Planetary harmonic reducer

Abstract

The planetary harmonic reducer comprises a crossed roller bearing, an inner ring of the crossed roller bearing is fixedly connected with an output rigid gear and a rigid gear cover plate to serve as an output end, an outer ring of the crossed roller bearing is fixedly connected with a flexible gear and a fixed gear ring to serve as a fixed installation end, and an input end cover is installed on the fixed gear ring and connected with one side of a planet carrier. The sun gear penetrates into the planet carrier to be meshed with a planet gear on the planet carrier, the other side of the planet carrier is connected with the planet gear ring, an inner gear on the planet gear ring is meshed with the planet gear, an outer cam on the planet gear ring is sleeved with a flexible bearing, and the outer ring of the flexible bearing abuts against the inner wall of the flexible gear. And the outer gear of the flexible gear is meshed with the output rigid gear. The planetary transmission is embedded into the harmonic transmission under the condition that the boundary dimension of the harmonic transmission is not changed, the planetary transmission and the harmonic transmission are effectively and organically combined, the purposes of small size and large reduction ratio are achieved, the whole speed reducer is compact, and the occupied space is reduced.

Description

Technical Field

[0001] The invention relates to the field of reducers, and in particular to a planetary harmonic reducer. Background Art

[0002] In many fields such as modern industrial automation, robotics, aerospace, and precision instruments, the performance requirements for reducers are getting higher and higher. Among them, reducers with small size and large reduction ratio are one of the key components to achieve compactness, lightweight and high-precision motion control of equipment. Traditional planetary reducers and harmonic reducers are widely used in their respective application fields, but they also have certain limitations. Planetary reducers usually have high transmission efficiency and large load-bearing capacity, but the improvement of their reduction ratio is often limited by the structure. When pursuing a large reduction ratio, the volume will increase significantly; although the harmonic reducer can achieve a large reduction ratio and has a relatively simple structure, when it is subjected to a large load, the fatigue life and reliability of the flexible wheel will be affected, and its transmission efficiency is also relatively low.

[0003] Prior art CN117028519A discloses a composite planetary-harmonic gear reducer, including a planetary gear transmission mechanism, a harmonic gear transmission mechanism, a body and an end cover. When the input shaft rotates, the gear on the input shaft meshes with the planetary gear, so that the planetary gear meshes with the internal gear on the output shaft, and the motion is transmitted to the cam through the planetary gear shaft fixed to the cam to realize the planetary gear transmission; the cam rotates, and the wave generator composed of the cam and the flexible bearing generates periodic fluctuations, and the external gear on the flexible wheel meshes with the internal gear on the body to realize the harmonic gear transmission. The product of the planetary gear transmission ratio and the harmonic gear transmission ratio is the total transmission ratio of the reducer. It realizes multi-transmission ratio output, a large transmission ratio range, high efficiency, and a wider range of applications.

[0004] Although the above technology realizes the combination of planetary transmission and harmonic transmission, the overall structure is not compact enough, the volume is large, and the space occupied is large. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a planetary harmonic reducer with a compact structure, small volume and large reduction ratio, while taking into account the advantages of high transmission efficiency, high load-bearing capacity and long service life.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a planetary harmonic reducer, comprising a crossed roller bearing, the outer ring on one side of the crossed roller bearing is connected to the flexible wheel and the fixed gear ring in sequence, the inner ring on the other side of the crossed roller bearing is connected to the output rigid wheel and the rigid wheel cover plate in sequence, the fixed gear ring is installed with an input end cover, the input end cover is connected to one side of the planet carrier through a first bearing, at least two planetary gears are evenly arranged inside the planet carrier, the sun gear penetrates into the planet carrier and meshes with the planetary gears and is connected to the planet carrier at both ends through a second bearing and a third bearing, the other side of the planet carrier is connected to the planetary gear ring through a fourth bearing, the inner gear on the planetary gear ring is meshed with the planetary gear, the outer cam sleeve on the planetary gear ring is provided with a flexible bearing, the outer ring of the flexible bearing abuts against the inner wall of the flexible wheel, the outer gear of the flexible wheel is meshed with the output rigid wheel, and the outer wall of the planetary gear ring is also connected to the fixed gear ring and the rigid wheel cover plate through a fifth bearing and a sixth bearing respectively.

[0007] The sun gear is connected to the motor as an input end.

[0008] The outer cam and the flexible bearing are combined into a wave generator.

[0009] The inner ring of the cross roller bearing, the output rigid wheel and the rigid wheel cover plate are fixedly connected by bolts to serve as the output end.

[0010] The outer ring of the cross roller bearing, the flexible wheel and the fixed gear ring are fixedly connected by bolts as a fixed installation end.

[0011] The number of the planetary gears is 3.

[0012] Beneficial effects of the present invention: (1) The present invention provides an internal gear and an external cam on the planetary gear ring at the same time. The internal gear serves as the output of the planetary transmission, the external cam serves as the input of the harmonic transmission, and the fixed gear ring serves as another fixed sun gear of the planetary transmission and also as the flexible wheel end cover of the harmonic transmission. Through the new structural design, the planetary transmission is embedded into the harmonic transmission without changing the outer dimensions of the harmonic transmission, so that the planetary transmission and the harmonic transmission are effectively combined organically, achieving the purpose of small volume and large reduction ratio, meeting the requirements of modern industry for compactness and high performance of reducers, and taking into account both transmission efficiency and load-bearing capacity.

[0013] (2) The present invention further makes the entire reducer compact and reduces the occupied space by providing a cross roller bearing, whose inner ring is fixedly connected to the output rigid wheel and the rigid wheel cover plate as the output end, and whose outer ring is fixedly connected to the flexible wheel and the fixed gear ring as the fixed installation end. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the accompanying drawings: Figure 1It is a structural schematic diagram of the present invention; Figure 2 An exploded view of the present invention; Figure 3 It is a schematic structural diagram of the planetary gear ring of the present invention; Figure 4 It is a structural schematic diagram of the fixed gear ring of the present invention; Figure 5 It is a schematic diagram of the structure of the flexible wheel of the present invention; In the figure: 1. Cross roller bearing; 2. Flexible wheel; 3. Fixed gear ring; 4. Output rigid wheel; 5. Rigid wheel cover plate; 6. Input end cover; 7. First bearing; 8. Planet carrier; 9. Planetary gear; 10. Sun gear; 11. Second bearing; 12. Third bearing; 13. Fourth bearing; 14. Planetary gear ring; 1401. Internal gear; 1402. External cam; 15. Flexible bearing; 16. Fifth bearing; 17. Sixth bearing. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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.

[0016] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments. Example

[0017] like Figures 1 to 5 As shown, the present invention provides a planetary harmonic reducer, including a cross roller bearing 1, the outer ring of one side of the cross roller bearing 1 is connected to the flexible wheel 2 and the fixed gear ring 3 in sequence, the inner ring of the other side of the cross roller bearing 1 is connected to the output rigid wheel 4 and the rigid wheel cover plate 5 in sequence, the fixed gear ring 3 is installed with an input end cover 6, the input end cover 6 is connected to one side of a planet carrier 8 through a first bearing 7, at least two planetary gears 9 are evenly arranged inside the planet carrier 8, the sun gear 10 penetrates into the planet carrier 8 and meshes with the planetary gears 9, and the two ends are connected to the second bearing 11 and the third bearing 12 through the second bearing 11 and the third bearing 12. The planetary gear 9 is also meshed with the fixed ring gear 3, and the other side of the planetary gear 8 is connected to the planetary ring gear 14 through the fourth bearing 13. The internal gear 1401 on the planetary ring gear 14 is meshed with the planetary gear 9. The external cam 1402 on the planetary ring gear 14 is sleeved with a flexible bearing 15. The outer ring of the flexible bearing 15 abuts against the inner wall of the flexible wheel 2. The external gear of the flexible wheel 2 is meshed with the output rigid wheel 4. The outer wall of the planetary ring gear 14 is also connected to the fixed ring gear 3 and the rigid wheel cover plate 5 through the fifth bearing 16 and the sixth bearing 17 respectively.

[0018] Specifically, the sun gear 10 is connected to the motor as an input end, the external cam 1402 and the flexible bearing 15 are combined into a wave generator, and the number of the planetary gears 9 is three.

[0019] By providing the planetary gear ring 14 with an internal gear 1401 and an external cam 1402, the internal gear 1401 serves as the output of the planetary transmission, the external cam 1402 serves as the input of the harmonic transmission, and the fixed gear ring 3 serves as another fixed sun gear of the planetary transmission, and also serves as the end cover of the flexible wheel 2 of the harmonic transmission; through the new structural design, the planetary transmission is embedded into the harmonic transmission without changing the outer dimensions of the harmonic transmission, and the planetary transmission and the harmonic transmission are effectively combined organically, achieving the purpose of small volume and large reduction ratio, meeting the requirements of modern industry for compactness and high performance of reducers, and taking into account both transmission efficiency and carrying capacity.

[0020] Furthermore, in order to make the entire reducer more compact and reduce the occupied space, the inner ring of the cross roller bearing 1, the output rigid wheel 4 and the rigid wheel cover plate 5 are fixedly connected by bolts as the output end; the outer ring of the cross roller bearing 1, the flexible wheel 2 and the fixed gear ring 3 are fixedly connected by bolts as the fixed installation end.

[0021] In addition to the above-mentioned preferred embodiments, the present invention also has other implementation modes. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection requested by the present invention.

Claims

1. A planetary harmonic reducer, characterized in that: The invention comprises a crossed roller bearing (1), wherein the outer ring on one side of the crossed roller bearing (1) is connected in sequence to a flexible wheel (2) and a fixed gear ring (3), and the inner ring on the other side of the crossed roller bearing (1) is connected in sequence to an output rigid wheel (4) and a rigid wheel cover plate (5), an input end cover (6) is mounted on the fixed gear ring (3), and the input end cover (6) is connected to one side of a planet carrier (8) via a first bearing (7), at least two planetary wheels (9) are evenly arranged inside the planet carrier (8), a sun wheel (10) penetrates into the planet carrier (8) and meshes with the planetary wheels (9), and the two ends are connected to the planet carrier (8) via a second bearing (11) and a third bearing (12), and the The planetary gear (9) is also meshed with the fixed gear ring (3); the other side of the planet carrier (8) is connected to the planetary gear ring (14) via a fourth bearing (13); the internal gear (1401) on the planetary gear ring (14) is meshed with the planetary gear (9); the external cam (1402) on the planetary gear ring (14) is sleeved with a flexible bearing (15); the outer ring of the flexible bearing (15) abuts against the inner wall of the flexible wheel (2); the external gear of the flexible wheel (2) is meshed with the output rigid wheel (4); and the outer wall of the planetary gear ring (14) is also connected to the fixed gear ring (3) and the rigid wheel cover plate (5) via a fifth bearing (16) and a sixth bearing (17), respectively.

2. A planetary harmonic reducer according to claim 1, characterized in that: The sun gear (10) is connected to the motor as an input end.

3. A planetary harmonic reducer according to claim 1, characterized in that: The external cam (1402) and the flexible bearing (15) are combined into a wave generator.

4. A planetary harmonic reducer according to claim 1, characterized in that: The inner ring of the cross roller bearing (1), the output rigid wheel (4) and the rigid wheel cover plate (5) are fixedly connected by bolts to serve as an output end.

5. The planetary harmonic reducer according to claim 1, characterized in that: The outer ring of the cross roller bearing (1), the flexible wheel (2) and the fixed gear ring (3) are fixedly connected by bolts to form a fixed installation end.

6. A planetary harmonic reducer according to claim 1, characterized in that: The number of the planetary gears (9) is three.

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