Harmonic reducer with stable shaft connection

Abstract

The invention discloses a harmonic reducer with stable shaft connection, and relates to the technical field of harmonic reducers, the harmonic reducer comprises an upper shell, a lower shell, an input shaft, a flexible gear, a rigid gear and a wave generator, the rigid gear is fixedly mounted in the lower shell, the upper shell is detachably connected with the lower shell through a bolt, and the harmonic reducer further comprises a shaft stabilizing assembly; by arranging the fixing cylinder, the inserting base, the connecting rings and other structures, the four clamping blocks are matched with the clamping grooves, so that the connection stability is enhanced, the first hexagonal base and the second hexagonal base can be locked through the two connecting rings, the first hexagonal base cannot rotate any more, the installation process when the input shaft is connected with the wave generator is simplified, and the installation efficiency is improved. Meanwhile, stable connection of the input shaft and the wave generator is achieved, after the two connecting rings are opened, the first hexagonal base and the second hexagonal base lose limitation, the input shaft can be pulled outwards, the insertion base is pulled out of the fixing cylinder, the input shaft can be rapidly disassembled, the interior of the harmonic reducer is conveniently overhauled, and more time and labor are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and in particular to a harmonic reducer with a shaft-stabilized connection. Background Art

[0002] A harmonic reducer is a transmission device that uses flexible gears to produce controllable elastic deformation to achieve motion and power transmission. The harmonic reducer is mainly composed of three basic components: a wave generator, a flexible wheel, and a rigid wheel. An input shaft is usually set to connect the wave generator and drive it to rotate.

[0003] The use scenarios of harmonic reducers have high precision requirements. In the prior art, the connection between the input shaft and the wave generator of the harmonic reducer is usually connected with bolts. However, when the input shaft rotates for a long time and generates vibration, the bolts will loosen under the action of the vibration. The loose connection between the wave generator and the input shaft will cause the transmission accuracy to decrease, and the motion trajectory of the wave generator and the flexible wheel will deviate. Therefore, it is necessary to maintain the connection between the input shaft and the wave generator, and it is necessary to disassemble the housing of the harmonic reducer, remove the input shaft and the wave generator from the housing, and then maintain the connection between the input shaft and the wave generator, which makes it inconvenient to disassemble the harmonic reducer for maintenance.

[0004] In order to solve the above problems, a harmonic reducer with shaft-stabilized connection is proposed. Summary of the invention

[0005] In order to solve the above technical problems, a harmonic reducer with a shaft-stable connection is provided.

[0006] To achieve the above objectives, the present invention can be implemented by the following technical solutions: The present invention provides a harmonic reducer with shaft-stabilizing connection, comprising an upper shell, a lower shell, an input shaft, a flexible wheel, a rigid wheel and a wave generator, wherein a rigid wheel is fixedly installed inside the lower shell, the upper shell is detachably connected to the lower shell by bolts, and also comprises a shaft-stabilizing assembly; The shaft stabilization component includes a fixed cylinder rotatably connected to the upper shell, a wave generator is fixedly connected to the bottom of the fixed cylinder, an insertion seat is fixedly arranged at the bottom of the input shaft, four sliding grooves 1 are symmetrically provided on the insertion seat, each sliding groove 1 is slidably connected to a sliding seat 1, two connecting shafts are rotatably connected to the sliding seat 1, and the ends of the two connecting shafts away from the sliding seat 1 are rotatably connected to a sliding seat 2, a clamping block is fixedly connected to the bottom of the sliding seat 2, four clamping grooves are provided on the fixed cylinder, a sliding cylinder is slidably connected to the outer side of the insertion seat, a pressing plate is fixedly connected to the bottom of the sliding cylinder, four pressing blocks are fixedly connected to the bottom of the pressing plate at equal intervals along the circumferential direction, a pressing rod is fixedly connected to the sliding cylinder, a sliding groove is provided on the input shaft, the pressing rod is slidably arranged in the sliding groove, the input shaft is provided with an external thread, a threaded cylinder is threadedly connected to the external thread, and a connecting locking component for fixing the threaded cylinder is also included.

[0007] Preferably, four sliding grooves are equidistantly arranged on the insertion seat along the circumferential direction, four clamping grooves are equidistantly arranged on the fixed cylinder along the circumferential direction, the clamping block is clamped with the adjacent clamping groove, the pressing block is slidably matched with the adjacent sliding groove, and the sliding cylinder is slidably connected with the input shaft.

[0008] Preferably, the connecting and locking assembly includes a hexagonal seat 1 fixedly connected to the outer surface of the threaded cylinder, and a hexagonal seat 2 is fixedly connected to the outer surface of the fixed cylinder. The shape of the hexagonal seat 1 is arranged corresponding to the shape of the hexagonal seat 2. Two connecting rings are symmetrically arranged on the outer sides of the hexagonal seat 1 and the hexagonal seat 2. Both connecting rings are provided with hexagonal grooves, and the two hexagonal grooves together form a hexagonal groove corresponding to the shape of the hexagonal seat 1.

[0009] Preferably, a connecting block is fixedly connected to both sides of each connecting ring, and two adjacent connecting blocks are fixed by bolt connection.

[0010] Preferably, a self-lubricating component is also included, the self-lubricating component includes an oil inlet one-way valve fixedly mounted on the upper shell, an oil pipe is provided on the side of the oil inlet one-way valve close to the rigid wheel, an end of the oil pipe away from the upper shell is fixedly connected to the rigid wheel, an oil storage tank is provided on the rigid wheel, an end of the oil pipe away from the upper shell is connected to the oil storage tank, an end of the oil pipe close to the oil inlet one-way valve is made of rubber material, an output end of the oil inlet one-way valve is inserted in the oil pipe, a sliding groove 2 is provided on the rigid wheel, the sliding groove 2 is connected to the oil storage tank, a sliding column is slidably provided in the sliding groove 2, an end of the sliding column close to the flexible wheel passes through the rigid wheel and is fixedly connected to a nozzle, an oil outlet hole is provided in the sliding column, the oil outlet hole is connected to the nozzle, an extrusion groove is provided at an end of the sliding column away from the nozzle, and an extrusion head is fixedly connected to the side of the sliding groove 2 away from the nozzle.

[0011] Preferably, the sliding groove 2 is cylindrical, the sliding column is cylindrical, and the nozzle is hemispherical.

[0012] Preferably, the extrusion groove is in a truncated cone shape, the extrusion head is in a truncated cone shape, and the extrusion groove and the extrusion head are extrusion-matched.

[0013] Preferably, a limiting groove is provided on the rigid wheel, the limiting groove is communicated with the second sliding groove, a limiting slider is slidably connected in the limiting groove, the limiting slider is fixedly connected to the sliding column, and a return spring is arranged in the limiting groove.

[0014] From the above, the advantages of the present invention are: By setting structures such as a fixing cylinder and an insertion seat, after the insertion seat is placed in the fixing cylinder, the pressing rod is squeezed by the threaded cylinder, thereby pushing the pressing sheet through the sliding cylinder, so that the card block is automatically stuck in the card slot, and the stability of the connection is enhanced by the cooperation of the four card blocks and the card slot, and when the card block is stuck in the card slot, the hexagonal seat one is also in contact with the hexagonal seat two. At this time, the hexagonal seat one is tightened so that the side of the hexagonal seat one and the hexagonal seat two are aligned, and then the two connecting rings are used to wrap the hexagonal seat one and the hexagonal seat two, and the four connecting blocks are connected and fixed with bolts, so that the connecting ring can lock the hexagonal seat one and the hexagonal seat two, so that the hexagonal seat one can no longer rotate, simplifying the installation process when the input shaft is connected to the wave generator, and realizing the stable connection between the input shaft and the wave generator. Compared with the method of using bolts to connect the input shaft and the wave generator in the existing harmonic reducer, this device can avoid the situation of easy loosening during long-term rotation, thereby improving the stability of the device; Through the cooperation of the two connecting rings, after the two connecting rings are opened, the hexagonal seat 1 and the hexagonal seat 2 lose their limit. When the threaded cylinder moves upward, the input shaft is pulled outward, so that the input shaft drives the insertion seat to slide outside the fixed cylinder. The friction force between the sliding groove and the sliding seat 1 causes the sliding seat 1 to move upward, and the inclined surface of the card slot and the card block cooperates, so that the sliding seat 2 moves to the side close to the insertion seat, so that the card block slides out of the card slot, so that the insertion seat can be pulled out of the fixed cylinder, and the input shaft can be quickly disassembled. Compared with the prior art of connecting the input shaft and the wave generator with bolts, the device does not need to disassemble the shell to remove the wave generator from the flexible wheel, and there is no need to remove the connecting bolts, so as to achieve the effect of quickly separating the input shaft and the wave generator, which is convenient for internal maintenance of the harmonic reducer and saves time and effort. Through the cooperation of the extrusion groove and the extrusion head, during the operation of the flexible wheel and the rigid wheel, whenever the flexible wheel rotates to contact the teeth where the nozzle is located, the teeth of the flexible wheel will squeeze the nozzle. As the sliding column continues to approach the extrusion head, the lubricating oil that previously entered the second sliding groove will be squeezed into the oil outlet hole under the cooperation of the extrusion groove and the extrusion head, and then sprayed out from the nozzle under the extrusion action, so that the lubricating oil is sprayed onto the teeth on the side of the flexible wheel. During the rotation of the flexible wheel, the nozzle will intermittently spray lubricating oil onto the flexible wheel, which has the effect of automatically replenishing lubricating oil, thereby ensuring that the friction at the connection between the flexible wheel and the rigid wheel will not increase due to lack of lubricating oil, thereby avoiding the loosening of the flexible wheel and the rigid wheel due to wear, thereby achieving the effect of improving the internal stability of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the overall structure shown in the present invention; Figure 2 It is a three-dimensional schematic diagram of the connecting ring, the hexagonal groove and the hexagonal seat shown in the present invention; Figure 3It is a three-dimensional schematic diagram of the oil inlet one-way valve, oil delivery pipe and rigid wheel shown in the present invention; Figure 4 It is a three-dimensional schematic diagram of the threaded barrel, hexagonal seat 1 and external thread shown in the present invention; Figure 5 It is a three-dimensional schematic diagram of the pressing rod and the sliding groove shown in the present invention; Figure 6 It is a three-dimensional schematic diagram of the insertion seat, the sliding groove 1 and the pressing block shown in the present invention; Figure 7 It is a three-dimensional schematic diagram of the insertion seat, the sliding cylinder and the sliding seat 1 shown in the present invention; Figure 8 It is a three-dimensional schematic diagram of the oil pipeline, rigid wheel and nozzle shown in the present invention; Fig. 9 It is a three-dimensional schematic diagram of the oil storage tank and the second sliding tank shown in the present invention; Fig.10 It is a three-dimensional schematic diagram of the sliding column, the extrusion groove and the extrusion head shown in the present invention.

[0016] The reference numerals in the drawings of the present invention are: 1, upper shell; 2, lower shell; 3, input shaft; 4, flexible wheel; 5, rigid wheel; 601, fixed cylinder; 602, insert seat; 603, sliding groove 1; 604, sliding seat 1; 605, connecting shaft; 606, sliding seat 2; 607, clamping block; 608, clamping groove; 609, sliding cylinder; 610, pressing sheet; 611, pressing block; 612, pressing rod; 613, sliding groove; 701, external thread; 702, threaded barrel; 703, hexagonal seat 1; 704, hexagonal seat 2; 705, connecting ring; 706, hexagonal groove; 707, connecting block; 801, oil inlet check valve; 802, oil delivery pipe; 803, oil storage tank; 804, sliding groove 2; 805, sliding column; 806, nozzle; 807, oil outlet hole; 808, extrusion groove; 809, extrusion head; 810, limit groove; 811, limit slider; 812, return spring. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] like Figures 1 to 10 As shown, the embodiments provided by the present invention will be described in detail below: A harmonic reducer with a shaft-stabilized connection, such as Figure 1 to Figure 7 As shown, it includes an upper shell 1, a lower shell 2, an input shaft 3, a flexible wheel 4, a rigid wheel 5 and a wave generator, the rigid wheel 5 is fixedly installed inside the lower shell 2, the upper shell 1 is detachably connected to the lower shell 2 by bolts, the flexible wheel 4 is arranged below the upper shell 1, and also includes an axle stabilizing assembly; The shaft stabilizing assembly includes a fixed cylinder 601 rotatably connected to the upper shell 1, a wave generator is fixedly connected to the bottom of the fixed cylinder 601, an insertion seat 602 is fixedly arranged at the bottom of the input shaft 3, four sliding grooves 603 are symmetrically opened on the insertion seat 602, and the four sliding grooves 603 are equidistantly arranged on the insertion seat 602 in the circumferential direction, and each sliding groove 603 is slidably connected to a sliding seat 604, and two connecting shafts 605 are rotatably connected to the sliding seat 604, and the two connecting shafts 605 are away from the sliding seat 60 The first end of the fixing cylinder 601 is connected to a sliding seat 2 606 for rotation together. The sliding seat 1 604, the sliding seat 2 606 and the two connecting shafts 605 located in the same sliding groove 1 603 together form a parallelogram. The bottom of the sliding seat 2 606 away from the connecting shaft 605 is fixedly connected with a clamping block 607. The top of the clamping block 607 is set as an inclined surface. Four clamping grooves 608 are opened on the inner side of the fixing cylinder 601. The four clamping grooves 608 are equidistantly arranged on the fixing cylinder 601 in the circumferential direction. The clamping block 607 is clamped and matched with the adjacent clamping grooves 608.

[0019] A sliding cylinder 609 is slidably connected to the outside of the insertion seat 602, and the sliding cylinder 609 is slidably connected to the input shaft 3. A pressing plate 610 is fixedly connected to the bottom of the sliding cylinder 609, and four pressing blocks 611 are fixedly connected to the bottom of the pressing plate 610 at equal intervals along the circumferential direction. The pressing blocks 611 slide in cooperation with the adjacent sliding groove 1 603. Pressing rods 612 are fixedly connected to both sides of the sliding cylinder 609, and the two pressing rods 612 are symmetrically arranged on the sliding cylinder 609. Two sliding grooves 613 are symmetrically provided on the input shaft 3, and the two pressing rods 612 are respectively located in the two sliding grooves 613. The input shaft 3 is provided with an external thread 701, and a threaded cylinder 702 is threadedly connected to the external thread 701, and a connecting locking assembly for fixing the threaded cylinder 702 is also included.

[0020] Further, such as Figure 1 to Figure 7As shown, the connection and locking assembly includes a hexagonal seat 1 703, the outer surface of the threaded cylinder 702 is fixedly connected to the hexagonal seat 1 703, the outer surface of the fixed cylinder 601 is fixedly connected to the hexagonal seat 2 704, the shape and size of the hexagonal seat 1 703 are set corresponding to the shape and size of the hexagonal seat 2 704, two connecting rings 705 are symmetrically arranged on the outer sides of the hexagonal seat 1 703 and the hexagonal seat 2 704, the connecting rings 705 are semicircular, and hexagonal grooves 706 are opened in the two connecting rings 705, the two hexagonal grooves 706 together constitute a hexagonal groove, and the hexagonal groove composed of the two hexagonal grooves 706 matches the hexagonal seat 1 703 and the hexagonal seat 2 704, each of the two connecting rings 705 is fixedly connected to a connecting block 707 on both sides, and the two adjacent connecting blocks 707 are fixed by bolts.

[0021] Further, such as Figure 1 to Figure 3 as well as Figures 8 to 10 As shown, a self-lubricating component is also included, which includes an oil inlet check valve 801 fixedly mounted on the upper shell 1, an oil delivery pipe 802 is arranged at the bottom of the oil inlet check valve 801, the end of the oil delivery pipe 802 away from the upper shell 1 is fixedly connected to the rigid wheel 5, an oil storage tank 803 is arranged on the rigid wheel 5, the end of the oil delivery pipe 802 away from the upper shell 1 is communicated with the oil storage tank 803, the end of the oil delivery pipe 802 close to the oil inlet check valve 801 is made of rubber material, the output end of the bottom of the oil inlet check valve 801 is inserted in the oil delivery pipe 802, a sliding groove 804 is arranged on the rigid wheel 5, the sliding groove 804 is communicated with the oil storage tank 803, a sliding column 805 is slidably connected in the sliding groove 804, the end of the sliding column 805 close to the flexible wheel 4 passes through the rigid wheel 5 and is fixedly connected with a nozzle 806, and an oil outlet is arranged in the sliding column 805 Hole 807, the oil outlet hole 807 is connected with the nozzle 806, an extrusion groove 808 is provided at one end of the sliding column 805 away from the nozzle 806, and an extrusion head 809 is fixedly connected to the side of the sliding groove 804 away from the nozzle 806. The sliding groove 804 is cylindrical, the sliding column 805 is cylindrical, the nozzle 806 is hemispherical, the extrusion groove 808 is truncated cone-shaped, and the extrusion head 809 is truncated cone-shaped. The extrusion groove 808 and the extrusion head 809 are extruded and matched. A limiting groove 810 is provided on the rigid wheel 5, and the limiting groove 810 is connected with the sliding groove 804. A limiting slider 811 is slidably connected in the limiting groove 810, and the limiting slider 811 is fixedly connected to the sliding column 805. A return spring 812 is provided in the limiting groove 810, and the two ends of the return spring 812 are respectively fixedly connected to the limiting groove 810 and the limiting slider 811.

[0022] In combination with the above embodiments, the entire working process and working principle of the above embodiments are as follows: The initial state is: The insertion seat 602 is not inserted into the fixed cylinder 601, and the pressing block 611 does not slide into the sliding groove 603, so that the sliding seat 604 is not squeezed, the pressing rod 612 is at the top position in the sliding groove 613, the threaded cylinder 702 is at the top position of the external thread 701, the threaded cylinder 702 does not squeeze the pressing rod 612, the two connecting rings 705 are not merged, the nozzle 806 is not squeezed by the flexible wheel 4, and the return spring 812 is in a compressed state, so that the limiting slider 811 is on the side of the limiting groove 810 close to the flexible wheel 4, and the extrusion groove 808 is connected to the oil storage tank 803.

[0023] Connect input shaft 3: When connecting the input shaft 3 to the wave generator, align the insertion seat 602 with the fixed cylinder 601 and insert it, and align the four sliding seats 606 with the four slots 608 respectively, and completely insert the insertion seat 602 into the fixed cylinder 601 until the side of the insertion seat 602 away from the input shaft 3 contacts the inside of the fixed cylinder 601, and then rotate the hexagonal seat 1 703 to make the hexagonal seat 1 703 drive the threaded cylinder 702 to rotate, so that the threaded cylinder 702 is moved closer to the hexagonal seat 1 703 under the cooperation of the threaded cylinder 702 and the external thread 701. When the threaded cylinder 702 moves, the pressing rod 612 can be squeezed to make the pressing rod 612 gradually move downward in the sliding groove 613, thereby pushing the pressing sheet 610 to slide downward through the sliding cylinder 609, and the pressing sheet 610 further pushes the pressing block 611 downward to insert into the adjacent sliding groove 1 603, and gradually slides into the sliding groove 1 603. At this time, the pressing block 611 squeezes the sliding seat 1 604 in the sliding groove 1 603, so that the sliding seat 1 604 moves downward in the sliding groove 1 603. The sliding seat 1 604 pushes the sliding seat 2 606 to slide downward through the connecting shaft 605 until the sliding seat 2 606 conflicts with the fixed cylinder 601. At this time, the sliding seat 2 606 cannot move downward any further, and the block 607 on the sliding seat 2 606 corresponds to the position of the adjacent slot 608. The threaded cylinder 702 continues to press the pressing rod 612 downward, so that the sliding seat 1 604 continues to slide downward. At this time, the two connecting shafts 605 push the sliding seat 2 606 to move away from the insertion seat 602. Since the sliding seat 1 604, the sliding seat 2 606 and the two connecting shafts 605 located in the same sliding groove 1 603 together form a parallelogram, the sliding seat 2 606 will slide in a direction away from the insertion seat 602, so that the block 607 at the bottom of the sliding seat 2 606 slides into the slot 608, and the insertion seat 602 can be connected and fixed with the fixed cylinder 601. When the input shaft 3 rotates, the four blocks 607 cooperate with the slot 608 to drive the fixed cylinder 601 to rotate, thereby driving the wave generator to rotate synchronously.

[0024] Locking input shaft 3: When the hexagonal seat 1 703 is rotated to make the pressing rod 612 gradually move downward in the sliding groove 613, when the clamping block 607 is clamped into the clamping groove 608, the hexagonal seat 1 703 also contacts the hexagonal seat 2 704. At this time, the hexagonal seat 1 703 is tightened to align the side of the hexagonal seat 1 703 with the hexagonal seat 2 704, and then the two connecting rings 705 are closed from the two sides of the hexagonal seat 1 703 and the hexagonal seat 2 704 to the middle. The hexagonal groove formed by the two hexagonal grooves 706 wraps the hexagonal seat 1 703 and the hexagonal seat 2 704, and the four connecting blocks 707 are connected and fixed with bolts, so that the connecting ring 705 can connect the hexagonal seat 1 703 with The hexagonal seat 2 704 is locked, so that the hexagonal seat 1 703 can no longer rotate, which simplifies the installation process when the input shaft 3 is connected to the wave generator, and at the same time realizes the stable connection between the input shaft 3 and the wave generator. Compared with the method of using bolts to connect the input shaft and the wave generator in the existing harmonic reducer, the present device can avoid the situation where it is easy to loosen during long-term rotation. The four blocks 607 and the slots 608 cooperate to enhance the stability of the connection and avoid loosening of the connection between the input shaft 3 and the wave generator. The two connecting rings 705 lock the hexagonal seat 1 703 and the hexagonal seat 2 704, so that the hexagonal seat 1 703 can no longer rotate, avoid loosening of the threaded barrel 702, and improve the stability of the device.

[0025] Automatic lubrication of the flexible wheel 4 and the rigid wheel 5: During the operation of the flexible wheel 4 and the rigid wheel 5, the flexible wheel 4 will intermittently contact each tooth in the rigid wheel 5 under the action of the wave generator. Before the harmonic reducer works, lubricating oil is filled into the oil storage tank 803 through the oil inlet check valve 801. When the oil storage tank 803 is full of lubricating oil and the lubricating oil flows into the second sliding groove 804, every time the flexible wheel 4 rotates to contact the teeth where the nozzle 806 is located, the teeth of the flexible wheel 4 will squeeze the nozzle 806, so that the nozzle 806 pushes the sliding column 805 to slide into the second sliding groove 804, so that the sliding column 805 The limit slider 811 is driven to slide in the limit groove 810 toward the side close to the extrusion head 809 while squeezing the return spring 812. When the edge of the sliding column 805 contacts the groove wall of the second sliding groove 804, the connection between the extrusion groove 808 and the oil storage groove 803 is blocked by the sliding column 805, so that a closed space is formed between the extrusion groove 808 and the extrusion head 809. As a result, when the sliding column 805 continues to approach the extrusion head 809, the lubricating oil is squeezed into the oil outlet hole due to the shortening of the distance between the extrusion groove 808 and the extrusion head 809. 807, and then the lubricating oil is sprayed out from the nozzle 806 under the extrusion effect, so that the lubricating oil is sprayed onto the teeth on the side of the flexible wheel 4. When the flexible wheel 4 continues to rotate under the action of the wave generator and the teeth leave the nozzle 806, the nozzle 806 is no longer squeezed, so the reset spring 812 resets and pushes the limit slider 811 to reset, so that the limit slider 811 drives the sliding column 805 and the nozzle 806 to reset. In the process of the sliding column 805 resetting, the sliding groove 804 is connected with the oil storage tank 803 again, so that the lubricating oil in the oil storage tank 803 flows into the sliding groove 804. The lubricating oil in the second movable groove 804 is squeezed by the nozzle 806 again when the flexible wheel 4 squeezes the nozzle 806 again, and the lubricating oil entering the second sliding groove 804 again will be squeezed out under the action of the squeezing groove 808 and the squeezing head 809, and then in the process of the flexible wheel 4 rotating, the nozzle 806 will intermittently spray the lubricating oil onto the flexible wheel 4, which has the effect of automatically replenishing the lubricating oil, thereby ensuring that the friction at the connection between the flexible wheel 4 and the rigid wheel 5 will not increase due to lack of lubricating oil, thereby avoiding the loosening of the flexible wheel 4 and the rigid wheel 5 due to wear, and achieving the effect of improving the internal stability of the harmonic reducer.

[0026] Disassemble input shaft 3: When the harmonic reducer needs to be repaired, the bolts on the connecting block 707 are loosened to open the two connecting rings 705. At this time, the hexagonal seat 1 703 and the hexagonal seat 2 704 lose their limits, so that the threaded cylinder 702 can be driven to rotate through the hexagonal seat 1 703, so that the threaded cylinder 702 is screwed back to the top position of the external thread 701. When the threaded cylinder 702 moves upward, the pressing rod 612 loses its limit. At this time, the pressing rod 612 is pushed upward by hand, so that the pressing rod 612 can be reset to the top position in the sliding groove 613. When the pressing rod 612 drives the sliding cylinder 609 to rise and the pressing block 611 slides out of the sliding groove 1 603, the sliding seat 1 604 loses its limit and can move. At this time, the input shaft 3 is pulled away from the fixed cylinder 601. The input shaft 3 drives the insertion seat 602 to slide outside the fixed cylinder 601, and the friction force of the sliding groove 1 603 on the sliding seat 1 604 causes the sliding seat 1 604 to move upward, and the groove 608 cooperates with the inclined surface of the block 607, so that the sliding seat 2 606 moves to the side close to the insertion seat 602, so that the block 607 slides out of the groove 608, so that the insertion seat 602 can be pulled out from the fixed cylinder 601, and the input shaft 3 can be quickly disassembled. Compared with the prior art of connecting the input shaft and the wave generator with bolts, the device does not need to disassemble the outer shell to remove the wave generator from the flexible wheel 4, and there is no need to remove the connecting bolts, so as to achieve the effect of quickly separating the input shaft 3 and the wave generator, which is convenient for the internal maintenance of the harmonic reducer and saves time and effort.

[0027] The above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A harmonic reducer with shaft-stable connection, characterized in that: The invention comprises an upper shell (1), a lower shell (2), an input shaft (3), a flexible wheel (4), a rigid wheel (5) and a wave generator, wherein the rigid wheel (5) is fixedly installed inside the lower shell (2), the upper shell (1) is detachably connected to the lower shell (2) by bolts, and also comprises an axle stabilizing assembly; The shaft stabilizing assembly comprises a fixed cylinder (601) rotatably connected to the upper shell (1), a wave generator being fixedly connected to the bottom of the fixed cylinder (601), an insertion seat (602) being fixedly arranged at the bottom of the input shaft (3), four sliding grooves (603) being symmetrically provided on the insertion seat (602), each sliding groove (603) being slidably connected to a sliding seat (604), two connecting shafts (605) being rotatably connected to the sliding seat (604), the two connecting shafts (605) being rotatably connected to a sliding seat (606) at one end away from the sliding seat (604), a clamping block (607) being fixedly connected to the bottom of the sliding seat (606), and the fixed cylinder. Four slots (608) are provided on (601), a sliding cylinder (609) is slidably connected to the outer side of the insertion seat (602), a pressing plate (610) is fixedly connected to the bottom of the sliding cylinder (609), four pressing blocks (611) are fixedly connected to the bottom of the pressing plate (610) at equal intervals along the circumferential direction, a pressing rod (612) is fixedly connected to the sliding cylinder (609), a sliding groove (613) is provided on the input shaft (3), the pressing rod (612) is slidably arranged in the sliding groove (613), the input shaft (3) is provided with an external thread (701), a threaded cylinder (702) is threadedly connected to the external thread (701), and a connecting locking component for fixing the threaded cylinder (702) is also included.

2. A harmonic reducer with shaft-stable connection according to claim 1, characterized in that: Four sliding grooves (603) are equidistantly arranged on the insertion seat (602) along the circumferential direction, four clamping grooves (608) are equidistantly arranged on the fixed cylinder (601) along the circumferential direction, the clamping block (607) is clamped and matched with the adjacent clamping groove (608), the pressing block (611) is slidably matched with the adjacent sliding groove (603), and the sliding cylinder (609) is slidably connected with the input shaft (3).

3. A harmonic reducer with shaft-stable connection according to claim 1, characterized in that: The connection and locking assembly comprises a hexagonal seat 1 (703) fixedly connected to the outer surface of the threaded cylinder (702); the outer surface of the fixed cylinder (601) is fixedly connected to a hexagonal seat 2 (704); the shape of the hexagonal seat 1 (703) is arranged corresponding to the shape of the hexagonal seat 2 (704); two connection rings (705) are symmetrically arranged on the outer sides of the hexagonal seat 1 (703) and the hexagonal seat 2 (704); both connection rings (705) are provided with a hexagonal groove (706); and the two hexagonal grooves (706) together form a hexagonal groove corresponding to the shape of the hexagonal seat 1 (703).

4. A harmonic reducer with shaft-stable connection according to claim 3, characterized in that: A connection block (707) is fixedly connected to both sides of each connection ring (705), and two adjacent connection blocks (707) are fixedly connected by bolts.

5. The harmonic reducer with shaft-stable connection according to claim 1, characterized in that: The invention also comprises a self-lubricating component, which comprises an oil inlet check valve (801) fixedly mounted on the upper shell (1); an oil delivery pipe (802) is arranged on a side of the oil inlet check valve (801) close to the rigid wheel (5); an end of the oil delivery pipe (802) away from the upper shell (1) is fixedly connected to the rigid wheel (5); an oil storage tank (803) is provided on the rigid wheel (5); an end of the oil delivery pipe (802) away from the upper shell (1) is connected to the oil storage tank (803); an end of the oil delivery pipe (802) close to the oil inlet check valve (801) is made of rubber; an output end of the oil inlet check valve (801) is inserted into the oil delivery pipe (802); and the rigid wheel (5) is provided with an oil storage tank (803). (5) is provided with a second sliding groove (804), the second sliding groove (804) is connected to the oil storage groove (803), a sliding column (805) is slidably arranged in the second sliding groove (804), one end of the sliding column (805) close to the flexible wheel (4) passes through the rigid wheel (5) and is fixedly connected to a nozzle (806), an oil outlet hole (807) is provided in the sliding column (805), the oil outlet hole (807) is connected to the nozzle (806), an extrusion groove (808) is provided at one end of the sliding column (805) away from the nozzle (806), and an extrusion head (809) is fixedly connected to the side of the second sliding groove (804) away from the nozzle (806).

6. A harmonic reducer with shaft-stable connection according to claim 5, characterized in that: The second sliding groove (804) is cylindrical, the sliding column (805) is cylindrical, and the nozzle (806) is hemispherical.

7. A harmonic reducer with shaft-stable connection according to claim 5, characterized in that: The extrusion groove (808) is in a truncated cone shape, the extrusion head (809) is in a truncated cone shape, and the extrusion groove (808) and the extrusion head (809) are extrusion-matched.

8. A harmonic reducer with shaft-stable connection according to claim 5, characterized in that: A limit groove (810) is provided on the rigid wheel (5), the limit groove (810) is connected to the second sliding groove (804), a limit slider (811) is slidably connected in the limit groove (810), the limit slider (811) is fixedly connected to the sliding column (805), and a return spring (812) is provided in the limit groove (810).

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