Harmonic reducer with bearing and rigid wheel integrated

Abstract

The bearing and rigid wheel integrated harmonic reducer comprises an input shaft and a reducer body, a wave generator is arranged on the input shaft, and a flexible bearing is arranged outside the wave generator in a sleeving mode. The speed reducer main body comprises a bearing outer ring arranged at one end of the input shaft, a rigid wheel which is an integrated component with the bearing outer ring, a cup-shaped flexible wheel which is in meshed connection with inner teeth of the rigid wheel and a bearing inner ring which is fixedly connected with the cup-shaped flexible wheel, the bearing outer ring and the rigid wheel are integrated, and a rolling body is arranged between the bearing inner ring and the bearing outer ring; the rolling body is arranged on the outer side of the cylinder body of the cup-shaped flexible gear, so that the axial length and the outer diameter are effectively shortened, the inner ring of the bearing and the cup-shaped flexible gear are fixedly connected to form the output shaft, the wave generator and the input shaft are integrated, and inner teeth of the rigid gear are meshed with outer teeth of the cup-shaped flexible gear, so that the overall rigidity is effectively improved; the invention belongs to the technical field of robot transmission.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot transmission, and more specifically relates to a harmonic reducer integrating a bearing and a rigid wheel. Background Art

[0002] Harmonic reducers are widely used in industries such as electronics, aerospace, and robotics due to their high load capacity, large transmission ratio, compact size, smooth transmission, and high transmission precision. However, existing harmonic reducers have a large outer diameter and occupy a large amount of space, resulting in a large size and complex structure, which cannot meet the requirements of miniaturization of joint modules. Summary of the Invention

[0003] The main purpose of the present invention is to provide a harmonic reducer with integrated bearings and rigid wheels, which has a small volume, a simple structure, stable operation and high precision.

[0004] To achieve the above object, the technical solution of the present invention is:

[0005] A harmonic reducer with an integrated bearing and a rigid wheel comprises an input shaft and a reducer body, wherein a wave generator is provided on the input shaft, and a flexible bearing is sleeved on the outside of the wave generator. The reducer body comprises a bearing outer ring, a rigid wheel which is an integrated component with the bearing outer ring, a cup-type flexible wheel meshing with the internal teeth of the rigid wheel, and a bearing inner ring fixedly connected to the cup-type flexible wheel, wherein a rolling body is provided between the bearing inner ring and the bearing outer ring, and the rolling body is arranged on the outside of the cup-type flexible wheel cylinder.

[0006] According to the first aspect of the present invention, the embodiment further includes a bearing support assembly, which includes a support bearing arranged inside the cup-type flexible wheel close to the wave generator and a bearing seat matched with the outer circle of the support bearing.

[0007] According to the first embodiment of the present invention, the support bearing and the bearing seat are both arranged at the bottom of the cup-type flexspline, and the bearing inner ring is fixedly connected to the cup-type flexspline and the bearing seat by screws.

[0008] According to the first embodiment of the present invention, the flexible bearing, the support bearing and the bearing seat are all arranged in the cup-type flexspline.

[0009] According to an embodiment of the first aspect of the present invention, the inner ring of the support bearing cooperates with the input shaft, and the outer ring of the support bearing cooperates with the inner hole of the bearing seat.

[0010] According to an embodiment of the first aspect of the present invention, the support bearing and the bearing outer ring are coaxially arranged.

[0011] According to an embodiment of the first aspect of the present invention, an inner groove for mounting the rolling element is provided on the outside of the inner ring of the bearing.

[0012] According to an embodiment of the first aspect of the present invention, the rolling element is spherical, cylindrical or conical.

[0013] According to the first aspect of the embodiment of the present invention, it further includes a connecting assembly, which includes at least one circle of screws fixed to the outer end surface of the bearing inner ring.

[0014] According to an embodiment of the first aspect of the present invention, the screw assembly includes a plurality of axial screws arranged circumferentially with the input shaft as the center.

[0015] One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0016] The present invention integrates the outer ring of the bearing with the rigid wheel, arranges a rolling body between the inner ring of the bearing and the outer ring of the bearing, and arranges the rolling body outside the cup-shaped flexible wheel body, thereby effectively shortening the axial length and outer diameter;

[0017] The inner ring of the bearing is fixedly connected to the cup-type flexspline to form the output shaft, the wave generator is integrated with the input shaft, and the inner teeth of the rigid wheel are meshed with the outer teeth of the cup-type flexspline, which effectively improves the overall rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Attachment Figure 1 A cross-sectional view of an embodiment of the present invention;

[0020] Attachment Figure 2 A front view of an embodiment of the present invention;

[0021] Attachment Figure 3 It is a rear view of an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0024] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two elements, indirect communication, or an interactive relationship between two elements.

[0027] The following disclosure provides many different embodiments or examples for implementing different solutions of the present invention.

[0028] Refer to the attached Figure 1 To the attached Figure 3 As shown, a harmonic reducer with an integrated bearing and a rigid wheel includes an input shaft 1, a wave generator 11 arranged on the input shaft 1, a flexible bearing 5 sleeved on the outside of the wave generator 11, a reducer body 2, a bearing support assembly 3 and a connecting assembly.

[0029] In one embodiment of the present invention, the reducer body 2 includes a bearing outer ring 21 arranged at one end of the input shaft 1, a rigid wheel 25 that is an integrated component with the bearing outer ring 21, a cup-type flexible wheel 22 meshing with the internal teeth of the rigid wheel 25, and a bearing inner ring 23 fixedly connected to the cup-type flexible wheel 22. A rolling body 24 is provided between the bearing inner ring 23 and the bearing outer ring 21, and the rolling body 24 is arranged on the outside of the cylinder of the cup-type flexible wheel 22.

[0030] In one embodiment of the present invention, an inner groove for mounting a rolling element 24 is provided on the outside of the bearing inner ring 23. The rolling element 24 is spherical, cylindrical or conical, preferably cylindrical.

[0031] In one embodiment of the present invention, the bearing support assembly 3 includes a support bearing 31 that cooperates with the input shaft 1 and a bearing seat 32 that cooperates with the outer circle of the support bearing 31. The support bearing 31 is arranged inside the cup-type flexible spline 22 at one end close to the wave generator 11. The cup-type flexible spline 22, the bearing seat 32 and the support bearing 31 are arranged in sequence along the axial direction of the input shaft 1.

[0032] In one embodiment of the present invention, the connecting assembly includes a screw group fixed to the outer end surface of the bearing inner ring 23. The screw group includes a plurality of axial screws 41 arranged circumferentially with the input shaft 1 as the center. The axial screws 41 can be used to fix the bearing inner ring 23, the cup-type flexible spline 22 and the bearing seat 32 into a whole, thereby effectively improving the overall rigidity.

[0033] In one embodiment of the present invention, the flexible bearing 5 , the support bearing 31 and the bearing seat 32 are all arranged inside the cup-shaped flexible spline 22 . During installation, the inner ring of the support bearing 31 cooperates with the input shaft 1 , and the outer ring of the support bearing 31 cooperates with the inner hole of the bearing seat 32 .

[0034] In one embodiment of the present invention, the support bearing 31 is coaxially arranged with the bearing outer ring 21, and the inner teeth of the rigid wheel 25 which is an integrated component with the bearing outer ring 21 are meshed and connected with the outer teeth of the cup-type flexible wheel 22. The support bearing 31 is a deep groove ball bearing, which is not only easy to use, simple to maintain, and has a long service life and reliability, but also can withstand large radial and axial loads, and has a high speed capability, low friction loss and high efficiency.

[0035] In one embodiment of the present invention, the cup-type flexible wheel 22, the bearing seat 32 and the bearing support assembly 3 are all arranged in the installation cavity of the reducer body 2, so as to effectively control the size of the harmonic reducer integrating the bearing and the rigid wheel, and meet the requirements of miniaturization of the joint module.

[0036] In one embodiment of the present invention, a motor assembly may be provided at the other end of the input shaft 1, which includes a driving source and a motor housing whose one end abuts against the outer ring of the bearing 21. The power source is the power input of the joint structure, and includes a motor stator and a motor rotor. The motor stator is sleeved on the outside of the input shaft 1, and the motor rotor is sleeved on the outside of the motor stator through a permanent magnet.

[0037] In one embodiment of the present invention, an encoder assembly can be set on the side of the motor assembly away from the reducer to measure the displacement and rotational speed. Specifically, it includes an input end encoder, an output end encoder and a drive plate arranged in sequence along the axial direction of the input shaft 1, so that the angular displacement or linear displacement can be converted into an electrical signal to accurately test the angular displacement and rotational position of the motor.

[0038] Therefore, the present invention provides a harmonic reducer with an integrated bearing and a rigid wheel. By arranging the wave generator 11 on the input shaft 1, the wave generator 11 and the input shaft 1 are integrated. The bearing inner ring 23 and the cup-type flexible wheel 22 are fixedly connected to form an output shaft. The inner teeth of the rigid wheel 25 are meshed with the outer teeth of the cup-type flexible wheel 22, thereby effectively improving the overall rigidity. In addition, by arranging the bearing outer ring 21 and the rigid wheel 25 as an integral whole, by arranging the rolling body 24 between the bearing inner ring 23 and the bearing outer ring 21, and by arranging the rolling body 24 on the outside of the cylinder of the cup-type flexible wheel 22, the axial length and the outer diameter are effectively shortened.

[0039] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A harmonic reducer with integrated bearing and rigid wheel, characterized in that: include: An input shaft (1), wherein a wave generator (11) is provided on the input shaft (1), and a flexible bearing (5) is provided on the outside of the wave generator (11); A reducer body (2), the reducer body (2) comprising a bearing outer ring (21), a rigid wheel (25) integral with the bearing outer ring (21), a cup-shaped flexible wheel (22) meshingly connected to the inner teeth of the rigid wheel (25), and a bearing inner ring (23) fixedly connected to the cup-shaped flexible wheel (22); A rolling body (24) is provided between the bearing inner ring (23) and the bearing outer ring (21), and the rolling body (24) is arranged on the outside of the cylinder of the cup-shaped flexible wheel (22).

2. The harmonic reducer with integrated bearing and rigid wheel according to claim 1, characterized in that: The invention also includes a bearing support assembly (3), wherein the bearing support assembly (3) includes a support bearing (31) arranged inside the cup-shaped flexible wheel (22) close to the wave generator (11) and a bearing seat (32) matched with the outer circle of the support bearing (31).

3. The harmonic reducer with integrated bearing and rigid wheel according to claim 2, characterized in that: The support bearing (31) and the bearing seat (32) are both arranged at the bottom of the cup-shaped flexible wheel (22), and the bearing inner ring (23) is fixedly connected to the cup-shaped flexible wheel (22) and the bearing seat (32) by screws.

4. The harmonic reducer with integrated bearing and rigid wheel according to claim 1, characterized in that: The flexible bearing (5), the support bearing (31) and the bearing seat (32) are all arranged in the cup-shaped flexible wheel (22).

5. The harmonic reducer with integrated bearing and rigid wheel according to claim 4, characterized in that: The inner ring of the support bearing (31) cooperates with the input shaft (1), and the outer ring of the support bearing (31) cooperates with the inner hole of the bearing seat (32).

6. The harmonic reducer with integrated bearing and rigid wheel according to claim 5, characterized in that: The support bearing (31) and the bearing outer ring (21) are coaxially arranged.

7. The harmonic reducer with integrated bearing and rigid wheel according to claim 1, characterized in that: An inner groove for mounting the rolling element (24) is provided on the outside of the bearing inner ring (23).

8. The harmonic reducer with integrated bearing and rigid wheel according to claim 7, characterized in that: The rolling element (24) is spherical, cylindrical or conical.

9. The harmonic reducer with integrated bearing and rigid wheel according to claim 1, characterized in that: It also includes a connecting assembly, which includes at least one screw group fixed to the outer end surface of the bearing inner ring (23).

10. The harmonic reducer with integrated bearing and rigid wheel according to claim 9, characterized in that: The screw assembly comprises a plurality of axial screws (41) arranged in a circumferential pattern with the input shaft (1) as the center.

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