High-precision speed reducer based on elastic deformation transmission

Abstract

The application relates to the field of speed reducers, in particular to a high-precision speed reducer based on elastic deformation transmission, which comprises a rigid wheel, a switching assembly, a supplement assembly and a cooling assembly, a speed reducer flexible wheel is arranged in the rigid wheel and rotates, a wave generator is arranged in the speed reducer flexible wheel through a flexible bearing, a supporting mounting disc is fixedly connected to the side, away from the speed reducer flexible wheel, of the rigid wheel through bolts, and an output disc is arranged on the side of the supporting mounting disc, where the speed reducer flexible wheel is located. When the device is used, the switching assembly with the supplement assembly and the cooling assembly is arranged in the transmission interval cavity between the rigid wheel and the speed reducer flexible wheel. When the rigid wheel and the speed reducer flexible wheel are normally used for speed reduction transmission or are stopped and not used, the meshing area of the rigid wheel and the speed reducer flexible wheel can be supplemented with lubricating grease, and the heat in the space in the transmission interval cavity can be cooled, so that the use stability and convenience of the speed reducer are improved, the cooperation between the mechanisms does not interfere with each other, and the operation is convenient.

Description

Technical Field

[0001] This invention relates to the field of speed reducers, specifically a high-precision speed reducer based on elastic deformation transmission. Background Technology

[0002] Harmonic reducers are precision devices that transmit motion using the harmonic deformation of an elastic body. They are named for the harmonic waveform of the flexible wheel's elastic deformation. The core of the reducer consists of a wave generator, a flexible wheel, and a rigid wheel. During operation, the wave generator forces the flexible wheel to produce elliptical elastic deformation, causing the teeth of the flexible wheel and the rigid wheel to mesh alternately. Speed ​​reduction is achieved through the tooth difference. It is widely used in industrial robot joints, precision machine tools, aerospace equipment, and other scenarios, and can meet the transmission requirements of high precision and large reduction ratio.

[0003] During the installation and use of existing harmonic reducers, a large amount of lubricating grease is filled between the wave generator, flexure, and rigid wheel components, and then the assembled reducer is connected in a closed manner. However, with the long-term use of the reducer, the lubricating grease will age due to high temperature and mechanical shear force, or slowly leak from the sealing gap. After a certain period of use, it is necessary to disassemble and replenish the grease. Furthermore, the lubricating grease is in a relatively sealed environment, and with the long-term operation of the flexure and rigid wheel teeth, the heat is not easily dissipated, which in turn affects the normal elastic deformation of the reducer. Summary of the Invention

[0004] The purpose of this invention is to provide a high-precision speed reducer based on elastic deformation transmission to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-precision reducer based on elastic deformation transmission, comprising:

[0006] A rigid wheel is provided with a speed reducer flex wheel rotating inside the rigid wheel. A wave generator is provided inside the speed reducer flex wheel through a flexible bearing. A support mounting plate is fixedly connected to the side of the rigid wheel away from the speed reducer flex wheel by bolts, and an output plate is provided on the side of the speed reducer flex wheel located on the support mounting plate.

[0007] The adapter assembly has a supplementary component and a cooling component on one side. The adapter assembly is located between the rigid wheel and the support mounting plate. The adapter assembly includes an adapter functional ring. The supplementary component includes several grease replenishment pipes. The cooling component includes several arc-shaped heat dissipation blocks. The arc-shaped heat dissipation blocks are respectively close to the several grease replenishment pipes. A transmission interval cavity is sandwiched between the rigid wheel and the reducer flexible wheel. The grease replenishment pipes and arc-shaped heat dissipation blocks are both located in the transmission interval cavity.

[0008] Preferably, the output disk connecting the wave generator and the reducer flex wheel is provided with a shaft connection groove at its center, the outer side of the rigid wheel is provided with a motor mounting flange, the inner circumference of the rigid wheel and the outer circumference of the reducer flex wheel are provided with transmission teeth, and the transmission teeth of the rigid wheel and the reducer flex wheel are configured to cooperate with each other.

[0009] Preferably, the support mounting plate has an access docking groove on one side of the transmission interval cavity, and an access docking block is provided on one side of the transition function ring. The access docking block is sealed and inserted into the access docking groove. A grease supply groove and an air source connection groove are provided through the support mounting plate on one side of the access docking groove. A first transition groove and a second transition groove are provided on both sides of the access docking block, and the grease supply groove and the first transition groove are connected to each other, and the air source connection groove and the second transition groove are connected to each other.

[0010] Preferably, a first annular diversion groove and a second annular diversion groove are respectively opened on both sides of the inner side of the transfer function ring. The side of the first transfer groove away from the grease supply groove is connected to the first annular diversion groove, and the side of the second transfer groove away from the gas source connection groove is connected to the second annular diversion groove.

[0011] Preferably, several of the grease replenishing pipes are horizontally arranged on one side of the transfer function ring, and the end of the grease replenishing pipe away from the transfer function ring is provided with a bent section. The bent section of the grease replenishing pipe points to the gear engagement position of the rigid wheel and the reducer flexible wheel, and the several grease replenishing pipes are respectively connected to one side of the first annular diversion groove.

[0012] Preferably, one end of each of the arc-shaped heat sinks is connected to one side of the access docking block, and a plurality of grease replenishment pipes are respectively located on one side of the inner arc of the arc-shaped heat sinks, and a plurality of heat dissipation fins are provided on both the inner arc side and the outer arc side of the arc-shaped heat sinks.

[0013] Preferably, each of the arc-shaped heat sinks has a distribution air groove, and one side of the connecting block has an annular collecting air groove. One side of each of the distribution air grooves is connected to the annular collecting air groove.

[0014] Preferably, a plurality of heat dissipation air pipes are horizontally and symmetrically arranged in the annular collecting air trough, one side of each of the plurality of heat dissipation air pipes is connected to the second annular diversion trough, and the plurality of heat dissipation air pipes are respectively inserted into the distribution air troughs of a plurality of arc-shaped heat dissipation blocks, and the annular collecting air trough and the grease replenishment pipe are staggered.

[0015] Preferably, the support mounting plate has a discharge docking groove on the side away from the access docking groove, and the transfer function ring has a discharge docking block on the side away from the access docking groove, and the discharge docking block is sealed and inserted into the discharge docking groove.

[0016] Preferably, one side of the support mounting plate is provided with a discharging connector, the discharging connector is provided with a first discharge groove connected to the discharge docking groove, and a second discharge groove is provided through the discharge docking block on one side of the annular collecting air groove, and the second discharge groove is connected to the first discharge groove.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] During use, this device uses a transfer component with a replenishment and cooling component installed in the transmission interval cavity between the rigid wheel and the reducer flexible wheel. When the rigid wheel and the reducer flexible wheel are in normal deceleration transmission or when the machine is stopped and not in use, the device can replenish the lubricating grease in the meshing area of ​​the rigid wheel and the reducer flexible wheel, and cool the heat in the transmission interval cavity, thereby improving the stability and convenience of the reducer. Furthermore, the cooperation between the mechanisms does not interfere with each other, making operation worry-free. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the side cross-section structure of the present invention;

[0021] Figure 3 For the present invention Figure 2 Schematic diagram of part A;

[0022] Figure 4 For the present invention Figure 3 Schematic diagram of part B;

[0023] Figure 5 For the present invention Figure 3 Schematic diagram of part C;

[0024] Figure 6 For the present invention Figure 2 Schematic diagram of part D;

[0025] Figure 7 This is a schematic diagram of the internal space structure of the transmission interval cavity 5 of the present invention;

[0026] Figure 8 For the present invention Figure 7 Schematic diagram of part E;

[0027] Figure 9 This is a schematic diagram of the installation structure of the adapter ring 6 of the present invention;

[0028] Figure 10 This is a schematic diagram of the disassembled structure of the arc-shaped heat sink 15 of the present invention;

[0029] Figure 11 For the present invention Figure 10 Schematic diagram of part F.

[0030] In the diagram: 1. Rigid wheel; 2. Wave generator; 3. Reducer flexible wheel; 4. Support mounting plate; 5. Transmission interval cavity; 6. Adapter functional ring; 7. Connecting docking block; 8. Grease supply groove; 9. Air source connection groove; 10. First annular diversion groove; 11. Second annular diversion groove; 12. First adapter groove; 13. Second adapter groove; 14. Grease replenishment pipe; 15. Arc-shaped heat sink; 16. Annular collecting air groove; 17. Distributing air groove; 18. Heat dissipation air duct; 19. Heat dissipation fins; 20. Discharge connector; 21. Discharge docking block; 22. First discharge groove; 23. Discharge docking groove; 24. Second discharge groove; 25. Connecting docking groove. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-11 The present invention provides the following technical solutions:

[0033] A high-precision reducer based on elastic deformation transmission includes a rigid wheel 1, a reducer flexible wheel 3 rotatably mounted inside the rigid wheel 1, a wave generator 2 mounted inside the reducer flexible wheel 3 via a flexible bearing, a support mounting plate 4 fixedly connected to the side of the rigid wheel 1 away from the reducer flexible wheel 3 by bolts, and an output plate located on the side of the reducer flexible wheel 3 on the support mounting plate 4. A shaft connection groove is opened at the center of the output plate connecting the wave generator 2 and the reducer flexible wheel 3. A motor mounting flange is provided on the outer side of the rigid wheel 1. Transmission teeth are provided on the inner circumference of the rigid wheel 1 and the outer circumference of the reducer flexible wheel 3, and the transmission teeth of the rigid wheel 1 and the reducer flexible wheel 3 are configured to mesh. When the wave generator 2 is driven to rotate by the motor shaft, the wave generator 2, in conjunction with the flexible bearing, performs harmonic elastic deformation on the reducer flexible wheel 3, thereby causing the reducer flexible wheel 3 to mesh with the transmission teeth of the rigid wheel 1, driving the reducer flexible wheel 3 to rotate.

[0034] A transition assembly is used to connect the internal and external spaces of the reducer. One side of the transition assembly has a supplementary assembly and a cooling assembly. The transition assembly is located between the rigid wheel 1 and the support mounting plate 4. The transition assembly includes a transition functional ring 6. The support mounting plate 4, located within the transmission interval cavity 5, has an access docking groove 25 on one side. An access docking block 7 is located on one side of the transition functional ring 6. The access docking block 7 is sealed and inserted into the access docking groove 25. A grease supply groove 8 and an air source connection groove 9 are provided through the support mounting plate 4 on one side of the access docking groove 25. The access docking block 7 has openings on both sides... The first transition groove 12 and the second transition groove 13 are connected, and the grease supply groove 8 and the first transition groove 12 are connected to each other. The air source connection groove 9 and the second transition groove 13 are connected to each other. When the transition function ring 6 is installed, the transition function ring 6 is first matched with the support mounting plate 4 so that the access docking block 7 is inserted into the access docking groove 25 of the support mounting plate 4. Then the support mounting plate 4 and the wave generator 2 are bolted together. When the support mounting plate 4 is connected and fixed to the rigid wheel 1, the transition function ring 6 is located between the support mounting plate 4 and the rigid wheel 1 to keep the connection of the transition function ring 6 stable.

[0035] The supplementary assembly includes several grease supply pipes 14. A first annular flow divider 10 and a second annular flow divider 11 are respectively formed on both sides of the transition functional ring 6. The side of the first transition groove 12 away from the grease supply groove 8 is connected to the first annular flow divider 10. The side of the second transition groove 13 away from the air source connection groove 9 is connected to the second annular flow divider 11. Several grease supply pipes 14 are horizontally positioned on one side of the transition functional ring 6. One end of each grease supply pipe 14 away from the transition functional ring 6 has a bent section, which points towards the transmission teeth of the rigid wheel 1 and the reducer flexible wheel 3. The gearbox is positioned such that several grease supply pipes 14 are respectively connected to one side of the first annular diversion groove 10. During the installation of the entire gearbox, the grease supply groove 8 is connected to the pneumatic grease supply device with a hose. The pneumatic grease supply device can be a small automatic device commonly used in the prior art. The air source connection groove 9 is connected to the hose of the cold air blower of the external air compressor or high-pressure air source. Lubricating grease can then be supplied into the first annular diversion groove 10 through the grease supply groove 8 and the first transfer groove 12, and high-pressure airflow can be supplied into the second annular diversion groove 11 through the air source connection groove 9 and the second transfer groove 13.

[0036] When lubricating grease is supplied into the first annular diversion groove 10 through the grease supply groove 8 and the first transfer groove 12, the lubricating grease will first fill the first annular diversion groove 10, and then be ejected from the ends of several grease replenishment pipes 14 away from the transfer function ring 6. Since the ends of the grease replenishment pipes 14 away from the transfer function ring 6 are bent sections and point to the gear tooth engagement position of the rigid wheel 1 and the reducer flexure 3, the lubricating grease can be replenished at the engagement position of the rigid wheel 1 and the reducer flexure 3 through several grease replenishment pipes 14 when the reducer flexure 3 is operating normally or stopped and not in use, without stopping the machine or disassembling for replenishment, and without affecting the normal reduction transmission of the reducer flexure 3.

[0037] The cooling component includes several arc-shaped heat sinks 15, which are respectively located near several grease replenishment pipes 14. A transmission interval cavity 5 is provided between the rigid wheel 1 and the reducer flexible wheel 3. The grease replenishment pipes 14 and the arc-shaped heat sinks 15 are both located in the transmission interval cavity 5. One end of each arc-shaped heat sink 15 is connected to one side of the connecting block 7. The several grease replenishment pipes 14 are respectively located on one side of the inner arc of the arc-shaped heat sink 15. Several heat dissipation fins 19 are provided on both the inner and outer arc sides of the arc-shaped heat sink 15. Each arc-shaped heat sink 15 has a distribution air groove 17. One side of the connecting block 7 has an annular collecting air groove 16. One side of each of the several distribution air grooves 17 is connected to the annular collecting air groove 16. Several heat dissipation air pipes 18 are horizontally and symmetrically arranged in the annular collecting air groove 16. One side of each of the several heat dissipation air pipes 18 is connected to the second annular diversion groove 11. A plurality of cooling ducts 18 are respectively inserted into the distribution ducts 17 of a plurality of arc-shaped heat sinks 15. The annular collecting duct 16 and the grease replenishment pipe 14 are staggered. When high-pressure airflow is sent into the second annular diversion duct 11, the high-pressure airflow is distributed from the plurality of cooling ducts 18 to the distribution ducts 17 of the arc-shaped heat sinks 15. The cooling ducts 18 are inserted into the end of the distribution ducts 17 away from the transfer function ring 6. Then, the airflow blown out by the cooling ducts 18 flows back at the end of the arc-shaped heat sinks 15 and enters the annular collecting duct 16 from the connection position of the distribution ducts 17 and the annular collecting duct 16. In this way, the airflow completes a covering circulation in the distribution ducts 17 of the arc-shaped heat sinks 15, and dissipates the heat of the lubricating grease in the transmission interval cavity 5 absorbed by the heat sink fins 19, thereby reducing the space heat in the transmission interval cavity 5, reducing the thermal impact of the lubricating grease and ensuring the stable use of the reducer flexure 3.

[0038] The support mounting plate 4 has a discharge docking groove 23 on the side away from the access docking groove 25. The transition function ring 6 has a discharge docking block 21 on the side away from the access docking groove 25, and the discharge docking block 21 is sealed and inserted into the discharge docking groove 23. The support mounting plate 4 has a discharging connector 20 on one side, and the discharging connector 20 is connected to the discharge docking groove 23 and has a first discharge groove 22. The annular collecting air groove 16 has a second discharge groove 24 through the discharge docking block 21 on one side, and the second discharge groove 24 is connected to the first discharge groove 22. The high-speed airflow blown by several heat dissipation air pipes 18 into the distribution air groove 17 enters the annular collecting air groove 16 and is discharged from the second discharge groove 24 and the first discharge groove 22. At this time, the airflow discharged from the first discharge groove 22 can turbulently dissipate heat in the reducer installation space, or it can be connected to the exhaust hose for designated discharge.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision speed reducer based on elastic deformation transmission, characterized by, Include: The rigid wheel (1), the flexible wheel (3) is arranged in the rigid wheel (1) and rotates, the wave generator (2) is arranged in the flexible wheel (3) through flexible bearing, the side of rigid wheel (1) away from flexible wheel (3) is fixedly connected with support mounting disc (4) through bolt, and the output disc is arranged on the side of flexible wheel (3) in support mounting disc (4); The adapter assembly is provided with a supplement assembly and a cooling assembly on one side, and the adapter assembly is arranged between the rigid wheel (1) and the support mounting disc (4), the adapter assembly comprises an adapter function ring (6), the supplement assembly comprises a plurality of grease supplement pipes (14), the cooling assembly comprises a plurality of arc-shaped heat dissipation blocks (15), the plurality of arc-shaped heat dissipation blocks (15) are respectively close to the plurality of grease supplement pipes (14), the transmission interval cavity (5) is arranged between the rigid wheel (1) and the flexible wheel (3), and the grease supplement pipe (14) and the arc-shaped heat dissipation block (15) are arranged in the transmission interval cavity (5).

2. The high-precision speed reducer based on elastic deformation transmission according to claim 1, characterized in that: The output disc center of the wave generator (2) and the flexible wheel (3) is provided with a shaft connecting groove, the outer side of the rigid wheel (1) is provided with a motor mounting flange, the inner circumferential side of the rigid wheel (1) and the outer circumferential side of the flexible wheel (3) are provided with transmission teeth, and the transmission teeth of the rigid wheel (1) and the flexible wheel (3) are arranged in a matched mode.

3. The high-precision speed reducer based on elastic deformation transmission according to claim 2, characterized in that: The side of the support mounting disc (4) in the transmission interval cavity (5) is provided with an access docking groove (25), one side of the adapter function ring (6) is provided with an access docking block (7), the access docking block (7) is sealingly inserted into the access docking groove (25), the access docking groove (25) is provided with a grease supply groove (8) and an air source connection groove (9) on one side and penetrates the support mounting disc (4), the access docking block (7) is provided with a first adapter groove (12) and a second adapter groove (13) on two sides, and the grease supply groove (8) and the first adapter groove (12) are connected, and the air source connection groove (9) and the second adapter groove (13) are connected.

4. The high-precision speed reducer based on elastic deformation transmission according to claim 3, characterized in that: The two sides of the adapter function ring (6) are respectively provided with a first annular shunt groove (10) and a second annular shunt groove (11), one side of the first adapter groove (12) away from the grease supply groove (8) is communicated with the first annular shunt groove (10), and one side of the second adapter groove (13) away from the air source connection groove (9) is communicated with the second annular shunt groove (11).

5. A high-precision speed reducer based on elastic deformation transmission according to claim 4, characterized in that: The plurality of grease supplement pipes (14) are respectively arranged on one side of the adapter function ring (6), one end of the grease supplement pipe (14) away from the adapter function ring (6) is provided with a bending section, the bending section of the grease supplement pipe (14) points to the transmission tooth joint position of the rigid wheel (1) and the flexible wheel (3), and the plurality of grease supplement pipes (14) are respectively arranged on one side of the first annular shunt groove (10).

6. A high-precision speed reducer based on elastic deformation transmission according to claim 5, characterized in that: The one end of the plurality of arc-shaped heat dissipation blocks (15) is connected with one side of the access docking block (7), the plurality of grease supplement pipes (14) are respectively arranged on one side of the inner arc of the plurality of arc-shaped heat dissipation blocks (15), and the inner arc side and the outer arc side of the arc-shaped heat dissipation block (15) are respectively provided with a plurality of heat dissipation fins (19).

7. The high-precision speed reducer based on elastic deformation transmission according to claim 6, characterized in that: The arc-shaped heat dissipation blocks (15) are provided with distribution air grooves (17), the access butt joint blocks (7) are provided with annular collection air grooves (16) on one side, and the distribution air grooves (17) are communicated with the annular collection air grooves (16) on one side.

8. The high-precision speed reducer based on elastic deformation transmission according to claim 7, characterized in that: The annular collection air grooves (16) are horizontally symmetrically provided with a plurality of heat dissipation air pipes (18), the heat dissipation air pipes (18) are communicated with the second annular distribution grooves (11) on one side, the heat dissipation air pipes (18) are respectively inserted into the distribution air grooves (17) of the arc-shaped heat dissipation blocks (15), and the annular collection air grooves (16) are arranged in a staggered mode with the grease supplement pipes (14).

9. A high-precision speed reducer based on elastic deformation transmission according to claim 8, characterized in that: The support mounting disc (4) is provided with an exhaust butt joint groove (23) on the side away from the access butt joint groove (25), the switching function ring (6) is provided with an exhaust butt joint block (21) on the side away from the access butt joint groove (25), and the exhaust butt joint block (21) is sealingly inserted into the exhaust butt joint groove (23).

10. The high-precision speed reducer based on elastic deformation transmission according to claim 9, characterized in that: The support mounting disc (4) is provided with an unloading joint (20) on one side, the unloading joint (20) is provided with a first exhaust groove (22) communicated with the exhaust butt joint groove (23), the annular collection air groove (16) is provided with a second exhaust groove (24) penetrating through the exhaust butt joint block (21) on one side, and the second exhaust groove (24) is communicated with the first exhaust groove (22).

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