Sealed anti-corrosion harmonic reducer for ocean

Abstract

The invention relates to the technical field of ocean equipment, in particular to a sealed anti-corrosion harmonic reducer for the ocean. An input shaft is rotationally connected with one side of a reducer shell, a wave generator is arranged in the reducer shell and connected with the input shaft, a flexible gear is arranged in the reducer shell, and the wave generator is installed in the flexible gear and connected with the output shaft. The steel wheel is installed in the speed reducer shell, the flexible wheel is meshed with an inner ring of the steel wheel, the output shaft is rotationally connected with the other side of the speed reducer shell, and the end, close to the input shaft, of the output shaft extends into the speed reducer shell to be meshed with the flexible wheel. Multiple process anti-corrosion measures and a three-stage sealing system are adopted outside the harmonic speed reducer, and the technical problem that the speed reducer is corroded by seawater due to too high pressure or sealing leakage in the deep sea environment is solved. The service life of the transmission mechanism can be greatly prolonged and can be more than multiple times of that of a conventional transmission mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment, and particularly relates to a sealed and anti-corrosion harmonic reducer for the ocean. Background Art

[0002] Although traditional reducers (such as planetary gears and RV reducers) have a relatively high load-bearing capacity, they have problems such as complex structures, large volumes, and limited transmission accuracy. The harmonic reducer, with its advantages of compact structure, high transmission accuracy, and small backlash, has become an ideal choice in the field of precision transmission. The harmonic reducer is a high-precision speed reduction device based on the principle of elastic deformation and is widely used in industrial robots, aerospace, precision instruments, and other fields. Its core structure includes a wave generator, a flexspline, and a rigid gear, and high reduction ratios and zero backlash transmissions are achieved through the elastic deformation of the flexspline.

[0003] However, when applied in a marine environment, the harmonic reducer is corroded internally due to seawater penetration, which affects the lubrication failure of the gear structure and causes damage to the reducer.

[0004] Therefore, how to ensure the sealing performance and anti-corrosion performance of the harmonic reducer in a marine environment and avoid damage to the harmonic reducer caused by seawater penetration has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The present invention provides a sealed and anti-corrosion harmonic reducer for the ocean to solve the problem of how to ensure the sealing performance and anti-corrosion performance of the harmonic reducer in a marine environment and avoid damage to the harmonic reducer caused by seawater penetration.

[0006] The present invention provides a sealed and anti-corrosion harmonic reducer for the ocean, including: A reducer housing; An input shaft rotatably connected to one side of the reducer housing; A wave generator disposed inside the reducer housing and connected to the input shaft; A flexspline disposed inside the reducer housing, and the wave generator is installed inside the flexspline; A rigid gear installed inside the reducer housing, and the flexspline meshes with the inner ring of the rigid gear; An output shaft rotatably connected to the other side of the reducer housing, and one end of the output shaft close to the input shaft extends into the reducer housing and meshes with the flexspline.

[0007] In some embodiments, the input shaft and the reducer housing are rotatably connected through bearings, and there are two sets of bearings arranged along the axial direction of the input shaft.

[0008] In some embodiments, sealing components are installed between the input shaft and the reducer housing and between the output shaft and the reducer housing.

[0009] In some of these embodiments, the sealing assembly includes: A first sealing element, mounted on the reducer housing and abutting against the input shaft; A second sealing element, mounted on the reducer housing and abutting against the input shaft; A third sealing element, mounted on the reducer housing and abutting against the output shaft; A fourth sealing element, mounted on the reducer housing and abutting against the output shaft; The first sealing element is disposed on the side of the input shaft away from the wave generator, the second sealing element is disposed on the side of the input shaft close to the wave generator, the third sealing element is disposed on the side of the output shaft away from the wave generator, and the fourth sealing element is disposed on the side of the output shaft close to the wave generator.

[0010] In some of these embodiments, the output shaft is rotatably connected to the reducer housing through deep groove ball bearings, and there are two sets of deep groove ball bearings arranged along the axial direction of the output shaft.

[0011] In some of these embodiments, dust covers are installed on both the side of the deep groove ball bearing close to the wave generator and the side away from the wave generator.

[0012] In some of these embodiments, an airtight assembly is further installed on the reducer housing, and the airtight assembly includes: A first airtight element, mounted on the side of the reducer housing close to the input shaft; A second airtight element, mounted on the side of the reducer housing close to the output shaft; Airtight cavities are formed on the reducer housing at the bottoms of the first airtight element and the second airtight element.

[0013] In some of these embodiments, the first airtight element is located between the first sealing element and the second sealing element, and the second airtight element is located between the third sealing element and the fourth sealing element.

[0014] In some of these embodiments, a ceramic film is coated on the outer surface of the reducer housing.

[0015] In some of these embodiments, an epoxy resin is coated on the outer surface of the flexspline.

[0016] The beneficial effects of the present invention are as follows: A marine-sealed and corrosion-proof harmonic reducer of the present invention ensures the sealing performance of the input end and the output end of the harmonic reducer by setting a first sealing element, a second sealing element, a third sealing element, and a fourth sealing element. However, considering that as the working depth of the harmonic reducer increases, the pressure of seawater will also become greater and greater, and the two-stage sealing at the input and output ends is not sufficient to ensure the sealing performance. Therefore, the present invention sets a first airtight element between the first sealing element and the second sealing element, and a second airtight element between the third sealing element and the fourth sealing element. When the airtight element of the present invention is in use, high-pressure gas needs to be filled in advance so that the airtight cavity is filled with high-pressure gas. As a result, the first sealing element and the third sealing element will be subjected to outward pressure, which is exactly opposite to the pressure from seawater, improving the sealing performance and achieving the effect of three-stage sealing. At the same time, for the problem that the harmonic reducer of the present invention may be corroded when working in seawater for a long time, a ceramic film is coated on the outer surface of the reducer housing. The ceramic film has excellent corrosion resistance in a seawater environment. Its chemical inertness can effectively resist chloride ion erosion, and its dense structure can block the penetration of water vapor and salt. At the same time, its high hardness and wear resistance can cope with the erosion of sea waves. Combined with hydrophobic surface treatment, it can also reduce biological attachment. The epoxy resin coating also has excellent corrosion resistance in a seawater environment. Its dense structure can effectively block the penetration of chloride ions and moisture, and its strong adhesion ensures long-term protection without peeling off. At the same time, by adding corrosion inhibitors and modified fillers, the salt spray resistance and anti-permeability performance can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural view of a marine-sealed and corrosion-proof harmonic reducer of the present invention from a perspective; Figure 2 is Figure 1 a schematic structural view of the ceramic film anti-corrosion layer in a marine-sealed and corrosion-proof harmonic reducer shown; Figure 3 is Figure 1 a schematic structural view of the epoxy resin anti-corrosion layer in a marine-sealed and corrosion-proof harmonic reducer shown; In the drawings, 1. reducer housing; 2. input shaft; 3. wave generator; 4. flexspline; 5. circular spline; 6. output shaft; 7. bearing; 8. sealing assembly; 81. first sealing element; 82. second sealing element; 83. third sealing element; 84. fourth sealing element; 9. deep groove ball bearing; 10. airtight assembly; 101. first airtight element; 102. second airtight element; 11. ceramic film; 12. epoxy resin. DETAILED DESCRIPTION OF THE INVENTION

[0018] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work belong to the scope of protection of the present invention.

[0019] As described in the background art, when a harmonic reducer is applied in a marine environment, the harmonic reducer is corroded inside due to seawater penetration, which affects the lubrication failure of the gear structure and causes damage to the reducer. Therefore, how to ensure the sealing performance and anti-corrosion performance of the harmonic reducer in the marine environment and avoid damage to the harmonic reducer caused by seawater penetration has become a technical problem that needs to be solved urgently by those skilled in the art.

[0020] To solve the above problems, referring to Figure 1 、 Figure 2 and Figure 3 the present invention provides a sealed and anti-corrosion harmonic reducer for the ocean, including a reducer housing 1, an input shaft 2, a wave generator 3, a flexspline 4, a circular spline 5 and an output shaft 6. The input shaft 2 is rotatably connected to one side of the reducer housing 1. The wave generator 3 is arranged inside the reducer housing 1 and is connected to the input shaft 2. The flexspline 4 is arranged inside the reducer housing 1, and the wave generator 3 is installed inside the flexspline 4. The circular spline 5 is installed inside the reducer housing 1, and the flexspline 4 meshes with the inner ring of the circular spline 5. The output shaft 6 is rotatably connected to the other side of the reducer housing 1, and one end of the output shaft 6 close to the input shaft 2 extends into the reducer housing 1 and meshes with the flexspline 4.

[0021] Specifically, in the solution of the present invention, the wave generator 3 is of an elliptical structure, and the flexspline 4 is made of a flexible material. After the wave generator 3 is installed in the flexspline 4, the shape of the flexspline 4 also becomes an elliptical structure. The wave generator 3 drives the flexspline 4 to rotate inside the circular spline 5, and the flexspline 4 drives the output shaft 6 to rotate. During the rotation of the flexspline 4, at least 30% of the outer circumference of the flexspline 4 meshes with the circular spline 5.

[0022] Preferably, the input shaft 2 and the reducer housing 1 are rotatably connected through bearings 7, and two sets of bearings 7 are arranged along the axial direction of the input shaft 2.

[0023] Specifically, in the technical solution of the present invention, the bearings 7 are installed inside the reducer housing 1. The arrangement of the two bearings 7 can ensure that the input shaft 2 does not deviate during high-speed rotation, and the power output is more linear.

[0024] Preferably, a sealing assembly 8 is installed between the input shaft 2 and the reducer housing 1 and between the output shaft 6 and the reducer housing 1.

[0025] Specifically, whether at the input end or the output end of the harmonic reducer, it will be subjected to the pressure from seawater. Therefore, in the technical solution of the present invention, sealing components are respectively arranged at the input end and the output end of the harmonic reducer to ensure the sealing performance.

[0026] Preferably, the sealing component 8 includes: a first sealing element 81, a second sealing element 82, a third sealing element 83, and a fourth sealing element 84. The first sealing element 81 is installed on the reducer housing 1 and abuts against the input shaft 2. The second sealing element 82 is installed on the reducer housing 1 and abuts against the input shaft 2. The third sealing element 83 is installed on the reducer housing 1 and abuts against the output shaft 6. The fourth sealing element 84 is installed on the reducer housing 1 and abuts against the output shaft 6. The first sealing element 81 is arranged on the side of the input shaft 2 away from the wave generator 3. The second sealing element 82 is arranged on the side of the input shaft 2 close to the wave generator 3. The third sealing element 83 is arranged on the side of the output shaft 6 away from the wave generator 3. The fourth sealing element 84 is arranged on the side of the output shaft 6 close to the wave generator 3.

[0027] Specifically, two sets of sealing elements are respectively arranged at the input end and the output end of the harmonic reducer. And the sealing elements in the present invention are preferably made of rubber material, with a cross-section similar to a bowl shape or an arc shape, the protruding part facing the direction of seawater, and the concave part facing the inside of the reducer housing 1, which can enable the rubber material to withstand greater seawater pressure. The rubber material is preferably fluororubber.

[0028] Furthermore, in another embodiment, a single set of sealing elements includes multiple stacked rubber materials, which can further improve the compressive capacity.

[0029] Preferably, the output shaft 6 is rotatably connected to the reducer housing 1 through deep groove ball bearings 9, and two sets of deep groove ball bearings 9 are arranged along the axial direction of the output shaft 6.

[0030] Specifically, the arrangement of the two sets of deep groove ball bearings 9 can ensure the continuous and stable output of power.

[0031] Preferably, dust covers are installed on both the side of the deep groove ball bearing 9 close to the wave generator 3 and the side away from the wave generator 3.

[0032] Specifically, during disassembly, installation, or operation, it can effectively prevent external pollutants from entering the inside of the deep groove ball bearing 9 and affecting the performance of the deep groove ball bearing 9.

[0033] Preferably, an airtight assembly 10 is further installed on the reducer housing 1. The airtight assembly 10 includes a first airtight element 101 and a second airtight element 102. The first airtight element 101 is installed on one side of the reducer housing 1 close to the input shaft 2, and the second airtight element 102 is installed on one side of the reducer housing 1 close to the output shaft 6. Airtight cavities are provided on the reducer housing 1 at the bottoms of the first airtight element 101 and the second airtight element 102.

[0034] Preferably, the first airtight element 101 is located between the first sealing element 81 and the second sealing element 82, and the second airtight element 102 is located between the third sealing element 83 and the fourth sealing element 84.

[0035] Specifically, taking the first airtight element 101 as an example, the first airtight element 101 is arranged between the first sealing element 81 and the second sealing element 82 to form a three-stage sealing structure. In the technical solution of the present invention, high-pressure gas needs to be filled into the interior of the first airtight element 101 before use, so that the pressure inside the airtight cavity is greater than the standard atmospheric pressure. When the harmonic reducer works in the ocean, the first thing affected by the seawater pressure is the protruding part of the first sealing element 81. On the other side of the first sealing element 81, that is, the concave part, is the airtight cavity filled with high-pressure gas. For seawater to penetrate, it needs to overcome the structural strength of multiple rubber materials and the pressure of the high-pressure gas at the same time. In practical applications, even under such conditions, a small amount of seawater will still penetrate. Therefore, in the technical solution of the present invention, the second sealing element 82 is provided, which has the same structure as the first sealing element 81. The amount of penetrated seawater is small and the pressure is low. Therefore, the three-stage sealing mechanism of the present invention can completely prevent seawater from penetrating into the interior of the reducer housing 1.

[0036] Furthermore, check valves are provided on both the first airtight element 101 and the second airtight element 102, which are realized by the linkage of a plug ball and a spring, and are installed inside the first airtight element 101 and the second airtight element 102 to prevent high-pressure gas leakage.

[0037] Preferably, a ceramic film 11 is coated on the outer surface of the reducer housing 1.

[0038] Preferably, an epoxy resin 12 is coated on the outer surface of the flexspline 4.

[0039] Specifically, the ceramic membrane 11 has excellent corrosion resistance in a seawater environment. Its chemical inertness can effectively resist chloride ion erosion, and its dense structure can block the penetration of water vapor and salts. At the same time, its high hardness and wear resistance can withstand the scouring of sea waves. Combined with hydrophobic surface treatment, it can also reduce biological attachment. The epoxy resin 12 coating also has excellent corrosion resistance in a seawater environment. Its dense structure can effectively block the penetration of chloride ions and moisture, and its strong adhesion ensures long-term protection without peeling. At the same time, by adding corrosion inhibitors and modified fillers, the salt spray resistance and anti-permeation performance can be further improved.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0041] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0042] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0044] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A sealed and corrosion-resistant harmonic reducer for the ocean, characterized in that Comprising: Reducer housing (1); Input shaft (2), rotatably connected to one side of the reducer housing (1); Wave generator (3), arranged inside the reducer housing (1) and connected to the input shaft (2); Flexible gear (4), arranged inside the reducer housing (1), and the wave generator (3) is installed inside the flexible gear (4); Steel gear (5), installed inside the reducer housing (1), and the flexible gear (4) meshes with the inner ring of the steel gear (5); Output shaft (6), rotatably connected to the other side of the reducer housing (1), and one end of the output shaft (6) close to the input shaft (2) extends into the reducer housing (1) and meshes with the flexible gear (4).

2. The sealed and corrosion-proof harmonic reducer for the ocean according to claim 1, wherein, The input shaft (2) is rotatably connected to the reducer housing (1) through bearings (7), and two sets of bearings (7) are arranged along the axial direction of the input shaft (2).

3. The sealed and corrosion-proof harmonic reducer for the ocean according to claim 1, characterized in that, Sealing assemblies (8) are installed between the input shaft (2) and the reducer housing (1) and between the output shaft (6) and the reducer housing (1).

4. The sealed and corrosion-proof harmonic reducer for the ocean according to claim 3, characterized in that, The sealing assembly (8) includes: First sealing element (81), installed on the reducer housing (1) and abutted against the input shaft (2); Second sealing element (82), installed on the reducer housing (1) and abutted against the input shaft (2); Third sealing element (83), installed on the reducer housing (1) and abutted against the output shaft (6); Fourth sealing element (84), installed on the reducer housing (1) and abutted against the output shaft (6); The first sealing element (81) is arranged on the side of the input shaft (2) away from the wave generator (3), the second sealing element (82) is arranged on the side of the input shaft (2) close to the wave generator (3), the third sealing element (83) is arranged on the side of the output shaft (6) away from the wave generator (3), and the fourth sealing element (84) is arranged on the side of the output shaft (6) close to the wave generator (3).

5. The sealed and anti-corrosion harmonic reducer for the ocean according to claim 1, characterized in that, The output shaft (6) is rotatably connected to the reducer housing (1) through deep groove ball bearings (9), and two sets of deep groove ball bearings (9) are arranged along the axial direction of the output shaft (6).

6. The sealed and corrosion-proof harmonic reducer for the ocean according to claim 5, characterized in that, Dust covers are installed on both the side of the deep groove ball bearing (9) close to the wave generator (3) and the side away from the wave generator (3).

7. The sealed and corrosion-proof harmonic reducer for the ocean according to claim 1, wherein An airtight assembly (10) is also installed on the reducer housing (1), and the airtight assembly (10) includes: First airtight element (101), installed on the side of the reducer housing (1) close to the input shaft (2); Second airtight element (102), installed on the side of the reducer housing (1) close to the output shaft (6); Airtight cavities are formed on the reducer housing (1) at the bottoms of the first airtight element (101) and the second airtight element (102).

8. The sealed and anti-corrosion harmonic reducer for the ocean according to claim 7, wherein The first airtight element (101) is located between the first sealing element (81) and the second sealing element (82), and the second airtight element (102) is located between the third sealing element (83) and the fourth sealing element (84).

9. The sealed and anti-corrosion harmonic reducer for the ocean according to claim 1, wherein, The outer surface of the reducer housing (1) is covered with a layer of ceramic film (11).

10. The sealed and anti-corrosion harmonic reducer for the ocean according to claim 1, characterized in that, The outer surface of the flexspline (4) is covered with a layer of epoxy resin (12).

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