Harmonic reducer

Abstract

The utility model discloses a harmonic reducer, and relates to the technical field of harmonic reducers, the harmonic reducer comprises a shell, a first harmonic transmission assembly and a bevel gear transmission assembly, the shell comprises an upper shell and a lower shell, and the upper shell and the lower shell are connected to form the shell; the first harmonic transmission assembly comprises an output shaft rotationally installed on the upper shell and the lower shell through a first bearing supporting structure, a rigid gear embedded in the inner wall of the upper shell and a flexible gear connected to the output shaft in a sleeving mode, and the rigid gear is located on the outer circumference of the flexible gear and is in meshing transmission with the flexible gear. The bevel gear transmission assembly comprises a large bevel gear arranged on the output shaft in a sleeving mode, a small bevel gear installed on the side, close to the lower shell, of the side wall of the upper shell and a second bearing supporting structure installed on the inner ring and the outer ring of the large bevel gear, and the large bevel gear and the small bevel gear are in meshing transmission. By optimizing the structure and reducing the volume, the speed reducer has the characteristics of large speed ratio, large torque, large bending moment, low noise and the like.

Description

Technical Field

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

[0002] The traditional harmonic reducer is a reducer composed of a wave generator, a rigid wheel, a flexible wheel and other components. It is a new transmission structure in the gear reducer. It uses flexible gears to generate controllable elastic deformation waves, causing the teeth of the rigid wheel and the flexible wheel to be staggered relative to transmit power and motion. Harmonic reducers are widely used in aerospace, energy, navigation, shipbuilding, bionic machinery and transportation due to their advantages such as large transmission ratio, strong load-bearing capacity, high transmission accuracy and high transmission efficiency. In servo systems with particularly high dynamic performance, the use of harmonic reducers can better demonstrate the superiority of harmonic reducers.

[0003] However, the harmonic reducers on the market cannot achieve higher bending moments and torques than traditional harmonic reducers, and the traditional harmonic reducer structure is a primary structure with a speed ratio basically below 200. Since the input and output are coaxial, there are very high installation requirements during the installation process; for requirements for speed ratios above 200, high torque, and high bending moments, traditional reducers cannot meet these requirements.

[0004] Therefore, there is an urgent need for a harmonic reducer with good stability, high bending moment, high torque and high precision to solve these problems of traditional harmonic reducers. Utility Model Content

[0005] The main purpose of the utility model is to provide a harmonic reducer, aiming to solve the technical problems of the existing harmonic reducer such as small speed ratio, small torque and small bending moment.

[0006] In order to achieve the above object, the utility model proposes a harmonic reducer, comprising:

[0007] A housing, comprising an upper housing and a lower housing respectively having a first output shaft hole and a first input shaft hole, wherein the first output shaft hole is concentrically arranged with the first input shaft hole, and the upper housing and the lower housing are connected to form the housing;

[0008] The first harmonic drive assembly comprises an output shaft rotatably mounted on the upper housing and the lower housing through a first bearing support structure, a rigid wheel embedded on the inner wall of the upper housing, and a flexible wheel sleeved and connected to the output shaft, wherein the rigid wheel is located on the outer circumference of the flexible wheel and meshes with each other for transmission;

[0009] The bevel gear transmission assembly includes a large bevel gear sleeved on the output shaft, a small bevel gear installed on the side wall of the upper shell body close to the lower shell body, and a second bearing support structure installed on the inner and outer rings of the large bevel gear. The large bevel gear is perpendicular to the central axis of the small bevel gear, and the large bevel gear and the small bevel gear are meshed with each other for transmission.

[0010] Optionally, the upper shell body includes a coaxially connected flange section and an upper shell body, the center of the flange section is provided with a first output shaft hole and a first bearing hole that are coaxially connected in sequence, and the first bearing hole is located near one end of the upper shell body, and the interior of the upper shell body is provided with a coaxially connected stepped hole.

[0011] Optionally, a central axis of the lower shell body is provided with a second bearing hole and a first input shaft hole which are coaxially connected in sequence, and the second bearing hole is located inside the upper shell body.

[0012] Optionally, the output shaft includes a first shaft segment, a second shaft segment, a third shaft segment and a fourth shaft segment coaxially connected in sequence, and the first bearing support structure includes a first bearing sleeved on the first shaft segment and a second bearing installed in the second bearing hole, the first bearing is suitable for being installed in the first bearing hole, and one side of the first bearing abuts against the inner side wall of the first bearing hole, one side bottom end face of the second bearing abuts against the third shaft segment, and the other side abuts against the inner side wall of the second bearing hole.

[0013] Optionally, the first harmonic transmission component also includes a flexible wheel pressure plate sleeved on the first shaft segment, and a first outer stop and a first inner stop are respectively provided on both sides of the flexible wheel pressure plate, the first outer stop is suitable for abutting against the right end surface of the first bearing, and the first inner stop is suitable for being sleeved on the bottom boss of the flexible wheel.

[0014] Optionally, the flexible wheel pressure plate and the first shaft segment are fixedly connected via a plurality of first locking members, and the plurality of first locking members are horizontally connected to the end surfaces of the flexible wheel pressure plate and the first shaft segment parallel to the central axis of the first shaft segment.

[0015] Optionally, the second bearing support structure includes a double deep groove ball bearing sleeved between the third shaft segment and the inner wall of the large bevel gear and a flexible bearing sleeved between the outer wall of the large bevel gear and the inner wall of the flexible wheel.

[0016] Optionally, the bevel gear transmission assembly also includes a large bevel gear retaining ring mounted on the second shaft segment, and a second inner stop is provided on the side of the large bevel gear retaining ring close to the large bevel gear, and the second inner stop is suitable for being mounted on the axial end face of the large bevel gear so that the large bevel gear retaining ring simultaneously abuts against the end faces of the double deep groove ball bearing and the flexible bearing.

[0017] Optionally, the large bevel gear retaining ring is fixedly connected to the large bevel gear via a plurality of evenly distributed second locking members, and the second locking members are parallel to the central axis of the output shaft.

[0018] Optionally, a mounting hole suitable for mounting the small bevel gear is formed on one side of the upper shell body close to the bottom of the lower shell body.

[0019] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0020] In the technical solution of the utility model, the harmonic reducer is composed of a housing, a first harmonic drive assembly and a bevel gear drive assembly. The reducer structure is a two-stage transmission. The housing serves as a load-bearing housing, and the housing is formed by connecting an upper housing and a lower housing to form a housing, which is convenient for shaft transmission; the first harmonic drive assembly serves as a primary transmission structure, which is composed of an output shaft, a rigid wheel and a flexible wheel, wherein both ends of the output shaft are rotatably supported and connected to the upper housing and the lower housing through a first bearing support structure, a rigid wheel is inlaid on the inner wall of the upper housing near the middle position, a flexible wheel is sleeved on the output shaft, the flexible wheel is connected to the output shaft, and rotates with the output shaft, and the outer teeth of the flexible wheel are meshed with the rigid wheel for transmission; the bevel gear drive assembly serves as another stage of the transmission structure, which is composed of a large bevel gear, a small bevel gear and a second bearing support structure, wherein the large bevel gear is sleeved and rotatably connected to the output shaft through the second bearing support structure, and the small bevel gear is vertically installed on the side of the side wall of the upper housing close to the lower housing, so that the large bevel gear and the small bevel gear are meshed and connected for transmission. Therefore, by adopting two-stage gear transmission and the coordinated transmission between the first harmonic drive component and the bevel gear drive component, on the basis of the traditional module, the structure is optimized, the volume is further reduced, and the number of gear stages is increased, so that the reducer is lighter, has a large speed ratio, large torque, large bending moment, compact structure, good stability, low noise, etc. Its speed ratio can reach more than 250, the maximum output torque is not less than 110Nm, and the bending moment is not less than 4000N.

[0021] 2. The first harmonic drive assembly has the characteristics of small friction coefficient, low noise, low vibration and good stability. Therefore, by setting the inner ring meshing connection between the flexible wheel and the rigid wheel, the operation of the harmonic reducer can be smoother and more stable, and the noise can be further reduced.

[0022] 3. By adopting the meshing connection of bevel gear transmission components, the manufacturing is simple, the torque transmission is stable, the normal force capacity is large, and the transmission ratio is constant, so that the output shaft can transmit greater torque and improve the practicality of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the internal cross-sectional structure of an embodiment of a harmonic reducer provided in an embodiment of the utility model;

[0025] Figure 2 It is a schematic diagram of the internal cross-sectional structure of the housing provided in an embodiment of the utility model;

[0026] Figure 3 It is a schematic diagram of the assembly structure of the housing and the first harmonic drive assembly provided in an embodiment of the utility model;

[0027] Figure 4 It is a schematic diagram of the assembly structure of the bevel gear transmission assembly provided in the embodiment of the utility model;

[0028] Figure 5 This is a schematic diagram of the main structure of the harmonic reducer provided in an embodiment of the utility model;

[0029] Figure 6 It is a side structural schematic diagram of the harmonic reducer provided in an embodiment of the utility model.

[0030] Description of reference numerals:

[0031] 1-housing; 11-upper housing; 111-flange section; 1111-first output shaft hole; 1112-first bearing hole; 112-upper housing; 1121-stepped hole; 12-lower housing; 121-second bearing hole; 122-first input shaft hole;

[0032] 2- first harmonic drive component;

[0033] 21-output shaft; 211-first shaft section; 212-second shaft section; 213-third shaft section; 214-fourth shaft section;

[0034] 22-rigid wheel; 23-flexible wheel;

[0035] 24-flexible wheel pressure plate; 241-first locking member; 2411-first screw; 2412-first gasket;

[0036] 25-first bearing support structure; 251-first bearing; 252-second bearing;

[0037] 3-bevel gear transmission assembly;

[0038] 31-large bevel gear; 32-small bevel gear; 321-installation hole;

[0039] 33-second bearing support structure; 331-double deep groove ball bearing; 332-flexible bearing;

[0040] 34-large bevel gear retaining ring; 341-second locking piece. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0044] In the existing technology, harmonic reducers cannot achieve higher bending moments and torques than traditional harmonic reducers. In addition, the structure of traditional harmonic reducers is a primary structure with a speed ratio basically below 200. Since the input and output are coaxial, there are very high installation requirements during the installation process. For requirements for speed ratios above 200, high torque, and high bending moments, traditional reducers cannot meet these requirements.

[0045] In order to solve the above technical problems, the utility model provides a harmonic reducer. Figure 1-6The figure shows an embodiment of the harmonic reducer provided by the utility model. The harmonic reducer comprises a housing 1, a first harmonic transmission component 2 and a bevel gear transmission component 3, wherein:

[0046] The housing 1 comprises an upper housing 11 and a lower housing 12 respectively having a first output shaft hole 1111 and a first input shaft hole 122, the first output shaft hole 1111 and the first input shaft hole 122 are arranged concentrically, and the upper housing 11 and the lower housing 12 are connected to form the housing 1;

[0047] The first harmonic drive assembly 2 includes an output shaft 21 rotatably mounted on the upper housing 11 and the lower housing 12 through a first bearing support structure 25, a rigid wheel 22 embedded on the inner wall of the upper housing 11, and a flexible wheel 23 sleeved and connected to the output shaft 21, wherein the rigid wheel 22 is located on the outer circumference of the flexible wheel 23 and meshes with each other for transmission;

[0048] The bevel gear transmission assembly 3 includes a large bevel gear 31 sleeved on the output shaft 21, a small bevel gear 32 installed on the side wall of the upper shell 11 close to the lower shell 12, and a second bearing support structure 33 installed on the inner and outer rings of the large bevel gear 31. The central axis of the large bevel gear 31 is perpendicular to the central axis of the small bevel gear 32, and the large bevel gear 31 and the small bevel gear 32 are meshed with each other for transmission.

[0049] See also Figure 1 As shown, in the specific scheme of the utility model, the harmonic reducer is composed of a housing 1, a first harmonic drive component 2 and a bevel gear drive component 3. The reducer structure is a two-stage transmission, the first stage is a harmonic drive, and the first stage is a bevel gear drive. The speed ratio can reach more than 250, the maximum output torque is not less than 110Nm, and the bending moment is not less than 4000N.

[0050] The housing 1 is used as a bearing housing. In the embodiment of the utility model, the housing 1 is formed by connecting an upper housing 11 and a lower housing 12 to form a housing, which is convenient for shaft transmission. The upper housing 11 has a first output shaft hole 1111, and the lower housing 12 has a first input shaft hole 122, and the first output shaft hole 1111 and the first input shaft hole 122 are arranged concentrically.

[0051] The first harmonic drive component 2 serves as a primary transmission structure. In this embodiment, the first harmonic drive component 2 is composed of an output shaft 21, a rigid wheel 22 and a flexible wheel 23, wherein both ends of the output shaft 21 are rotatably supported and connected to the upper shell 11 and the lower shell 12 through a first bearing support structure 25, a rigid wheel 22 is inlaid on the inner wall of the upper shell 11 near the middle position, a flexible wheel 23 is sleeved on the output shaft 21, the flexible wheel 23 is connected to the output shaft 21, and rotates with the output shaft 21, and the outer teeth of the flexible wheel 23 are meshed with the rigid wheel 22 for transmission.

[0052] The bevel gear transmission assembly 3 serves as another transmission structure. In the present embodiment, the bevel gear transmission assembly 3 is composed of a large bevel gear 31, a small bevel gear 32 and a second bearing support structure 33, wherein the large bevel gear 31 is rotatably connected to the output shaft 21 through the second bearing support structure 33, and the small bevel gear 32 is vertically installed on the side wall of the upper shell 11 close to the lower shell 12, so that the large bevel gear 31 and the small bevel gear 32 are meshed and transmitted.

[0053] Therefore, this embodiment adopts a two-stage gear transmission, and through the coordinated transmission between the first harmonic transmission component 2 and the bevel gear transmission component 3, on the basis of the traditional module, by optimizing the structure, further reducing the volume, increasing the number of gear stages, making the reducer lighter, with a large speed ratio, large torque, large bending moment, compact structure, good stability, low noise and the like.

[0054] At the same time, the first harmonic drive component 2 has the characteristics of small friction coefficient, low noise, low vibration and good stability. Therefore, by setting the flexible wheel 23 to mesh with the inner ring of the rigid wheel 22, the operation of the harmonic reducer can be smoother and more stable, and the noise can be further reduced.

[0055] In addition, by adopting the meshing connection of the bevel gear transmission assembly 3, the manufacturing is simple, the torque transmission is stable, the normal force capacity is large, and the transmission ratio is constant, so that the output shaft 21 can transmit a larger torque, thereby improving the practicality of the harmonic reducer.

[0056] Furthermore, the upper shell body 11 includes a coaxially connected flange section 111 and an upper shell body 112, and a first output shaft hole 1111 and a first bearing hole 1112 that are coaxially connected in sequence are opened at the center of the flange section 111, and the first bearing hole 1112 is located at one end close to the upper shell body 112, and a coaxially connected stepped hole 1121 is opened inside the upper shell body 112.

[0057] Specifically, see Figure 2 As shown, in a specific scheme of the utility model, the upper shell body 11 is composed of a coaxially connected flange section 111 and an upper shell body 112, and a first output shaft hole 1111 is horizontally penetrated through the center of the flange section 111, and the first output shaft hole 1111 is used to install the output shaft 21, and a first bearing hole 1112 suitable for installing a bearing is also provided on the side of the first output shaft hole 1111 close to the upper shell body 112, and a stepped hole 1121 coaxial with the first output shaft hole 1111 is also provided on the inner wall of the upper shell body 112. The setting of the stepped hole 1121 facilitates the installation of different limiting structures.

[0058] In this embodiment, the output shaft 21 is coaxially arranged with the rigid wheel 22 . The output shaft 21 is located in the upper housing 11 and together with the rigid wheel 22 and the flexible wheel 23 form a harmonic transmission structure, which can effectively ensure a more stable output.

[0059] Furthermore, a second bearing hole 121 and a first input shaft hole 122 which are coaxially connected in sequence are opened on the central axis of the lower shell 12 , and the second bearing hole 121 is located inside the upper shell body 112 .

[0060] Likewise, see Figure 2 As shown, a first input shaft hole 122 coaxial with the first output shaft hole 1111 is provided on the lower shell 12, and a second bearing hole 121 coaxial with the first bearing hole 1112 is also provided on the side of the first input shaft hole 122 close to the upper shell 11, so as to support the other end of the installed output shaft 21.

[0061] Preferably, the output shaft 21 includes a first shaft section 211, a second shaft section 212, a third shaft section 213 and a fourth shaft section 214 which are coaxially connected in sequence, and the first bearing support structure 25 includes a first bearing 251 sleeved on the first shaft section 211 and a second bearing 252 installed in the second bearing hole 121, the first bearing 251 is suitable for being installed in the first bearing hole 1112, and one side of the first bearing 251 abuts against the inner wall of the first bearing hole 1112, one side bottom end face of the second bearing 252 abuts against the third shaft section 213, and the other side abuts against the inner wall of the second bearing hole 121.

[0062] Specifically, see Figure 3 , 4 As shown, in the specific scheme of the utility model, the output shaft 21 is composed of a first shaft section 211, a second shaft section 212, a third shaft section 213 and a fourth shaft section 214 which are coaxially connected in sequence. The first bearing 251 is sleeved on the first shaft section 211 and is suitable for being installed in the first bearing hole 1112, so that the side wall of the first bearing hole 1112 can limit the left end face of the first bearing 251; the second bearing 252 is sleeved on the fourth shaft section 214 and is suitable for being installed in the second bearing hole 121, so that the side wall of the second bearing hole 121 can limit the right end face of the second bearing 252.

[0063] It should be noted that the first bearing 251 is preferably a deep groove ball bearing, and the second bearing 252 is preferably a deep groove ball bearing. Deep groove ball bearings have the characteristics of low friction coefficient, low noise, low vibration, and good stability. Therefore, by setting the first bearing 251 and the second bearing 252 to be deep groove ball bearings and being located at both ends of the output shaft 21, the operation of the harmonic reducer can be smoother and more stable, and the noise can be further reduced.

[0064] Finally, the shaft diameter of the output shaft 21 and the matching deep groove ball bearing are maximized within the limited installation space. This approach not only has a compact structure and high precision, but also greatly increases the ability to withstand bending moments.

[0065] Furthermore, the first harmonic transmission component 2 also includes a flexible wheel pressure plate 24 sleeved on the first shaft segment 211, and the flexible wheel pressure plate 24 has a first outer stop and a first inner stop on both sides thereof, wherein the first outer stop is suitable for abutting against the right end surface of the first bearing 251, and the first inner stop is suitable for being sleeved on the bottom boss of the flexible wheel 23.

[0066] Specifically, see Figure 3 , 4 As shown, in a specific scheme of the utility model, the first harmonic drive component 2 also includes a flexible wheel pressure plate 24. In this embodiment, the flexible wheel pressure plate 24 is sleeved and connected to the first shaft segment 211 and is located on the left end face of the flexible wheel 23. By fixing the flexible wheel pressure plate 24 on the first shaft segment 211, and providing inner and outer stoppers on both sides of the flexible wheel pressure plate 24, respectively, the first inner stopper on the right side of the flexible wheel pressure plate 24 cooperates with the bottom boss of the flexible wheel 23 to achieve limited fixing of the flexible wheel 23. By abutting the first outer stopper on the left side of the flexible wheel pressure plate 24 against the right end face of the first bearing 251, the right side limit of the first bearing 251 can be achieved, ensuring that the first bearing 251 will not axially move in the axial direction of the output shaft 21, thereby improving the movement stability of the harmonic reducer.

[0067] Furthermore, the flexwheel pressure plate 24 and the first shaft segment 211 are fixedly connected via a plurality of first locking members 241 , and the plurality of first locking members 241 are horizontally connected to the end surfaces of the flexwheel pressure plate 24 and the first shaft segment 211 parallel to the central axis of the first shaft segment 211 .

[0068] Specifically, see Figure 3 As shown, in a specific solution of the present invention, the left end of the flexible wheel pressure plate 24 abuts against the right end surface of the first shaft segment 211. In order to achieve a fixed connection between the flexible wheel pressure plate 24 and the first shaft segment 211, a plurality of evenly distributed first locking members 241 are arranged along the right end surface of the first shaft segment 211 parallel to the central axis of the first shaft segment 211. The flexible wheel pressure plate 24 is completely locked on the first shaft segment 211 by the first locking members 241.

[0069] Furthermore, the second bearing support structure 33 includes a double deep groove ball bearing 331 sleeved between the third shaft segment 213 and the inner wall of the large bevel gear 31 and a flexible bearing 332 sleeved between the outer wall of the large bevel gear 31 and the inner wall of the flexible wheel 23 .

[0070] Specifically, see Figure 4As shown, in the specific scheme of the utility model, the second bearing support structure 33 is used to realize the transmission of the large bevel gear 31, and a double deep groove ball bearing 331 is installed between the third shaft section 213 and the inner wall of the large bevel gear 31. The double deep groove ball bearing 331 is set to two to ensure that the outer rings of the double deep groove ball bearings 331 are both located on the inner wall of the large bevel gear 31. The double bearing support is adopted, so that the transmission accuracy of the structure is better and it can ensure smoother operation under rated load; the flexible bearing 332 is installed between the outer wall of the large bevel gear 31 and the inner wall of the flexible wheel 23, and the flexible wheel 23 is supported and installed by the flexible bearing 332, and the outer ring of the flexible wheel 23 is meshed with the outer ring of the rigid wheel 22. In this way, the input and output coaxiality of the harmonic reducer can be improved, and during the movement of the harmonic reducer, vibration, noise, and damage can be reduced, and the performance stability and durability can be improved.

[0071] Furthermore, the bevel gear transmission assembly 3 also includes a large bevel gear retaining ring 34 sleeved on the second shaft section 212, and a second inner stop is provided on the side of the large bevel gear retaining ring 34 close to the large bevel gear 31, and the second inner stop is suitable for being sleeved on the axial end face of the large bevel gear 31 so that the large bevel gear retaining ring 34 can simultaneously abut against the end faces of the double deep groove ball bearing 331 and the flexible bearing 332.

[0072] Specifically, see Figure 4 As shown, in the specific scheme of the utility model, the large bevel gear retaining ring 34 is used to realize axial limitation of the double deep groove ball bearing 331 and the flexible bearing 332. For this purpose, the large bevel gear retaining ring 34 is sleeved on the second shaft section 212 and fixed to the left end face of the large bevel gear 31 with screws, and the inner and outer stoppers of the large bevel gear retaining ring 34 are used to abut against the end faces of the double deep groove ball bearing 331 and the flexible bearing 332.

[0073] Furthermore, the large bevel gear retaining ring 34 and the large bevel gear 31 are fixedly connected via a plurality of evenly distributed second locking members 341 , and the second locking members 341 are parallel to the central axis of the output shaft 21 .

[0074] Specifically, see Figure 4 As shown, in the specific scheme of the present utility model, in order to achieve the fixation between the large bevel gear retaining ring 34 and the large bevel gear 31, a uniformly distributed second locking piece 341 is set on the left end face of the large bevel gear 31, and the large bevel gear retaining ring 34 and the large bevel gear 31 are fixed by the second locking piece 341.

[0075] Furthermore, a mounting hole 321 suitable for mounting the small bevel gear 32 is formed on one side of the upper shell body 112 close to the bottom of the lower shell body 12 .

[0076] Specifically, see Figure 3As shown, in the specific scheme of the present utility model, the large bevel gear 31 is installed horizontally in the housing 1, and the large bevel gear 31 and the small bevel gear 32 are meshed with each other. Therefore, the small bevel gear 32 needs to be installed perpendicular to the central axis of the large bevel gear 31, and a mounting hole 321 is provided on the upper shell body 112 to realize the rotational installation of the small bevel gear 32.

[0077] In addition, the combination of large and small bevel gears and flexible rigid wheels can achieve output in an ultra-wide speed ratio range. By adjusting the tooth ratio of the large and small bevel gears, flexible output in multiple speed ratios can be achieved.

[0078] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A harmonic reducer, characterized in that: include: A housing, comprising an upper housing and a lower housing respectively having a first output shaft hole and a first input shaft hole, wherein the first output shaft hole is concentrically arranged with the first input shaft hole, and the upper housing and the lower housing are connected to form the housing; The first harmonic drive assembly comprises an output shaft rotatably mounted on the upper housing and the lower housing through a first bearing support structure, a rigid wheel embedded on the inner wall of the upper housing, and a flexible wheel sleeved and connected to the output shaft, wherein the rigid wheel is located on the outer circumference of the flexible wheel and meshes with each other for transmission; The bevel gear transmission assembly includes a large bevel gear sleeved on the output shaft, a small bevel gear installed on the side wall of the upper shell body close to the lower shell body, and a second bearing support structure installed on the inner and outer rings of the large bevel gear. The large bevel gear is perpendicular to the central axis of the small bevel gear, and the large bevel gear and the small bevel gear are meshed with each other for transmission.

2. The harmonic reducer according to claim 1, characterized in that: The upper shell body includes a coaxially connected flange section and an upper shell body, the center of the flange section is provided with a first output shaft hole and a first bearing hole which are coaxially connected in sequence, and the first bearing hole is located near one end of the upper shell body, and the interior of the upper shell body is provided with a coaxially connected stepped hole.

3. The harmonic reducer according to claim 2, characterized in that: The central axis of the lower shell is provided with a second bearing hole and a first input shaft hole which are coaxially connected in sequence, and the second bearing hole is located inside the upper shell body.

4. The harmonic reducer according to claim 3, characterized in that: The output shaft includes a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are coaxially connected in sequence, and the first bearing support structure includes a first bearing sleeved on the first shaft section and a second bearing installed in the second bearing hole, the first bearing is suitable for being installed in the first bearing hole, and one side of the first bearing abuts against the inner side wall of the first bearing hole, one side bottom end face of the second bearing abuts against the third shaft section, and the other side abuts against the inner side wall of the second bearing hole.

5. The harmonic reducer according to claim 4, characterized in that: The first harmonic transmission component also includes a flexible wheel pressure plate sleeved on the first shaft segment, and a first outer stop and a first inner stop are respectively provided on both sides of the flexible wheel pressure plate, the first outer stop is suitable for abutting against the right end surface of the first bearing, and the first inner stop is suitable for sleeved on the bottom boss of the flexible wheel.

6. The harmonic reducer according to claim 5, characterized in that: The flexible wheel pressure plate and the first shaft segment are fixedly connected via a plurality of first locking members, and the plurality of first locking members are horizontally connected to the end surfaces of the flexible wheel pressure plate and the first shaft segment parallel to the central axis of the first shaft segment.

7. The harmonic reducer according to claim 4, characterized in that: The second bearing support structure includes a double deep groove ball bearing sleeved between the third shaft segment and the inner wall of the large bevel gear and a flexible bearing sleeved between the outer wall of the large bevel gear and the inner wall of the flexible wheel.

8. The harmonic reducer according to claim 7, characterized in that: The bevel gear transmission assembly also includes a large bevel gear retaining ring sleeved on the second shaft segment, and a second inner stop is provided on the side of the large bevel gear retaining ring close to the large bevel gear, and the second inner stop is suitable for being sleeved on the axial end face of the large bevel gear so that the large bevel gear retaining ring simultaneously abuts against the end faces of the double deep groove ball bearing and the flexible bearing.

9. The harmonic reducer according to claim 8, characterized in that: The large bevel gear retaining ring is fixedly connected to the large bevel gear via a plurality of evenly distributed second locking members, and the second locking members are parallel to the central axis of the output shaft.

10. The harmonic reducer according to any one of claims 2 to 9, characterized in that: A mounting hole suitable for mounting the small bevel gear is provided on one side of the upper shell body close to the bottom of the lower shell body.

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