High-precision harmonic reducer

Abstract

The utility model belongs to the technical field of harmonic reducers, and particularly relates to a high-precision harmonic reducer which comprises a cam, a first bearing assembly, a flexible gear and a rigid gear, the rigid gear comprises a matching section and an inner meshing section, the flexible gear comprises a transmission section and an outer meshing section, and a second bearing assembly is arranged between the matching section of the rigid gear and the transmission section of the flexible gear. The second bearing assembly comprises a second outer ring integrally formed with the matching section, a second inner ring connected with the transmission section, a second retainer and a plurality of second rolling bodies which are mounted on the second retainer and are distributed at intervals; the first outer ring and the flexible gear are integrally formed to form the integrated flexible gear, the first inner ring and the cam are integrally formed to form the integrated cam, and the rigid gear and the second outer ring are integrally formed to form the integrated rigid gear, so that materials are reduced, manufacturing cost is lowered, occupied space is reduced, in addition, installation procedures are reduced, and production efficiency is improved. And relative sliding between every two harmonic wave sensors is avoided, so that the transmission precision of the harmonic wave sensor is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of harmonic reducers, and in particular relates to a high-precision harmonic reducer. Background Art

[0002] The existing harmonic reducer generally includes a rigid wheel, a flexible wheel, a flexible bearing and a cam. The cam continuously rotates to change the deformation part of the flexible wheel, so that the meshing state between the flexible wheel and the rigid wheel also changes continuously, thereby realizing the deceleration rotation of the flexible wheel. One end of the flexible wheel meshes with one end of the rigid wheel, and the other end of the flexible wheel rotates with the other end of the rigid wheel, with a bearing assembly arranged between the two. However, in the prior art, the outer ring of the rigid wheel and the bearing assembly are split structures, which are more complicated to assemble, and relative movement between the two separated structures is inevitable, which affects the transmission accuracy of the harmonic reducer. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in order to solve the problem that the outer ring of the rigid wheel and the bearing assembly in the prior art are split structures, which are complicated to assemble and the two split structures will inevitably move relative to each other, thus affecting the transmission accuracy of the harmonic reducer, a high-precision harmonic reducer is provided.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions: a high-precision harmonic reducer, comprising a cam, a first bearing assembly, a flexible wheel and a rigid wheel which are sequentially sleeved from the inside to the outside, the rigid wheel comprising a coaxially arranged mating section and an inner meshing section with inner teeth, the flexible wheel comprising a coaxially arranged transmission section and an outer meshing section with outer teeth, the inner teeth on the inner meshing section mesh with the outer teeth of the outer meshing section, and a second bearing assembly is arranged between the mating section of the rigid wheel and the transmission section of the flexible wheel;

[0005] The second bearing assembly includes a second outer ring integrally formed with the mating section of the rigid wheel, a second inner ring connected to the transmission section of the flexible wheel, a second retaining frame located between the second outer ring and the second inner ring, and a plurality of second rolling bodies installed on the second retaining frame.

[0006] Furthermore, the second bearing assembly is a double-half inner ring four-point contact ball bearing, the second inner ring includes two split inner rings, the inner circumferential wall of the mating section forms an outer raceway, and the outer circumferential walls of the two split inner rings enclose an inner raceway.

[0007] Furthermore, the second bearing assembly is a double-half outer ring four-point contact ball bearing, the mating section includes two split outer rings, the inner circumferential walls of the two split outer rings enclose an outer raceway, and the outer circumferential wall of the second inner ring forms an inner raceway.

[0008] Furthermore, the first bearing assembly is a roller bearing.

[0009] Furthermore, the first bearing assembly includes a first outer ring integrally formed with the flexible wheel, a first inner ring integrally formed with the cam, a first retaining frame located between the first outer ring and the first inner ring, and a plurality of first rolling elements installed on the first retaining frame and distributed at intervals.

[0010] Furthermore, the first bearing assembly is a flexible ball bearing.

[0011] Furthermore, the split inner ring of the two split inner rings, which is away from the flexible pulley, protrudes toward the flexible pulley to form a connecting section, and the central part of the split inner ring close to the flexible pulley is provided with a central hole for the connecting section to pass through, and the connecting section passes through the central hole and is fixedly connected to the transmission section.

[0012] Furthermore, one end of the second inner ring close to the flexible wheel is contracted to form a contraction section, and a plug hole for inserting the contraction section is opened at the center of the transmission section.

[0013] Furthermore, a sealing ring is provided between the second outer ring and the second inner ring.

[0014] Furthermore, an end cover is provided at one end of the cam close to the transmission section, and the outer peripheral wall of the cam protrudes radially to form a limiting portion, and an accommodating groove for accommodating the first retainer is formed between the end cover and the limiting portion.

[0015] The beneficial effects of the utility model are as follows: the utility model integrates the first outer ring and the flexible wheel into an integrated flexible wheel, integrates the first inner ring and the cam into an integrated cam, and integrates the rigid wheel and the second outer ring into an integrated rigid wheel, thereby reducing materials, reducing manufacturing costs and reducing space occupancy, and also reducing the installation process of the first inner ring and the cam, the installation process of the first outer ring and the flexible wheel, and the installation process of the second outer ring and the rigid wheel, saving installation time, and avoiding relative sliding between the first outer ring and the flexible wheel, relative sliding between the first inner ring and the cam, and relative sliding between the second outer ring and the rigid wheel, thereby improving the transmission accuracy of the harmonic sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 is a cross-sectional view of the first embodiment;

[0018] Figure 2 is an exploded view of the first embodiment;

[0019] Figure 3 is a cross-sectional view of the second embodiment;

[0020] Figure 4 is an exploded view of the second embodiment;

[0021] Figure 5 is a cross-sectional view of embodiment 3;

[0022] Figure 6 is a cross-sectional view of Embodiment 4;

[0023] In the figure:

[0024] 1. cam; 101. limiter; 102. keyway;

[0025] 2. First bearing assembly; 201. First outer ring; 202. First inner ring; 203. First retaining frame; 204. First rolling element;

[0026] 3. Flexspline; 301. Transmission section; 3011. Socket; 302. External meshing section.

[0027] 4. rigid wheel; 401. mating section; 4011. split outer ring; 402. inner meshing section;

[0028] 5. Second bearing assembly; 501. Second inner ring; 5011. Split inner ring; 5012. Connecting section; 5013. Center hole; 5014. Contraction section; 502. Second retaining frame; 503. Second rolling element;

[0029] 6. Sealing ring;

[0030] 7. End cap. DETAILED DESCRIPTION

[0031] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0032] Embodiment 1:

[0033] like Figure 1 and Figure 2 As shown, a high-precision harmonic reducer includes a cam 1, a first bearing assembly 2, a flexible wheel 3 and a rigid wheel 4 which are sequentially sleeved from the inside to the outside;

[0034] The cam 1 is a symmetrical double-wave, triple-wave or quadruple-wave structure, having a major axis and a minor axis, and a keyway 102 connected to the power input shaft is provided at the center thereof;

[0035] The rigid wheel 4 includes a coaxially arranged matching section 401 and an inner meshing section 402 having inner teeth, wherein the inner teeth are multiple and circumferentially distributed on the inner peripheral wall of the inner meshing section 402;

[0036] The flexible wheel 3 is a thin-walled structure, which can be deformed under the action of the cam 1. The flexible wheel 3 includes a coaxially arranged transmission section 301 and an external meshing section 302 with external teeth. There are multiple external teeth, which are circumferentially distributed on the outer peripheral wall of the external meshing section 302. The internal teeth on the internal meshing section 402 mesh with the external teeth of the external meshing section 302. A second bearing assembly 5 is provided between the matching section 401 of the rigid wheel 4 and the transmission section 301 of the flexible wheel 3.

[0037] The first bearing assembly 2 is a roller bearing, which includes a first outer ring integrally formed with the flexible wheel 3, a first inner ring integrally formed with the cam 1, a first retaining frame 203 located between the first outer ring and the first inner ring, and a plurality of first rolling elements 204 installed on the first retaining frame 203. The first outer ring and the flexible wheel 3 are integrally formed to form an integrated flexible wheel, and the first inner ring and the cam 1 are integrally formed to form an integrated cam, thereby reducing the material of the outer ring and the inner ring, reducing the manufacturing cost, and reducing the installation process of the first inner ring and the cam 1, as well as the installation process of the first outer ring and the flexible wheel 3, saving installation time, and avoiding the relative sliding between the first outer ring and the flexible wheel 3 and the relative sliding between the first inner ring and the cam 1, thereby improving the accuracy of harmonic transmission.

[0038] The second bearing assembly 5 includes a second outer ring integrally formed with the mating section 401 of the rigid wheel 4, a second inner ring 501 connected to the transmission section 301 of the flexible wheel 3, a second retaining frame 502 located between the second outer ring and the second inner ring 501, and a plurality of second rolling elements 503 installed on the second retaining frame 502 and distributed at intervals, and a sealing ring 6 is provided between the second outer ring and the second inner ring 501.

[0039] The second bearing assembly 5 is a double half inner ring four-point contact ball bearing, the second inner ring 501 includes two split inner rings 5011, the inner circumferential wall of the mating section 401 forms an outer raceway, the outer circumferential walls of the two split inner rings 5011 enclose an inner raceway, and the second rolling element 503 forms four-point contact with the outer raceway and the inner raceway.

[0040] The inner ring 5011 of the two split inner rings 5011, which is far from the flexible wheel 3, protrudes toward the flexible wheel 3 to form a connecting section 5012, and the central part of the split inner ring 5011 close to the flexible wheel 3 is provided with a central hole 5013 for the connecting section 5012 to pass through. The connecting section 5012 passes through the central hole 5013 and is fixedly connected to the transmission section 301, and one end of the connecting section 5012 close to the flexible wheel 3 is contracted to form a contraction section 5014, and the central part of the transmission section 301 is provided with a contraction section 5015. 014 is inserted into the socket 3011; first, the connecting section 5012 passes through the center hole 5013 and the contraction section 5014 is inserted into the socket 3011 to realize the plug-in connection between the second inner ring 501 and the flexible wheel 3, and then the connecting section 5012 is fixedly connected to the mounting portion protruding from the transmission section 301. The connection method can be fixed by bolts. There are multiple bolts and they are distributed along the circumferential direction. The mounting portion has a certain thickness, which can improve the connection strength between the flexible wheel 3 and the second inner ring 501 and reduce the risk of the flexible wheel 3 breaking.

[0041] The input shaft drives the cam 1 to rotate. During the continuous rotation of the cam 1, the profile of the flexible wheel 3 is constantly deformed, and the meshing state of the rigid wheel 4 and the flexible wheel 3 is constantly changed, forming a cycle of engagement, engagement, disengagement, disengagement, and re-engagement, thereby realizing the slow rotation of the flexible wheel 3. At the same time, the flexible wheel 3 transmits power to the load output through the cooperation of the transmission section 301, the second bearing assembly 5 and the matching section 401. The matching section 401 of the rigid wheel 4 in the second bearing assembly 5 is integrally formed with the second outer ring to form an integrated rigid wheel 4, which saves the material of the second outer ring, reduces the manufacturing cost, reduces the space occupation, reduces the assembly steps of the second outer ring and the rigid wheel 4, saves the assembly time, and avoids the relative sliding between the second outer ring and the rigid wheel 4, thereby improving the transmission accuracy of the harmonic sensor.

[0042] An end cover 7 is provided at one end of the cam 1 close to the transmission section 301 , and an outer peripheral wall of the cam 1 protrudes radially to form a limiting portion 101 , and an accommodating groove for accommodating the first retainer 203 is formed between the end cover 7 and the limiting portion 101 .

[0043] Embodiment 2:

[0044] like Figure 3 and Figure 4 As shown, the difference between the second embodiment and the first embodiment is that the first bearing assembly 2 is a flexible ball bearing, including a first outer ring 201 fixed to the flexible wheel 3, a first inner ring 202 fixed to the cam 1, a first retaining frame 203 located between the first outer ring 201 and the first inner ring 202, and a plurality of first rolling elements 204 installed on the first retaining frame 203 and distributed at intervals, that is, in this embodiment, the first outer ring 201 and the flexible wheel 3 are separately arranged, and the first inner ring 202 and the cam 1 are also separately arranged.

[0045] Embodiment three:

[0046] like Figure 5 As shown, the difference between the third embodiment and the first embodiment is that: the second bearing assembly 5 is a double-half outer ring four-point contact ball bearing, the matching section 401 includes two split outer rings 4011, the inner circumferential walls of the two split outer rings 4011 enclose an outer raceway, the outer circumferential wall of the second inner ring 501 forms an inner raceway, and four-point contact is formed between the second rolling body 503 and the outer raceway and the inner raceway; the second inner ring 501 is contracted at one end close to the flexible wheel 3 to form a contraction section 5014, and the central part of the transmission section 301 is provided with a socket 3011 for inserting the contraction section 5014. First, the contraction section 5014 is inserted into the socket 3011 to realize the plug-in connection between the second inner ring 501 and the flexible wheel 3, and then the two are fixed by bolts.

[0047] Embodiment 4:

[0048] like Figure 6 As shown, the difference between the fourth embodiment and the third embodiment is that the first bearing assembly 2 is a flexible ball bearing, including a first outer ring 201 fixed to the flexible wheel 3, a first inner ring 202 fixed to the cam 1, a first retaining frame 203 located between the first outer ring 201 and the first inner ring 202, and a plurality of first rolling elements 204 installed on the first retaining frame 203 and distributed at intervals.

[0049] Working principle:

[0050] The input shaft drives the cam 1 to rotate. During the continuous rotation of the cam 1, the contour of the flexible wheel 3 is continuously deformed through the first bearing assembly 2. The meshing state of the rigid wheel 4 and the flexible wheel 3 is continuously changed, and a cycle is formed by meshing, meshing, meshing out, disengaging, and re-meshing to realize the slow rotation of the flexible wheel 3. At the same time, the flexible wheel 3 transmits power to the load output through the cooperation of the transmission section 301, the second bearing assembly 5 and the matching section 401. In the first bearing assembly 2, the first outer ring and the flexible wheel 3 are integrally formed to form an integrated flexible wheel 3, the first inner ring and the cam 1 are integrally formed to form an integrated cam 1, and the second bearing assembly 5, the mating section 401 of the rigid wheel 4 is integrally formed with the second outer ring to form an integrated rigid wheel 4, thereby reducing the materials of the first outer ring, the first inner ring and the second outer ring, reducing the manufacturing cost, reducing the space occupation, and reducing the installation process of the first inner ring and the cam 1, the installation process of the first outer ring and the flexible wheel 3, and the installation process of the second outer ring and the rigid wheel 4, saving the installation time, and avoiding the relative sliding between the first outer ring and the flexible wheel 3, the relative sliding between the first inner ring and the cam 1, and the relative sliding between the second outer ring and the rigid wheel 4, thereby improving the transmission accuracy of the harmonic sensor.

[0051] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A high-precision harmonic reducer, characterized in that: The invention comprises a cam (1), a first bearing assembly (2), a flexible wheel (3) and a rigid wheel (4) which are sequentially sleeved from the inside to the outside, the rigid wheel (4) comprising a coaxially arranged matching section (401) and an internal meshing section (402) having internal teeth, the flexible wheel (3) comprising a coaxially arranged transmission section (301) and an external meshing section (302) having external teeth, the internal teeth on the internal meshing section (402) meshing with the external teeth of the external meshing section (302), and a second bearing assembly (5) being arranged between the matching section (401) of the rigid wheel (4) and the transmission section (301) of the flexible wheel (3); The second bearing assembly (5) comprises a second outer ring integrally formed with the mating section (401) of the rigid wheel (4), a second inner ring (501) connected to the transmission section (301) of the flexible wheel (3), a second retaining frame (502) located between the second outer ring and the second inner ring (501), and a plurality of second rolling bodies (503) installed on the second retaining frame (502) and distributed at intervals.

2. A high-precision harmonic reducer according to claim 1, characterized in that: The second bearing assembly (5) is a double-half inner ring four-point contact ball bearing, the second inner ring (501) includes two split inner rings (5011), the inner circumferential wall of the mating section (401) forms an outer raceway, and the outer circumferential walls of the two split inner rings (5011) enclose an inner raceway.

3. A high-precision harmonic reducer according to claim 1, characterized in that: The second bearing assembly (5) is a double half outer ring four-point contact ball bearing, the mating section (401) comprises two split outer rings (4011), the inner circumferential walls of the two split outer rings (4011) enclose an outer raceway, and the outer circumferential wall of the second inner ring (501) forms an inner raceway.

4. A high-precision harmonic reducer according to claim 1, characterized in that: The first bearing assembly (2) is a roller bearing.

5. A high-precision harmonic reducer according to claim 4, characterized in that: The first bearing assembly (2) comprises a first outer ring integrally formed with the flexible wheel (3), a first inner ring integrally formed with the cam (1), a first retaining frame (203) located between the first outer ring and the first inner ring, and a plurality of first rolling bodies (204) installed on the first retaining frame (203) and distributed at intervals.

6. A high-precision harmonic reducer according to claim 1, characterized in that: The first bearing component (2) is a flexible ball bearing.

7. A high-precision harmonic reducer according to claim 2, characterized in that: Of the two split inner rings (5011), the split inner ring (5011) farther from the flexible wheel (3) protrudes in the direction of the flexible wheel (3) to form a connecting section (5012), and a center hole (5013) for the connecting section (5012) to pass through is opened in the center of the split inner ring (5011) close to the flexible wheel (3), and the connecting section (5012) passes through the center hole (5013) to be fixedly connected to the transmission section (301).

8. A high-precision harmonic reducer according to any one of claims 3 or 7, characterized in that: One end of the second inner ring (501) close to the flexible wheel (3) is contracted to form a contraction section (5014), and a plug hole (3011) for inserting the contraction section (5014) is provided at the center of the transmission section (301).

9. The high-precision harmonic reducer according to claim 1, characterized in that: A sealing ring (6) is provided between the second outer ring and the second inner ring (501).

10. The high-precision harmonic reducer according to claim 1, characterized in that: An end cover (7) is provided at one end of the cam (1) close to the transmission section (301), and the outer peripheral wall of the cam (1) protrudes radially to form a limiting portion (101), and a receiving groove for accommodating the first retaining frame (203) is formed between the end cover (7) and the limiting portion (101).

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