A roller wave driven reducer

Abstract

This invention provides a roller-type wave-driven reducer, comprising a housing, a top cover on one side of the inner circumferential surface of the housing, and a bottom cover on the other side of the inner circumferential surface of the housing. Rollers are vertically arranged between the top cover and the bottom cover. Three inner annular bosses are provided in the middle of the inner circumferential surface of the housing, and two annular plates are provided. An annular plate, made of elastic material, is arranged between two adjacent inner annular bosses. The annular plates drive the rollers to revolve around a central wheel. The inner circumferential surface of the annular plates has grooves for accommodating the rollers. A central wheel, elliptical in shape, is also provided between the top cover and the bottom cover. The circumferential surface of the central wheel contacts the rollers. Arc-shaped grooves are provided on the inner annular bosses, matching the rollers. The number of arc-shaped grooves is greater than the number of rollers. Through the cooperation of the elliptical central wheel and the rollers, combined with the deformation of the annular plates, precise harmonic meshing transmission can be achieved, significantly improving the transmission accuracy and efficiency of the reducer.

Description

Technical Field

[0001] This invention belongs to the field of speed reducer technology, specifically a roller wave drive speed reducer. Background Technology

[0002] Traditional harmonic reducers typically employ a structure consisting of a flexure, a rigid wheel, and a wave generator, achieving speed reduction through the deformation of the flexure. However, this structure suffers from several technical problems: stress concentration easily occurs in the traditional flexure during repeated deformation, leading to fatigue cracks and affecting service life; during meshing with the rigid wheel, tooth profile errors and assembly deviations can cause backlash, reducing transmission accuracy; the thin-walled structure of the flexure is prone to deformation under high torque, leading to meshing failure and limiting high-torque applications; traditional reducers require high assembly precision, making disassembly and maintenance inconvenient and increasing operating costs. To overcome these problems, some improvements have been proposed in existing technologies, such as optimized tooth profile design, but issues such as insufficient transmission stability and uneven axial load distribution still exist. Therefore, a new type of reducer is urgently needed that can ensure high-precision transmission while improving load-bearing capacity, extending service life, and simplifying maintenance procedures. Summary of the Invention

[0003] In view of the above problems, the purpose of this application is to provide a roller-type wave drive reducer based on the meshing of rollers with the arc-shaped groove on the inner side of the housing. Through innovative structural design, it effectively solves the shortcomings of traditional reducers in terms of fatigue life, transmission accuracy and load-bearing capacity.

[0004] To achieve some or all of the above objectives or other objectives, this application provides the following technical solution: a roller-type wave-driven reducer, comprising a housing, ring plates, rollers, a center wheel, a top cover, and a bottom cover; a top cover is provided on one side of the inner circumferential surface of the housing, and a bottom cover is provided on the other side of the inner circumferential surface of the housing, with rollers perpendicularly arranged between the top cover and the bottom cover; an inner annular boss is provided in the middle of the inner circumferential surface of the housing, there are three inner annular bosses, two ring plates, and a ring plate is provided between two adjacent inner annular bosses, the ring plates are made of elastic material, the ring plates drive the rollers to revolve around the center wheel, and the inner circumferential surface of the ring plates is provided with an annular plate groove for accommodating the rollers; a center wheel is also provided between the top cover and the bottom cover, the center wheel is elliptical, and the circumferential surface of the center wheel contacts the rollers; an arc-shaped groove is provided on the inner annular boss, the arc-shaped groove matches the rollers, and the number of arc-shaped grooves is greater than the number of rollers.

[0005] Furthermore, the top cover has an annular boss at one end near the roller, and the inner circumferential surface of the annular boss has a top cover groove. One end of the roller contacts the top cover groove. The number of top cover grooves is less than the number of arc grooves, and the number of top cover grooves is greater than or equal to the number of rollers. The bottom arc of the top cover groove and the bottom arc of the arc groove can contact the roller simultaneously. The straight length of the top cover groove is greater than the straight length of the arc groove.

[0006] Furthermore, the bottom cover has an annular boss at one end near the roller, and the inner circumferential surface of the annular boss has a bottom cover groove. The other end of the roller contacts the bottom cover groove. The number of bottom cover grooves is less than the number of arc grooves, and the number of bottom cover grooves is greater than or equal to the number of rollers. The bottom arc of the bottom cover groove and the bottom arc of the arc groove can contact the roller simultaneously. The straight length of the bottom cover groove is greater than the straight length of the arc groove.

[0007] Furthermore, the number of grooves in the annular plate is the same as the number of rollers.

[0008] Furthermore, a first raceway is provided at the connection between the outer shell and the top cover, a top cover raceway is provided at the connection between the top cover and the outer shell, and a first cross roller is provided between the first raceway and the top cover raceway; a second raceway is provided at the connection between the outer shell and the bottom cover, a bottom cover raceway is provided at the connection between the bottom cover and the outer shell, and a second cross roller is provided between the second raceway and the bottom cover raceway.

[0009] Furthermore, a first raceway is provided at the connection between the outer shell and the top cover, a top cover raceway is provided at the connection between the top cover and the outer shell, and a first ball is provided between the first raceway and the top cover raceway; a second raceway is provided at the connection between the outer shell and the bottom cover, a bottom cover raceway is provided at the connection between the bottom cover and the outer shell, and a second ball is provided between the second raceway and the bottom cover raceway.

[0010] Furthermore, the outer shell is provided with a first ball loading hole and a second ball loading hole, the first ball loading hole being connected to a first raceway, and the second ball loading hole being connected to a second raceway.

[0011] Furthermore, the central wheel includes a disc portion and an annular portion, with the annular portion surrounding the disc portion; the disc portion has a central wheel shaft hole at its center; a motor is installed inside the annular portion, and the motor shaft of the motor is fixedly connected to the central wheel shaft hole.

[0012] Furthermore, the outer peripheral surface of the outer shell is provided with an outer annular protrusion, and the outer annular protrusion is provided with a plurality of shell through holes; the top cover is provided with a plurality of top cover through holes; and the bottom cover is provided with a plurality of bottom cover through holes.

[0013] Furthermore, the number of the arc-shaped grooves is at least two more than the number of the rollers.

[0014] Compared with existing technologies, the advantages of this invention are: by cooperating with the elliptical central wheel and rollers, combined with the elastically deformable ring plate or chain drive, precise harmonic meshing transmission is achieved, significantly improving the transmission accuracy and efficiency of the reducer. The ring plate is fixed with double inner annular bosses, and the staggered tooth design (tooth difference ≥ 2) of the inner arc-shaped grooves of the outer shell, the top cover groove, the bottom cover groove, and the ring plate groove achieves a high reduction ratio and high torque output within a limited space. The buffering effect of the ring plate absorbs vibrations during transmission, and the continuous meshing of the inner arc-shaped grooves of the outer shell with the rollers reduces impact and lowers operating noise. The matching design of the rollers and the inner arc-shaped grooves of the outer shell disperses contact stress and reduces wear. The symmetrical design of the top and bottom covers facilitates disassembly and maintenance, and the modular overall structure reduces production and maintenance costs. Attached Figure Description

[0015] Figure 1 This is an overall sectional view of the present invention; Figure 2 This is a cross-sectional view of AA. Figure 3 This is a sectional view of BB; Figure 4 This is a CC section view; Figure 5 This is a sectional view of DD; Figure 6 This is a sectional view of the EE. Figure 7 This is a FF sectional view; Figure 8 This is a schematic diagram of the groove and rollers at the bottom cover of the GG location; Figure 9 This is a schematic diagram of the structure of the present invention; Figure 10 This is an exploded view of the present invention; Figure 11 This is a schematic diagram of the outer shell structure; Figure 12 This is a cross-sectional view of the outer casing; Figure 13 This is a schematic diagram of the top cover structure; Figure 14 This is a schematic diagram of the bottom cover structure; Figure 15 This is a structural diagram of the central wheel; Figure 16 A schematic diagram of the structure for installing the motor; Figure 17 This is a schematic diagram of the structure of Example 2; In the diagram: 1. Outer shell; 101. Raceway 1; 102. Raceway 2; 103. Ball loading hole 1; 104. Ball loading hole 2; 105. Through hole in the outer shell; 2. Top cover; 201. Top cover raceway; 202. Annular boss on the top cover; 203. Groove on the top cover; 204. Shaft hole on the top cover; 205. Through hole on the top cover; 3. Bottom cover; 301. Bottom cover raceway; 302. Annular boss on the bottom cover; 303. Groove on the bottom cover; 304. Shaft hole on the bottom cover; 305. Through hole on the bottom cover; 4. Roller; 5. Inner annular boss; 501. Arc-shaped groove. 6. Ring plate; 601. Ring plate groove; 7. Center wheel; 701. Disc part; 702. Ring cylinder part; 703. Center wheel shaft hole; 8. No. 1 ball; 9. No. 2 ball; 10. Outer annular boss; 11. Motor; 12. Motor shaft; 13. Fixing plate; 801. Housing bolt; 802. Motor bolt; 803. Motor shaft key; 14. No. 1 sealing ring; 15. No. 2 sealing ring; 16. No. 1 crossed roller; 17. No. 2 crossed roller. Detailed Implementation

[0016] To make the structure and function of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0017] Example 1

[0018] See appendix Figure 1-16 A roller-type wave-driven reducer includes a housing 1, annular plates 6, rollers 4, a center wheel 7, a top cover 2, and a bottom cover 3. The top cover 2 is located on one side of the inner circumferential surface of the housing 1, and the bottom cover 3 is located on the other side of the inner circumferential surface of the housing 1. Rollers 4 are perpendicularly arranged between the top cover 2 and the bottom cover 3. Three inner annular protrusions 5 are located in the middle of the inner circumferential surface of the housing 1. There are two annular plates 6, with one annular plate 6 positioned between two adjacent inner annular protrusions 5. The annular plates 6 are made of an elastic material. Plate 6 drives roller 4 to revolve around center wheel 7. The inner circumferential surface of the ring plate 6 is provided with an annular groove 601 for accommodating roller 4. A center wheel 7 is also provided between the top cover 2 and the bottom cover 3. The center wheel 7 is elliptical and its circumferential surface contacts roller 4. The inner annular boss 5 is provided with arc-shaped grooves 501. The arc-shaped grooves 501 match roller 4. The number of arc-shaped grooves 501 is greater than the number of roller 4. The number of arc-shaped grooves 501 is at least two more than the number of roller 4.

[0019] A first sealing ring 14 is provided between the outer shell 1 and the top cover 2, and a second sealing ring 15 is provided between the outer shell 1 and the bottom cover 3.

[0020] The ring plate 6 keeps the roller 4 in contact with the center wheel 7; the ring plate 6 can be an elastic belt structure or a chain drive structure; the center wheel 7 and the roller 4 rotate and cooperate with each other under the drive of the ring plate 6, which is equivalent to the well-known flexible bearing. The ring plate 6 / chain drive is equivalent to the cage of the flexible bearing, avoiding the design defect of the flexible bearing material that must ensure both hardness and flexibility, and the flexible bearing generates heat and has a short life.

[0021] The top cover 2 is provided with a top cover annular boss 202 at one end near the roller 4. The inner circumferential surface of the top cover annular boss 202 is provided with a top cover groove 203. One end of the roller 4 is in contact with the top cover groove 203. The number of top cover grooves 203 is less than the number of arc grooves 501. The number of top cover grooves 203 is greater than or equal to the number of rollers 4. The bottom arc of the top cover groove 203 and the bottom arc of the arc groove 501 can contact the roller 4 simultaneously. The length of the straight part of the top cover groove 203 is greater than the length of the straight part of the arc groove 501.

[0022] The bottom cover 3 is provided with a bottom cover annular boss 302 at one end near the roller 4. The inner circumferential surface of the bottom cover annular boss 302 is provided with a bottom cover groove 303. The other end of the roller 4 is in contact with the bottom cover groove 303. The number of bottom cover grooves 303 is less than the number of arc grooves 501. The number of bottom cover grooves 303 is greater than or equal to the number of rollers 4. The bottom arc of the bottom cover groove 303 and the bottom arc of the arc groove 501 can contact the roller 4 simultaneously. The straight part length of the bottom cover groove 303 is greater than the straight part length of the arc groove 501.

[0023] The number of grooves 601 in the annular plate is the same as the number of rollers 4.

[0024] Based on the above technical solution, an elliptical center wheel 7 and multiple rollers 4 are used in conjunction. Precise meshing is achieved through the deformation of the grooves 601 on the ring plate 6. The number of arc-shaped grooves 501 on the inner side of the outer shell 1 is greater than the number of grooves 203 on the top cover, which in turn equals the number of grooves 303 on the bottom cover, which is greater than or equal to the number of grooves 601 on the ring plate (number of rollers 4). The staggered tooth design (tooth difference ≥ 2) forms a harmonic drive, significantly improving transmission accuracy. The top cover 2 and bottom cover 3 adopt a symmetrical design and are equipped with mounting holes to allow for bidirectional detachable maintenance.

[0025] The top cover groove 203 includes a bottom arc and a straight section. The bottom arc of the top cover groove 203 coincides with the bottom arc of the arc groove 501. The length of the straight section of the top cover groove 203 is greater than the length of the straight section of the arc groove 501. When the reducer is working, the outer shell 1 remains stationary, the arc groove 501 remains stationary, and the center wheel 7 rotates, causing the roller 4 to change position. During the movement of the roller 4, it first contacts the straight section of the top cover groove 203, causing the top cover groove 203 to rotate, and then contacts the bottom arc of the top cover groove 203 and the bottom arc of the arc groove 501. The roller 4 pushes the top cover groove 203 to rotate, and after the top cover groove 203 is rotated to the position where the bottom arc of the top cover groove 203 coincides with the bottom arc of the arc groove 501, the roller 4 gradually leaves the top cover groove 203, thereby realizing the relative displacement between the top cover 2 and the outer shell 1.

[0026] The bottom cover 3 and the top cover 2 move on the same principle.

[0027] Based on the above technical solution, the two ends of the roller 4 respectively enter the grooves of the annular boss 202 on the top cover and the annular boss 302 on the bottom cover. Combined with the radial limiting function of the roller track, this effectively suppresses axial movement and radial runout, enhancing the stability of the reducer operation. The curvature of the grooves 203 on the top cover and 303 on the bottom cover is designed synchronously with the center wheel 7, ensuring that the roller 4 maintains smooth rolling during elliptical trajectory motion, reducing unnecessary wear and extending component life.

[0028] A first raceway 101 is provided at the connection between the outer shell 1 and the top cover 2, and a top cover raceway 201 is provided at the connection between the top cover 2 and the outer shell 1. A first cross roller 16 is provided between the first raceway 101 and the top cover raceway 201. A second raceway 102 is provided at the connection between the outer shell 1 and the bottom cover 3, and a bottom cover raceway 301 is provided at the connection between the bottom cover 3 and the outer shell 1. A second cross roller 17 is provided between the second raceway 102 and the bottom cover raceway 301.

[0029] The top cover 2 is floatingly connected to the outer shell 1 by the first cross roller 16, and the bottom cover 3 is floatingly connected to the outer shell 1 by the second cross roller 17.

[0030] The center wheel 7 includes a disc portion 701 and an annular portion 702, with the annular portion 702 surrounding the disc portion 701; the center of the disc portion 701 is provided with a center wheel shaft hole 703; the center wheel shaft hole 703 is connected to the input shaft.

[0031] The design of the ring cylinder 702 increases the contact width between the center wheel 7 and the roller 4, which disperses the load, reduces local wear, and thus extends the service life of the reducer.

[0032] The outer casing 1 is provided with a first ball loading hole 103 and a second ball loading hole 104. The first ball loading hole 103 is connected to the first raceway 101 and a first cross roller 16 is loaded through the first ball loading hole 103. The second ball loading hole 104 is connected to the second raceway 102 and a second cross roller 17 is loaded through the second ball loading hole 104.

[0033] The outer peripheral surface of the outer shell 1 is provided with an outer annular boss 10, and the outer annular boss 10 is provided with a plurality of shell through holes 105, which are used to connect devices.

[0034] The top cover 2 is provided with a plurality of top cover through holes 205; the bottom cover 3 is provided with a plurality of bottom cover through holes 305, and the top cover through holes 205 and the bottom cover through holes 305 are connected to the output device.

[0035] The roller-type wave drive reducer of the present invention works on a principle similar to that of a harmonic reducer in common knowledge. The center wheel 7 is similar to the wave generator in a harmonic reducer in common knowledge; the combination of roller 4, ring plate 6, top cover groove 203 and bottom cover groove 303 is similar to the flexible wheel in a harmonic reducer in common knowledge, and the outer shell 1 is similar to the rigid wheel in a harmonic reducer in common knowledge.

[0036] Example 2

[0037] See appendix Figure 17 In this embodiment, a first raceway 101 is provided at the connection between the outer shell 1 and the top cover 2, and a top cover raceway 201 is provided at the connection between the top cover 2 and the outer shell 1. A first ball bearing 8 is provided between the first raceway 101 and the top cover raceway 201. A second raceway 102 is provided at the connection between the outer shell 1 and the bottom cover 3, and a bottom cover raceway 301 is provided at the connection between the bottom cover 3 and the outer shell 1. A second ball bearing 9 is provided between the second raceway 102 and the bottom cover raceway 301.

[0038] The outer casing 1 is provided with a first ball loading hole 103 and a second ball loading hole 104. The first ball loading hole 103 is connected to the first raceway 101 and a first ball 8 is loaded through the first ball loading hole 103. The second ball loading hole 104 is connected to the second raceway 102 and a second ball 9 is loaded through the second ball loading hole 104.

[0039] The top cover 2 and the outer shell 1 are floated together by ball bearing 8, and the bottom cover 3 and the outer shell 1 are floated together by ball bearing 9.

[0040] In this embodiment, the other structures are the same as in Embodiment 1.

[0041] In the description of this invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0042] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A roller-type wave-driven reducer, characterized in that: It includes a shell (1), annular plates (6), rollers (4), a center wheel (7), a top cover (2), and a bottom cover (3); the top cover (2) is provided on one side of the inner circumferential surface of the shell (1), and the bottom cover (3) is provided on the other side of the inner circumferential surface of the shell (1). The rollers (4) are vertically arranged between the top cover (2) and the bottom cover (3); the inner circumferential surface of the shell (1) is provided with an inner annular boss (5) in the middle, there are three inner annular bosses (5), there are two annular plates (6), and an annular plate (6) is arranged between two adjacent inner annular bosses (5). The annular plates (6) adopt... Made of elastic material, the ring plate (6) drives the roller (4) to revolve around the central wheel (7). The inner circumferential surface of the ring plate (6) is provided with a ring plate groove (601) for accommodating the roller (4). A central wheel (7) is also provided between the top cover (2) and the bottom cover (3). The central wheel (7) is elliptical and its circumferential surface contacts the roller (4). The inner annular boss (5) is provided with an arc-shaped groove (501). The arc-shaped groove (501) matches the roller (4), and the number of arc-shaped grooves (501) is greater than the number of rollers (4).

2. The roller wave drive reducer according to claim 1, characterized in that: The top cover (2) is provided with a top cover annular boss (202) at one end near the roller (4). The inner circumferential surface of the top cover annular boss (202) is provided with a top cover groove (203). One end of the roller (4) is in contact with the top cover groove (203). The number of top cover grooves (203) is less than the number of arc grooves (501). The number of top cover grooves (203) is greater than or equal to the number of rollers (4). The bottom arc of the top cover groove (203) and the bottom arc of the arc groove (501) can simultaneously contact the roller (4). The length of the straight part of the top cover groove (203) is greater than the length of the straight part of the arc groove (501).

3. A roller-type wave-driven reducer according to claim 1 or 2, characterized in that: The bottom cover (3) is provided with a bottom cover annular boss (302) at one end near the roller (4), and the inner circumferential surface of the bottom cover annular boss (302) is provided with a bottom cover groove (303). The other end of the roller (4) is in contact with the bottom cover groove (303). The number of bottom cover grooves (303) is less than the number of arc grooves (501), the number of bottom cover grooves (303) is greater than or equal to the number of rollers (4), the bottom arc of the bottom cover groove (303) and the bottom arc of the arc groove (501) can simultaneously contact the roller (4), and the length of the straight part of the bottom cover groove (303) is greater than the length of the straight part of the arc groove (501).

4. The roller wave drive reducer according to claim 1, characterized in that: The number of grooves (601) on the ring plate is the same as the number of rollers (4).

5. A roller-type wave-driven reducer according to claim 1, characterized in that: A first raceway (101) is provided at the connection between the outer shell (1) and the top cover (2), and a top cover raceway (201) is provided at the connection between the top cover (2) and the outer shell (1). A first cross roller (16) is provided between the first raceway (101) and the top cover raceway (201). A second raceway (102) is provided at the connection between the outer shell (1) and the bottom cover (3), and a bottom cover raceway (301) is provided at the connection between the bottom cover (3) and the outer shell (1). A second cross roller (17) is provided between the second raceway (102) and the bottom cover raceway (301).

6. A roller-type wave-driven reducer according to claim 1, characterized in that: A first raceway (101) is provided at the connection between the outer shell (1) and the top cover (2), and a top cover raceway (201) is provided at the connection between the top cover (2) and the outer shell (1). A first ball bearing (8) is provided between the first raceway (101) and the top cover raceway (201). A second raceway (102) is provided at the connection between the outer shell (1) and the bottom cover (3), and a bottom cover raceway (301) is provided at the connection between the bottom cover (3) and the outer shell (1). A second ball bearing (9) is provided between the second raceway (102) and the bottom cover raceway (301).

7. A roller-type wave-driven reducer according to claim 5 or 6, characterized in that: The outer shell (1) is provided with a first ball loading hole (103) and a second ball loading hole (104). The first ball loading hole (103) is connected to the first raceway (101), and the second ball loading hole (104) is connected to the second raceway (102).

8. A roller-type wave-driven reducer according to claim 1, characterized in that: The center wheel (7) includes a disc portion (701) and an annular portion (702), the annular portion (702) being arranged around the disc portion (701); the center of the disc portion (701) is provided with a center wheel shaft hole (703); a motor (11) is installed inside the annular portion (702), and the motor shaft (12) of the motor (11) is fixedly connected to the center wheel shaft hole (703).

9. A roller-type wave-driven reducer according to claim 1, characterized in that: The outer periphery of the outer shell (1) is provided with an outer annular boss (10), and the outer annular boss (10) is provided with a plurality of shell through holes (105); the top cover (2) is provided with a plurality of top cover through holes (205); the bottom cover (3) is provided with a plurality of bottom cover through holes (305).

10. A roller-type wave-driven reducer according to claim 1, characterized in that: The number of the arc-shaped grooves (501) is at least two more than the number of the rollers (4).

Images