Novel harmonic reducer

Abstract

The utility model relates to the technical field of speed reducers, in particular to a novel harmonic speed reducer which comprises a base, a wave generator, a flexible gear, a rigid gear and an output bearing, the wave generator is connected to the inner side of the flexible gear in a dynamic deformation mode, the rigid gear is connected to the outer side of the flexible gear in a meshed mode, the flexible gear is in a cup shape, and a connecting flange is arranged at the cup bottom; the connecting flange is folded inwards towards a cup opening and fixedly connected with the output bearing, the output bearing is internally connected to the base, and the base is fixedly connected with the rigid wheel. The harmonic reducer has the effect that the bearing capacity of the related harmonic reducer is improved on the premise that the existing size is not changed.

Description

Technical Field

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

[0002] As a high-precision and high-performance transmission device, harmonic reducers have been widely used in many fields. Harmonic reducers are favored by engineers and designers for their high transmission efficiency, high-precision positioning and compact structural design, and have shown incomparable advantages in high-end equipment manufacturing fields such as aerospace, robotics, and precision machinery.

[0003] One of the core advantages of harmonic reducers is their compact size and high reduction ratio, making them particularly popular in applications that require precise control and occupy limited space. However, the compact design also brings challenges. Due to the limitation of internal space, the size and strength of components such as flexible wheels, rigid wheels, wave generators, etc. are limited, which directly affects the load-bearing capacity and fatigue resistance of the reducer. Under high load conditions, these limitations may lead to premature wear or failure of components, thereby reducing the reliability and life of the entire system. Utility Model Content

[0004] In order to improve the load-bearing capacity of the relevant harmonic reducer without changing the existing volume, the present application provides a new harmonic reducer.

[0005] A novel harmonic reducer provided in this application adopts the following technical solution:

[0006] A novel harmonic reducer comprises a base, a wave generator, a flexible wheel, a rigid wheel and an output bearing, wherein the wave generator is dynamically deformably connected to the inner side of the flexible wheel, the rigid wheel is meshingly connected to the outer side of the flexible wheel, the flexible wheel is cup-shaped, a connecting flange is provided at the bottom of the cup, the connecting flange is folded inwardly toward the cup mouth and is fixedly connected to the output bearing, the output bearing is internally connected to the base, and the base is fixedly connected to the rigid wheel.

[0007] By adopting the above technical solution, the connection flange of the flexible wheel is folded inwards towards the cup mouth. The inward folded connection flange design enhances the structural rigidity of the flexible wheel, making it more stable when transmitting torque and reducing the possibility of deformation, thereby improving the load-bearing capacity without increasing the volume. In addition, the inward folding of the connection flange optimizes the stress distribution, reduces stress concentration points, extends the service life of the reducer and improves reliability. In terms of the meshing mechanism, the inward folded flange increases the radial rigidity of the flexible wheel, ensures a more uniform contact between the flexible wheel teeth and the rigid wheel teeth, reduces local load concentration, thereby reducing local wear and extending the service life of the gear.

[0008] Optionally, the connecting flange has a plurality of reinforcing ribs, and the reinforcing ribs are arranged along the radial direction of the flange.

[0009] By adopting the above technical solution, the connecting flange is equipped with multiple radially arranged reinforcing ribs. The reinforcing ribs significantly increase the structural rigidity of the connecting flange and can effectively reduce the deformation of the connecting flange under high-load working conditions, thereby ensuring the meshing accuracy between the flexible wheel and the rigid wheel and improving the overall transmission efficiency. Secondly, the reinforcing ribs can withstand greater forces and torques, which directly improves the load-bearing capacity of the reducer, which is particularly critical for application scenarios that require high load-bearing capacity. In addition, the radial reinforcing ribs help to evenly distribute stress on the connecting flange, reduce local stress concentration, and reduce the risk of material fatigue or damage, thereby improving the durability and reliability of the reducer.

[0010] Optionally, a heat-insulating connector is provided between the connecting flange and the output bearing for connection.

[0011] By adopting the above technical solution, introducing a heat-insulating connector to connect the connecting flange and the output bearing in the harmonic reducer can improve the overall performance and durability of the equipment. The heat-insulating connector can prevent heat from being transferred from the connecting flange to the output bearing. Overheating of the output bearing will not only reduce the lubrication effect of the bearing, increase the wear rate, but also may cause early failure of the bearing. This thermal isolation helps to control the temperature of the output bearing and prevent overheating.

[0012] Optionally, the wave generator includes a flexible roller bearing and an elastomer, and the flexible roller bearing is closely arranged on the periphery of the elastomer.

[0013] By adopting the above technical solution, the use of flexible roller bearings improves the deformation ability and transmission efficiency of the wave generator. Since the contact line of the roller bearing is longer than that of the roller bearing, it can disperse the load more evenly, reduce the contact stress and improve the load-bearing capacity. This makes the wave generator more stable when transmitting torque and achieving deformation, reduces wear and extends the service life. The combination of flexible roller bearings and elastomers enables the entire wave generator to provide the necessary deformation to drive the flexible wheel while maintaining high performance, achieving efficient reduction transmission.

[0014] Optionally, a plurality of grooves are arranged on the outer surface of the elastic body.

[0015] By adopting the above technical solution, multiple grooves are provided on the outer surface of the elastomer, which helps to increase the contact area of ​​the elastomer surface. When the elastomer contacts the inside of the flexible wheel, the grooves can achieve more uniform and effective force transmission, which helps to reduce local stress concentration, thereby reducing wear and extending the service life of the wave generator. Secondly, the presence of the grooves can improve the deformation characteristics of the elastomer. During the rotation of the wave generator, the elastomer needs to be effectively deformed to drive the flexible wheel. The grooves can provide better deformation guidance and control to a certain extent, making the deformation of the elastomer more uniform and effective, which helps to improve the transmission efficiency and the overall performance of the reducer. In addition, the grooves provide lubricating oil storage space to a certain extent, which helps to improve lubrication conditions and reduce friction and wear.

[0016] Optionally, the outer ring of the flexible roller bearing is provided with a shock-absorbing material layer to absorb vibration and noise generated during operation.

[0017] By adopting the above technical solution, the outer ring of the flexible roller bearing is equipped with a shock-absorbing material layer, which can significantly reduce the vibration caused by mechanical movement. The reduction of vibration can directly improve the processing quality or positioning accuracy. It also helps to reduce the impact on other mechanical components, thereby extending the service life of the entire system. Secondly, the shock-absorbing material layer can reduce the noise level while absorbing vibration, improving the comfort of equipment use. In addition, the introduction of shock-absorbing materials can also improve the impact bearing capacity of the bearing to a certain extent and reduce the damage caused by sudden impact or overload.

[0018] Optionally, a fine-tuning device is provided between the rigid wheel and the flexible wheel for adjusting the meshing clearance therebetween.

[0019] By adopting the above technical solution, a fine-tuning device is set between the rigid wheel and the flexible wheel to adjust the meshing clearance between the two, thereby optimizing the meshing process. This adjustment can ensure that the contact between the gears is more uniform and effective, reduce local stress concentration, thereby reducing tooth surface wear and extending the service life of the gears. In applications with high precision requirements, this adjustment is particularly critical because it can directly affect the accuracy and stability of the transmission. Secondly, by adjusting the meshing clearance, the gap inconsistency caused by manufacturing and assembly errors can be adapted to and compensated to a certain extent, improving the assembly quality and the overall performance of the equipment. During long-term operation, the wear of the equipment may cause the clearance to change, and the fine-tuning device can also be used to adjust the impact of this wear and maintain the stability of the equipment performance. In addition, a reasonable meshing clearance can also help reduce noise and vibration during operation, and improve the smooth operation of the equipment and user experience.

[0020] Optionally, the fine-tuning device is an adjusting screw, and the adjusting screw is fixedly connected to the connecting flange and the output bearing, so as to achieve fine-tuning of the radial position of the flexible wheel.

[0021] By adopting the above technical solution, the adjusting screw provides a simple and effective way to accurately control the position of the flexible wheel, thereby optimizing the meshing clearance between the rigid wheel and the flexible wheel. Through adjustment, it can ensure more ideal contact between the gears, reduce unnecessary wear, and improve transmission efficiency and the overall performance of the reducer. The adjusting screw allows fine and repeatable adjustment, allowing the operator to control the radial position of the flexible wheel very accurately. This precise control is achieved by simply rotating the screw, making the adjustment process simple and efficient without the need for complex tools or equipment.

[0022] Optionally, a cooling channel is provided on the base, and the cooling channel is used for circulating a cooling liquid.

[0023] By adopting the above technical solution, a cooling channel is set on the base of the harmonic reducer for circulating coolant, which significantly enhances the heat dissipation capacity of the reducer. The cooling channel through which the coolant circulates can effectively transfer the heat generated during the operation of the reducer, which helps to maintain the temperature inside the reducer within a reasonable range, thereby reducing the wear of parts and alleviating the performance degradation of the lubricating oil.

[0024] Optionally, a sealing ring is provided on the edge of the cup mouth of the flexible wheel.

[0025] By adopting the above technical solution, the setting of the sealing ring can effectively prevent dust, pollutants or liquids from entering the reducer, protecting the internal precision parts from contamination. Secondly, by keeping the internal environment clean, the sealing ring helps to maintain the quality of the lubricating oil, thereby ensuring good lubrication conditions and reducing friction and wear during operation. This not only extends the service life of the reducer, but also maintains efficient transmission performance. In addition, the sealing ring can prevent the leakage of internal lubricating oil, maintain an appropriate amount of lubricating oil, help maintain the normal operation of the reducer and extend the maintenance cycle. By reducing the need for maintenance, the operating cost is reduced and the efficiency of the equipment is improved.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. The structural rigidity is enhanced and the stress distribution is optimized through the inward folding connection flange of the flexible wheel, which improves the bearing capacity of the flexible wheel without increasing the volume, thereby increasing the service life of the reducer;

[0028] 2. By using a flexible roller bearing with a long contact line to disperse the load, the stability and bearing capacity of the wave generator are improved, and the grooves of the elastomer are combined to improve the deformation characteristics, optimize force transmission, and enhance the overall performance;

[0029] 3. By setting a fine-tuning device between the rigid wheel and the flexible wheel, the meshing clearance can be accurately adjusted, the meshing effect can be optimized, wear can be reduced, transmission accuracy and stability can be improved, and manufacturing errors can be compensated. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a new harmonic reducer in an embodiment of the present application.

[0031] Figure 2 It is a schematic cross-sectional view along the central axis of a novel harmonic reducer in an embodiment of the present application.

[0032] Figure 3 It is a schematic diagram of a flexible wheel in an embodiment of the present application.

[0033] Figure 4 It is a schematic cross-sectional view of the flexible wheel along the central axis in the embodiment of the present application.

[0034] Figure 5 It is a schematic diagram of a flexible roller bearing in an embodiment of the present application.

[0035] Description of reference numerals:

[0036] 1. Base; 11. Cooling channel; 2. Wave generator; 21. Flexible roller bearing; 211. Shock-absorbing material layer; 22. Elastomer; 3. Flexible wheel; 31. Connecting flange; 32. Sealing ring; 4. Rigid wheel; 5. Output bearing; 6. Thermal insulation connector; 7. Adjusting screw. DETAILED DESCRIPTION

[0037] The present application is further described in detail below in conjunction with all the accompanying drawings.

[0038] The embodiment of the present application discloses a novel harmonic reducer.

[0039] Reference Figure 1 and Figure 2 As shown, a novel harmonic reducer includes a rigid wheel 4, a flexible wheel 3, a wave generator 2 and a base 1, wherein the rigid wheel 4 is fixedly mounted on the base 1, and its inner side is meshed with the flexible wheel 3. The inner side of the flexible wheel 3 is dynamically deformed and connected with the wave generator 2, and this connection mode enables the flexible wheel 3 to deform according to the drive of the wave generator 2, thereby achieving effective meshing with the rigid wheel 4. In addition, the flexible wheel 3 is fixedly connected to the output bearing 5 through the connecting flange 31 to ensure the stability of the flexible wheel 3, while allowing the rotational force to be transmitted to the output shaft through the flexible wheel 3.

[0040] As the static part of the transmission system, the rigid wheel 4 provides a gear structure that meshes with the flexible wheel 3. The flexible wheel 3 is dynamic and deforms under the action of the wave generator 2. This deformation causes the teeth on the flexible wheel 3 to alternately mesh with the teeth on the rigid wheel 4, thereby transmitting torque and achieving deceleration. The wave generator 2 is the core of the harmonic reducer, responsible for driving the deformation of the flexible wheel 3, and its operation determines the output characteristics of the reducer. The base 1 provides a stable platform to ensure that the rigid wheel 4, the flexible wheel 3 and the wave generator 2 are correctly installed and maintain their relative positions to ensure the coordinated operation of the entire system.

[0041] refer to Figure 2 and Figure 3 , the flexible wheel 3 adopts a cup-shaped design, in which the connecting flange 31 is located at the bottom of the cup and folded inward toward the cup mouth. The inward-folded connecting flange 31 enhances the performance and reliability of the harmonic reducer in many aspects. On the one hand, the inward folding of the connecting flange 31 significantly improves the structural rigidity of the flexible wheel 3, which is particularly important when transmitting torque because it reduces the possibility of deformation of the flexible wheel 3 and ensures that the force transmission is more effective and stable. The increase in rigidity allows the flexible wheel 3 to bear a larger load without increasing the additional volume, thereby improving the load-bearing capacity of the reducer.

[0042] In addition, the inwardly folded connection flange 31 reduces stress concentration points by optimizing the stress distribution of the flexible wheel 3, which is crucial to extending the service life of the reducer and improving the overall reliability. In mechanical parts, stress concentration is often the main cause of fatigue and failure. By reducing these stress concentration points, the durability of the reducer is significantly improved.

[0043] In terms of optimizing the meshing mechanism, the inner flange increases the radial rigidity of the flexible wheel 3, ensuring a more uniform contact between the teeth of the flexible wheel 3 and the teeth of the rigid wheel 4. Uniform contact reduces local load concentration and local wear caused by uneven loads, thereby extending the service life of the gear. Uniform meshing also means higher transmission efficiency and lower noise levels.

[0044] At the same time, the connecting flange 31 is strengthened by a plurality of radially arranged reinforcing ribs, which increase the structural rigidity of the connecting flange 31, significantly reduce deformation under high load conditions, and also enhance the ability of the connecting flange 31 to withstand greater forces and torques. Being able to withstand greater loads means that the reducer can be used in a wider range of industrial applications, increasing its applicability and flexibility.

[0045] refer to Figure 2 and Figure 4The connection between the flexible wheel 3 and the output bearing 5 adopts a three-in-one connection method, which combines the adjusting screw 7, the heat-insulating connector 6 and the connecting flange 31. First, the middle part of the heat-insulating connector 6 engages with the output bearing 5 to achieve precise positioning. At the same time, it prevents the heat from the connecting flange 31 from being directly transferred to the output bearing 5. This thermal isolation is crucial because overheating of the output bearing 5 will seriously affect the lubrication effect of the bearing, accelerate wear, and may even cause the bearing to fail prematurely. By effectively controlling the temperature of the output bearing 5, the service life of the bearing is extended and the stable operation of the reducer is ensured.

[0046] Secondly, the adjusting screw 7 plays the role of fixing the connection between the flexible wheel 3 and the heat-insulating connecting member 6, that is, fixing the flexible wheel 3 and the output bearing 5. At the same time, the adjusting screw 7 also allows the radial position of the flexible wheel 3 to be finely adjusted. Figure 2 The connection hole on the heat-insulating connector 6 is designed to have a hole diameter larger than the diameter of the adjusting screw 7, so that the adjusting screw 7 can adjust the position of the flexible wheel 3 while fixing the flexible wheel 3, thereby fine-tuning the meshing clearance between the rigid wheel 4 and the flexible wheel 3.

[0047] The adjustment of clearance is essential to ensure the uniformity and effectiveness of contact between gears, which helps to reduce local stress concentration and tooth surface wear, thereby extending the service life of the gears. In addition, it can adapt to and compensate for errors that may occur during manufacturing and assembly, improving assembly quality and overall equipment performance.

[0048] During the long-term operation of the equipment, the originally set gap may change due to wear or load changes. At this time, the adjusting screw 7 can be used to make necessary adjustments to maintain the stability of the equipment performance. At the same time, the design of the adjusting screw 7 allows the operator to achieve precise control through simple rotation. This adjustment is simple and efficient, greatly reducing the time and tools required for maintenance and adjustment.

[0049] The connection flange 31 combined with the heat-insulating connector 6 and the adjusting screw 7 not only enhances the mechanical stability of the connection, but also provides the dual functions of thermal management and position adjustment, so that the harmonic reducer can maintain high efficiency and high reliability under various working conditions.

[0050] refer to Figure 1 and Figure 5 The wave generator 2 comprises a flexible roller bearing 21 and an elastic body 22 , wherein the flexible roller bearing 21 is closely arranged on the periphery of the elastic body 22 .

[0051] Compared with traditional roller bearings, the flexible roller bearing 21 has a longer contact line, which enables the roller bearing to disperse the load more evenly when the wave generator 2 is working and effectively reduce the contact stress. This feature is particularly critical for improving the load-bearing capacity of the wave generator 2, because it directly affects the stability and efficiency of the wave generator 2 in the process of transmitting torque and achieving deformation. The more uniform load distribution and lower contact stress work together to significantly reduce the wear rate, thereby extending the service life of the wave generator 2 and the entire reducer.

[0052] In addition, the combination of the flexible roller bearing 21 and the elastomer 22 optimizes the deformation characteristics of the wave generator 2. During the operation of the harmonic reducer, the wave generator 2 needs to apply precisely controlled deformation to the flexible wheel 3 to achieve efficient reduction transmission. The use of the flexible roller bearing 21 improves the accuracy and efficiency of this deformation process, ensuring that the harmonic reducer can achieve the required output characteristics while maintaining high performance.

[0053] In the design of the wave generator 2, a plurality of grooves are provided on the outer surface of the elastomer 22. The grooves not only increase the contact area of ​​the surface of the elastomer 22, but also promote more uniform and effective force transmission. When the elastomer 22 contacts the inside of the flexible wheel 3, the grooves can ensure that the force is more evenly distributed on the flexible wheel 3, effectively reducing the phenomenon of local stress concentration, which is very beneficial for reducing wear and extending the service life of the wave generator 2 and the entire reducer. In addition, the grooves also have a certain lubricating oil storage function, which can provide continuous lubrication during the contact between the elastomer 22 and the flexible wheel 3, reducing friction and wear.

[0054] At the same time, the outer ring of the flexible roller bearing 21 is equipped with a shock-absorbing material layer 211, which directly has a positive impact on the performance and durability of the lifting equipment by reducing the vibration generated by mechanical movement. First, the reduction of vibration can significantly improve the quality of mechanical processing or the positioning accuracy of the system. Secondly, the reduction of vibration also helps to reduce the impact and wear on other mechanical components inside the harmonic reducer, thereby extending the service life of the entire system.

[0055] In addition, a sealing ring 32 is provided at the edge of the cup of the flexible wheel 3, which prevents the intrusion of dust, pollutants or liquids, protects the precision parts inside the reducer from pollution, maintains the cleanliness of the internal environment of the reducer, and ensures good lubrication conditions.

[0056] At the same time, the base 1 is provided with a cooling channel 11, which allows coolant to circulate, effectively taking away the heat generated by the reducer during operation, helping to prevent the internal temperature of the reducer from being too high, not only slowing down the wear of components caused by high temperature, but also alleviating the negative impact of high temperature on the performance of lubricating oil.

[0057] The implementation principle of a new harmonic reducer in the embodiment of the present application is:

[0058] By folding the connection flange 31 of the flexwheel 3 in the harmonic reducer inward, the structural rigidity is significantly enhanced and the stress distribution is optimized, which not only improves the load-bearing capacity of the flexwheel 3 without increasing the volume, but also prolongs the service life of the reducer. In addition, the flexwheel 3 is made more stable when transmitting torque, reducing the energy loss and wear caused by deformation, thereby improving the efficiency and reliability of the reducer.

[0059] Furthermore, the wave generator 2 uses a flexible roller bearing 21, whose long contact line effectively disperses the load, reduces the contact stress, and enhances the stability and bearing capacity of the wave generator 2. At the same time, the grooves provided on the elastic body 22 improve its deformation characteristics, making the force transmission more uniform and effective, thereby optimizing the overall transmission performance. This design of combining the flexible roller bearing 21 and the elastic body 22 with grooves ensures that the wave generator 2 can provide the necessary deformation to drive the flexible wheel 3, thereby achieving efficient and stable reduction transmission.

[0060] In addition, the fine adjustment device between the rigid wheel 4 and the flexible wheel 3 provides a mechanism that allows the operator to accurately adjust the meshing clearance. This adjustment can optimize the meshing effect, reduce local stress concentration and wear, and improve the accuracy and stability of the transmission. Under long-term operation and high-load conditions, the adjustment can maintain the performance of the equipment and extend its life, and it also helps to compensate for errors that may occur during manufacturing and assembly.

[0061] 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 new type of harmonic reducer, characterized in that: The invention comprises a base (1), a wave generator (2), a flexible wheel (3), a rigid wheel (4) and an output bearing (5), wherein the wave generator (2) is dynamically deformably connected to the inner side of the flexible wheel (3), the rigid wheel (4) is meshingly connected to the outer side of the flexible wheel (3), the flexible wheel (3) is cup-shaped, a connecting flange (31) is provided at the bottom of the cup, the connecting flange (31) is folded inwardly toward the cup mouth and is fixedly connected to the output bearing (5), the output bearing (5) is internally connected to the base (1), and the base (1) is fixedly connected to the rigid wheel (4).

2. A novel harmonic reducer according to claim 1, characterized in that: The connecting flange (31) has a plurality of reinforcing ribs, and the reinforcing ribs are arranged along the radial direction of the flange.

3. A novel harmonic reducer according to claim 2, characterized in that: A heat-insulating connecting piece (6) is provided between the connecting flange (31) and the output bearing (5) for connection.

4. A novel harmonic reducer according to claim 1, characterized in that: The wave generator (2) comprises a flexible roller bearing (21) and an elastic body (22), wherein the flexible roller bearing (21) is closely arranged on the periphery of the elastic body (22).

5. A novel harmonic reducer according to claim 4, characterized in that: A plurality of grooves are arranged on the outer surface of the elastic body (22).

6. A novel harmonic reducer according to claim 4, characterized in that: The outer ring of the flexible roller bearing (21) is provided with a shock-absorbing material layer (211) for absorbing vibration and noise generated during operation.

7. A novel harmonic reducer according to claim 1, characterized in that: A fine-tuning device is provided between the rigid wheel (4) and the flexible wheel (3) for adjusting the meshing clearance between the two.

8. A novel harmonic reducer according to claim 7, characterized in that: The fine-tuning device is an adjusting screw (7), and the adjusting screw (7) is fixedly connected to the connecting flange (31) and the output bearing (5), so as to achieve fine-tuning of the radial position of the flexible wheel (3).

9. A novel harmonic reducer according to claim 1, characterized in that: The base (1) is provided with a cooling channel (11), and the cooling channel (11) is used for circulating a cooling liquid.

10. The novel harmonic reducer according to claim 1 is characterized in that: A sealing ring (32) is provided on the edge of the cup opening of the flexible wheel (3).

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