 due to the influence of the axial force.

[0015] The working principle of the present invention is:

[0016] According to Newton's third law, the wave generator 2, the flexible wheel 6 and the rigid wheel 5 are all affected by the axial force component. Since the rigid wheel 5 is connected to the first fixed flange 4 and the second fixed flange 7, the static equilibrium condition makes it unaffected by the axial force. The wave generator 2 is connected to the input shaft 1 of the non-support structure. According to Newton's second law, the axial force acting on the wave generator 2 will cause the wave generator 2 and the input shaft 1 to have a movement trend relative to the fixed support structure; the flexible wheel 6 is connected to the output shaft 11 of the non-support structure. According to Newton's second law, the axial force acting on the flexible wheel 6 and the output shaft 11 will cause the flexible wheel 6 and the output shaft 11 to have a movement trend relative to the fixed support structure; in order to avoid relative movement between the wave generator 2 and the flexible wheel 6 and the fixed support structure, it is necessary to add a support structure outside the reducer to offset the axial force on the two. The axial position of the non-supporting structure relative to the fixed supporting structure is fixed by the first cross roller bearing 3 located on the input shaft 1 and the second cross roller bearing 9 located on the output shaft 11, thereby suppressing the movement tendency of the non-supporting structure due to the influence of the axial force, and finally achieving the purpose of suppressing the axial force generated by the harmonic gear reducer.

[0017] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession, without departing from the scope of the technical solution of the present invention, makes any simple modifications, equivalent changes and modifications to the above implementation cases based on the technical essence of the present invention, which still fall within the scope of the technical solution of the present invention.

Claims

1. A harmonic reducer for suppressing the movement tendency caused by axial force, characterized in that: The invention comprises an input shaft (1), wherein the end of the input shaft (1) is connected to a wave generator (2), the outer side of the middle part of the input shaft (1) is connected to a first fixed flange (4) via a first cross roller bearing (3), the first fixed flange (4) is connected to one end face of a rigid wheel (5), and the other end face of the rigid wheel (5) is connected to a second fixed flange (7); the second fixed flange (7) is connected to an output shaft (11) via a second cross roller bearing (9), the end of the output shaft (11) is connected to a flexible wheel (6), the outer side of the flexible wheel (6) is meshed with the rigid wheel (5), and the inner side is in contact with the wave generator (2).

2. The harmonic reducer according to claim 1, characterized in that: The inner ring of the first cross roller bearing (3) contacts the step surface of the input shaft (1), and the outer ring contacts the step surface of the first fixed flange (4), and the first cross roller bearing (3) is used to fix the axial position of the wave generator (2) and the input shaft (1) relative to the first fixed flange (4); one side of the inner ring of the second cross roller bearing (9) contacts the flexible wheel (6), and the other side contacts the second retaining spring (10), so that the inner ring of the bearing is fixed to the output shaft (11); one side of the outer ring contacts the first retaining spring (8), and the other side contacts the second fixed flange (7), so that the outer ring of the bearing is fixed to the second fixed flange (7), and the second cross roller bearing (9) is used to fix the axial position of the flexible wheel (6) and the output shaft (11) relative to the second fixed flange (7).

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