Harmonic reducer

Abstract

The harmonic reducer comprises a connecting disc and a disc, a fixed disc is fixedly arranged at one end of the disc, a pin is rotationally connected to the surface of one end of the fixed disc, a steel wheel is fixedly installed on the inner side surface of the disc, and a flexible wheel is connected to the inner side surface of the steel wheel in a meshed mode; a connecting disc is fixedly arranged on the inner side of the flexible gear, a swing hole is fixedly formed in the surface of the connecting disc, the pin penetrates through the inner side of the swing hole, and when the flexible gear and the wave generator body are connected for operation, the wave generator body drives the flexible gear to move in a wave shape, the flexible gear can deform in the radial direction, and the open end of the flexible gear deforms. And the radial deformation movement range of the swing hole on the surface of the connecting disc can be limited through the pin, so that the variability flexibility of the flexible gear is improved, and the service life of the flexible gear is prolonged.

Description

Technical Field

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

[0002] The harmonic reducer is a gear device that relies on the controllable elastic deformation of the intermediate flexible parts to achieve motion and power transmission. Compared with general gear transmission, it has the advantages of large transmission ratio, high transmission accuracy, simple structure, small size, light weight, etc. The main function of the harmonic reducer is to ensure that the equipment can reliably complete the process tasks while reducing speed and increasing torque, and to achieve the best positioning accuracy and repeat positioning accuracy. It is mainly composed of four basic components: wave generator, flexible gear, flexible bearing, and rigid gear.

[0003] For example, the harmonic reducer with patent number CN201720270664.9 still has the following shortcomings in actual use:

[0004] The harmonic reducer in the above patent only has a gap between the flexible wheel and the base for the flexible wheel to move, which is convenient for the debugging of the flexible wheel, thereby making the structure of the harmonic reducer more compact. However, the flexible wheel in the harmonic reducer is prone to fatigue and damage after long-term use. During the movement, the flexible wheel will undergo periodic deformation, thereby generating alternating stress, which is prone to fatigue damage.

[0005] At the same time, in the harmonic sensor in the above patent, no changes are made to the meshing gears between the flexible spline and the steel wheel. The meshing amount between the steel wheel and the flexible spline is relatively low. After fatigue use, the tooth root is prone to fracture, which affects the normal use of the reducer. Utility Model Content

[0006] In order to improve the service life of the flexible wheel inside the harmonic reducer, the present application provides a harmonic reducer.

[0007] The harmonic reducer provided in this application adopts the following technical solution:

[0008] A harmonic reducer comprises a connecting disk and a circular disk, wherein a fixed disk is fixedly arranged at one end of the circular disk, a plurality of pins are equally arranged on the surface of one end of the fixed disk for rotation, a steel wheel is fixedly mounted on the inner surface of the circular disk, a flexible wheel is meshingly connected to the inner surface of the steel wheel, a connecting disk is fixedly arranged on the inner side of the flexible wheel, and swing holes are equally arranged on the surface of the connecting disk around the outer circumference of the mounting hole, and a plurality of pins are respectively penetrated through the inner sides of the swing holes.

[0009] By adopting the above technical solution, when the connecting disk is driven to rotate by components such as the external force motor and the wave generator body, the connecting disk will drive the outer flexible wheel to undergo radial deformation. Since the flexible wheel has two fewer teeth than the steel wheel, there is relative movement between the two. During the rotation of the connecting disk, the pendulum hole on the surface will drive the pin to rotate with it. The radial movement range of the pendulum hole is limited by the pin, thereby reducing the alternating stress generated by the connecting disk during the period of driving the flexible wheel to rotate, thereby avoiding damage to the flexible wheel due to fatigue use and affecting its use.

[0010] Preferably, the steel wheel and the flexible wheel are composed of a plurality of small teeth, the small teeth of the steel wheel are connected to the root with an arc-shaped clamp, and the end of the small teeth of the flexible wheel away from the root is fixed with an arc-shaped tooth.

[0011] By adopting the above technical solution, the arc tooth a is inserted into the inside of the arc clamp a, driving the steel wheel to rotate. On the original basis, the curvature of the angle between the steel wheel gears is increased, thereby improving the gripping force of the root of the steel wheel gear. The arc tooth a is used in conjunction with the increased arc clamp a for meshing, further improving the overall service life of the flexible wheel and the steel wheel.

[0012] Preferably, the outer surface of the disc is movably in contact with a housing, the outer surface of the fixed disc is movably in contact with an output end flange, and the housing and the output end flange are fixedly arranged.

[0013] By adopting the above technical solution, the setting of the outer shell and the output end flange can protect and prevent dust from the internal steel wheel and flexible wheel, thereby extending the service life of the internal components.

[0014] Preferably, a connecting hole is provided in the middle of the end surface of the shell away from the output end flange, a wave generator body is passed through the interior of the connecting hole, a mounting hole is provided on the side surface of the connecting disk close to the wave generator body, and a transmission connection is formed between one end surface of the wave generator body and the mounting hole.

[0015] By adopting the above technical solution, after connecting one end of the wave generator body to the output end of the motor, the wave generator body is inserted into the mounting hole on one side of the connecting disk for fixed installation, and the operation of the device can be realized by meshing the teeth on the elliptical major axis of the wave generator body with the teeth of the flexible wheel.

[0016] Preferably, a fixing hole is fixedly opened on the surface of one end of the output end flange away from the housing, a connecting end is penetrated and connected to the inner side of the fixing hole, and one end of the connecting end is fixed to one side surface of the connecting disk.

[0017] By adopting the above technical solution and connecting the connection end to the output end of the external machine, the device can drive the mechanical device to decelerate.

[0018] Preferably, the arc-shaped teeth can be inserted into the inner side of the arc-shaped clamp, and the size of the arc-shaped clamp is increased.

[0019] By adopting the above technical solution, when the motor drives the wave generator body to rotate 180 degrees, the flexible wheel retreats a distance of one tooth relative to the steel wheel, thereby achieving a deceleration effect.

[0020] Preferably, the connection disk and the flexible wheel are made of flexible materials, and the surface of the connection end is rotatably connected to the inner wall of the fixing hole.

[0021] By adopting the above technical solution, the connecting end is rotatably arranged inside the fixing hole, thereby improving the stability of the connecting end during power output. The connecting disk and the flexible wheel are made of flexible materials, thereby improving the overall adaptability of the connecting disk and the flexible wheel.

[0022] Preferably, there is a certain gap between the inside of the swing hole and the surface of the pin.

[0023] By adopting the above technical solution, multiple swing holes and pins are provided for connection, which disperses the deformation force on the surface of the connecting disk and the flexible wheel, thereby extending the service life and overall strength of the flexible wheel.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] 1. When the flexible wheel and the wave generator body are connected for operation, the wave generator body drives the flexible wheel to move in a wave-like manner, and the flexible wheel will deform radially, causing the open end of the flexible wheel to deform. The radial deformation and movement range of the swing hole on the surface of the connecting plate can be limited by the pin, thereby increasing the durability of the flexible wheel and extending the service life of the flexible wheel.

[0026] 2. By increasing the angle between adjacent teeth on the inner diameter of the steel wheel and cooperating with the arc-shaped teeth set at the end of the teeth on the outer diameter surface of the flexible wheel, the deformation of the flexible wheel is reduced and the service life of the flexible wheel is greatly improved. At the same time, the curvature of the tooth root of the steel wheel is increased, which greatly reduces the phenomenon of tooth root fracture and failure. It can withstand greater torque and improve the overall performance of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the overall exploded view of this application;

[0028] Figure 2 This is the overall picture of this application;

[0029] Figure 3 This is the side view of the output flange of this application;

[0030] Figure 4 This is an exploded view of the inside of the disc and fixed disc for this application;

[0031] Figure 5 for Figure 1 The enlarged view of point A in the middle;

[0032] Figure 6 for Figure 1 Enlarged view of point B in the middle.

[0033] Reference numerals: 1, housing; 2, output end flange; 3, connection hole; 4, wave generator body; 5, fixing hole;

[0034] 6. Connecting end; 7. Connecting plate; 8. Flexible wheel; 9a. Arc-shaped teeth; 10. Mounting hole; 11. Steel wheel; 11a. Arc-shaped clamp; 12. Pin; 13. Swing hole; 14. Disc; 15. Fixed disc. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1 —4 Provide further details of this application.

[0036] The embodiment of the present application discloses a harmonic reducer.

[0037] Example 1

[0038] Reference Figure 3-4 A harmonic reducer comprises a connecting disk 7 and a circular disk 14, the circular disk 14 and the fixed disk 15 are fixed by welding, a fixing hole 5 is provided at the inner center of the fixed disk 15, a groove is provided on the surface of the fixed disk 15 near the circular disk 14, the end of the column pin 12 is inserted into the inner side of the groove and limited, and a plurality of column pins 12 are equally divided and arranged around the circumference of the fixing hole 5, the outer surface of the steel wheel 11 and the inner surface of the circular disk 14 are fixed by welding, the flexible wheel 8 is composed of a plurality of arc teeth 9a provided at the ends, the adjacent connecting parts of the pinions of the steel wheel 11 are provided with an arc clamping degree 11a, the steel wheel 11 and the flexible wheel 8 are meshed and connected through the arc teeth 9a and the arc clamping degree 11a, the inner diameter fixed sleeve of the flexible wheel 8 is provided with a connecting disk 7, the surface of the connecting disk 7 is penetrated with six swing holes 13, each swing hole 13 is adjacent to each other for sixty degrees, and a plurality of column pins 12 are respectively penetrated in the inner holes of the swing holes 13, (such as Figure 4 As shown), the end of the pin 12 and one side of the connecting plate 7 are flush, there is a 5 mm gap between the outer cylindrical surface of the pin 12 and the inner diameter surface of the swing hole 13, and the inner diameter of the mounting hole 10 is transmission-connected to the wave generator body 4.

[0039] Through the above arrangement, when the output shaft of the motor drives the wave generator body 4 to rotate, the elliptical major axis of the wave generator body 4 itself drives the connecting disk 7 and the flexible wheel 8 to produce radial deformation, and follows the synchronous operation of the wave generator body 4. The outer tooth meshing area of ​​the flexible wheel 8 will synchronously drive the steel wheel 11, the disc 14 and the fixed disk 15 to rotate. By inserting the pin 12 on the inner side of the swing hole 13, the moving range of the connecting disk 7 to drive the flexible wheel 8 to produce deformation is reduced, the periodic deformation of the flexible wheel 8 is extended, the overall torsion resistance of the connecting disk 7 and the flexible wheel 8 is increased, and the strength thereof is improved.

[0040] Reference Figure 3 A plurality of arcuate teeth 9a are arranged on the surface of the flexible wheel 8, and the arcuate teeth 9a are clamped in the arcuate clamping degree 11a of the inner diameter of the steel wheel 11, and the arcuate clamping degree 11a increases the arc angle of connection between the original adjacent small teeth.

[0041] Through the above arrangement, when a corresponding meshing force is generated between the flexible wheel 8 and the steel wheel 11, the contact area between the root of each small tooth and the inner diameter of the steel wheel 11 is increased, thereby improving the overall strength of the inner diameter teeth of the steel wheel 11, and providing a higher meshing amount when the arc-shaped teeth 9a are meshed.

[0042] Reference Figure 1-4 The right side of the shell 1 and the left side of the output end flange 2 are fixedly welded, the inner side of the shell 1 and the outer surface of the disc 14 are rotationally connected, the inner diameter surface of the output end flange 2 and the outer diameter surface of the fixed disk 15 are rotationally connected, a connecting hole 3 is penetrated on the left side of the shell 1, and the wave generator body 4 is placed in the connecting hole 3. The inner diameter size of the connecting hole 3 is larger than the outer diameter size of the wave generator body 4. A fixing hole 5 is penetrated on the right side of the output end flange 2, and a connecting end 6 is rotatably provided in the inner diameter surface of the fixing hole 5. The left end of the connecting end 6 and the right side surface of the connecting disk 7 are fixedly connected by screws.

[0043] Through the above arrangement, the protection and sealing of the flexible wheel 8 and the steel wheel 11 are improved through the shell 1 and the output end flange 2, and the durability of the internal components is extended. The wave generator body 4 is an existing technology, and its structural principle will not be repeated.

[0044] The implementation principle of a harmonic reducer in the embodiment of the present application is:

[0045] The wave generator body 4 is connected to the output shaft of the motor. The operation of the motor will drive the wave generator body 4 to rotate inside the mounting hole 10. The rotation of the wave generator body 4 will drive the flexible wheel 8 to rotate in a wave shape, resulting in radial deformation. The flexible wheel 8 will mesh with the steel wheel 11 while deforming and rotating. The anti-deformation effect of the connecting disk 7 and the flexible wheel 8 is increased by the set fixed disk 15 and the pin 12, and the overall flexibility of the connecting disk 7 and the flexible wheel 8 is increased, and the service life thereof is extended. The wear resistance of the individual teeth on the inner side of the steel wheel 11 is increased by the set arc teeth 9a and the arc clamping degree 11a, and the wear between the flexible wheel 8 and the steel wheel 11 is reduced. The flexible wheel 8 will drive the connecting end 6 on one side to rotate, and the other end of the connecting end 6 is connected to the external machinery, so that the operation and use of the device can be realized.

[0046] The housing 1 and the output end flange 2 are both made of carbon steel, the connecting plate 7 is made of aluminum alloy, and the pin 12 is made of alloy steel.

[0047] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A harmonic reducer, comprising a connecting disc (7) and a disc (14), characterized in that: A fixed disk (15) is fixedly arranged at one end of the circular disk (14), and a plurality of pins (12) are equally spaced and rotatably arranged on one end surface of the fixed disk (15). A steel wheel (11) is fixedly mounted on the inner surface of the circular disk (14), and a flexible wheel (8) is meshingly connected to the inner surface of the steel wheel (11). A connecting disk (7) is fixedly arranged on the inner side of the flexible wheel (8), and swing holes (13) are equally spaced on the surface of the connecting disk (7) around the outer circumference of the mounting hole (10), and a plurality of pins (12) are respectively penetrated through the inner sides of the swing holes (13).

2. A harmonic reducer according to claim 1, characterized in that: The steel wheel (11) and the flexible wheel (8) are composed of a plurality of small teeth. The small teeth of the steel wheel (11) are connected to the root with an arc-shaped clamp (11a). The small teeth of the flexible wheel (8) are fixedly provided with an arc-shaped tooth (9a) at one end away from the root.

3. A harmonic reducer according to claim 1, characterized in that: The outer surface of the circular disk (14) is movably in contact with the outer shell (1), and the outer surface of the fixed disk (15) is movably in contact with the output end flange (2). The outer shell (1) and the output end flange (2) are fixedly connected.

4. A harmonic reducer according to claim 3, characterized in that: A connecting hole (3) is provided in the middle of an end surface of the housing (1) away from the output end flange (2), a wave generator body (4) is passed through the interior of the connecting hole (3), a mounting hole (10) is provided on a side surface of the connecting plate (7) close to the wave generator body (4), and a transmission connection is formed between one end surface of the wave generator body (4) and the mounting hole (10).

5. A harmonic reducer according to claim 3, characterized in that: A fixing hole (5) is fixedly opened on the surface of one end of the output end flange (2) away from the housing (1), a connecting end (6) is penetrated and connected to the inner side of the fixing hole (5), and one end of the connecting end (6) is fixed to one side surface of the connecting plate (7).

6. A harmonic reducer according to claim 2, characterized in that: The arc-shaped teeth (9a) can be inserted into the inner side of the arc-shaped clamp (11a), and the size of the arc-shaped clamp (11a) is increased.

7. A harmonic reducer according to claim 5, characterized in that: The connecting disk (7) and the flexible wheel (8) are made of flexible materials, and the surface of the connecting end (6) is rotatably connected to the inner wall of the fixing hole (5).

8. The harmonic reducer according to claim 1, characterized in that: There is a movable gap between the inside of the swing hole (13) and the surface of the pin (12).

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