Cup-shaped harmonic reducer with overload protection function

Abstract

The utility model discloses a cup-shaped harmonic reducer with an overload protection function, and belongs to the technical field of reducers. The cup-shaped harmonic reducer comprises a reducer box body, a rigid gear, a flexible gear and a bearing, the flexible gear is rotatably assembled in the reducer box body through the bearing, the rigid gear is assembled in the reducer box body and meshed with the flexible gear, the outer circle of the rigid gear is matched with an inner hole of the reducer box body, and an elastic ring is assembled between the rigid gear and the reducer box body in an interference mode. The harmonic reducer has the beneficial effects that the elastic ring is arranged between the rigid wheel and the reducer box body, when the load borne by the harmonic reducer is larger than an allowable value, relative sliding is generated between the inner hole of the elastic ring and the outer circle of the rigid wheel, energy of external impact loads is converted into friction heat energy to be consumed, and the cup type harmonic reducer is protected against damage. Through the arrangement of the limiting flange, when the rigid wheel and the speed reducer box body are separated and combined, the rigid wheel does not move axially, and after the overload load is relieved, the harmonic speed reducer can work normally.

Description

Technical Field

[0001] The present application belongs to the technical field of reducers, and specifically relates to a cup-type harmonic reducer with an overload protection function. Background Art

[0002] Harmonic reducers are widely used in machine tool turntables, industrial robots, collaborative robots, humanoid robots, etc. When the external force exceeds the buckling torque of the harmonic reducer, the harmonic reducer will be damaged.

[0003] How to solve the problem of harmonic reducer damage in abnormal working conditions of the robot is very important and urgent. Utility Model Content

[0004] The purpose of an embodiment of the present application is to provide a cup-type harmonic reducer with an overload protection function, which converts the energy of the external impact load into frictional heat energy and consumes it by setting an elastic ring between the rigid wheel and the reducer housing, thereby protecting the cup-type harmonic reducer with an overload protection function from damage, thereby solving at least one technical problem involved in the background technology.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] An embodiment of the present application provides a cup-type harmonic reducer with an overload protection function, comprising a reducer housing, a rigid wheel, a flexible wheel and a bearing, wherein the flexible wheel is rotatably mounted in the reducer housing through the bearing, the rigid wheel is mounted in the reducer housing and connected to the flexible wheel, the outer circle of the rigid wheel cooperates with the inner hole of the reducer housing, and the elastic ring is interference fitted between the rigid wheel and the reducer housing.

[0007] Optionally, a groove is provided on the outer circle of the rigid wheel and is arranged along the circumferential direction of the rigid wheel, and the elastic ring is arranged in the groove.

[0008] Optionally, the elastic ring is in a circular ring shape, and is provided with a plurality of elastic protrusions along its circumferential direction, and the elastic protrusions abut against the reducer housing.

[0009] Optionally, a first boss and a second boss which are arranged around the rigid wheel and protrude in the radial direction of the rigid wheel are provided on the outer circle of the rigid wheel, and the first boss cooperates with the reducer housing to limit the movement of the rigid wheel toward the inner side of the flexible wheel.

[0010] Optionally, it further includes a limiting flange fixed to the end surface of the reducer housing, wherein the limiting flange is sleeved on the outer side of the rigid wheel and cooperates with the second boss to limit the movement of the rigid wheel away from the flexible wheel.

[0011] Optionally, the limiting flange is fixed to the reducer housing by screws.

[0012] Optionally, the bearing is a crossed roller bearing.

[0013] Optionally, it also includes a wave generator arranged inside the rigid wheel.

[0014] Optionally, the reducer housing is cup-shaped.

[0015] Optionally, the elastic ring is in a non-closed shape and includes an opening.

[0016] The beneficial effects of the embodiments of the present application are:

[0017] 1. By setting an elastic ring between the rigid wheel and the reducer housing, when the load borne by the harmonic reducer is greater than the allowable value, relative sliding occurs between the inner hole of the elastic ring and the outer circle of the rigid wheel, converting the energy of the external impact load into frictional heat energy and consuming it, thus protecting the cup-type harmonic reducer with overload protection function from damage.

[0018] 2. By setting the limit flange, when the rigid wheel is clutched with the reducer housing, the rigid wheel will not move axially. After the overload is released, the harmonic reducer can work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0020] Figure 1 A schematic diagram of the overall structure of a cup-type harmonic reducer with an overload protection function provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of an elastic ring provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of a rigid wheel provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0025] See also Figure 1 to Figure 2 As shown, an embodiment of the present application provides a cup-type harmonic reducer with an overload protection function, including a reducer housing 1, a rigid wheel 2, a flexible wheel 3, a bearing 4, an elastic ring 5, a limit flange 6 and a wave generator 7. The flexible wheel 3 is rotatably assembled in the reducer housing 1 through the bearing 4. Specifically, the bearing 4 is a cross roller bearing.

[0026] In a specific embodiment, the reducer housing 1 is cup-shaped.

[0027] The rigid wheel 2 is assembled in the reducer housing 1 and connected to the flexible wheel 3 .

[0028] The outer circle of the rigid wheel 2 matches with the inner hole of the reducer housing 1 , and the elastic ring 5 is interference fitted between the rigid wheel 2 and the reducer housing 1 .

[0029] Recombination Figure 3 As shown, a groove 21 is provided on the outer circle of the rigid wheel 2 along the circumferential direction of the rigid wheel 2 , and the elastic ring 5 is arranged in the groove 21 .

[0030] The elastic ring 5 is in an annular shape and is provided with a plurality of elastic protrusions 51 along its circumferential direction. The elastic protrusions 51 abut against the reducer housing 1 .

[0031] The elastic protrusion 51 is formed by the inner side of the elastic ring 5 being recessed toward the outer side, so a recessed groove 52 is provided on the back side of the elastic protrusion 51 .

[0032] The elastic ring 5 is in a non-closed shape and includes an opening 53. By providing the opening 53, the elastic ring 5 has a better deformation amount along its circumferential direction.

[0033] The outer circle of the rigid wheel 2 is provided with a first boss 22 and a second boss 23 which are arranged around the rigid wheel 2 and protrude in the radial direction of the rigid wheel. The first boss 22 cooperates with the reducer housing 1 to limit the rigid wheel 2 from moving toward the flexible wheel 3 .

[0034] The groove 21 is disposed between the first boss 22 and the second boss 23 .

[0035] The limiting flange 6 is fixed to the end surface of the reducer housing 1 , and is sleeved on the outer side of the rigid wheel 2 and cooperates with the second boss 23 to limit the rigid wheel 2 from moving inwardly away from the flexible wheel 3 .

[0036] The limiting flange 6 is fixed to the reducer housing 1 by screws.

[0037] The wave generator 7 is disposed inside the rigid wheel 2 .

[0038] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0039] In addition, it should be noted that the scope of the methods and systems in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0040] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A cup-type harmonic reducer with overload protection function, characterized in that: It includes a reducer housing, a rigid wheel, a flexible wheel and a bearing. The flexible wheel is rotatably assembled in the reducer housing through the bearing. The rigid wheel is assembled in the reducer housing and meshes with the flexible wheel. The outer circle of the rigid wheel matches the inner hole of the reducer housing. An elastic ring is interference fitted between the rigid wheel and the reducer housing.

2. The cup-type harmonic reducer with overload protection function according to claim 1 is characterized in that: A groove is arranged on the outer circle of the rigid wheel and is arranged along the circumferential direction of the rigid wheel, and the elastic ring is arranged in the groove.

3. The cup-type harmonic reducer with overload protection function according to claim 1 or 2, characterized in that: The elastic ring is in a circular ring shape, and is provided with a plurality of elastic protrusions along its circumferential direction, and the elastic protrusions abut against the reducer housing.

4. The cup-type harmonic reducer with overload protection function according to claim 1 is characterized in that: The outer circle of the rigid wheel is provided with a first boss and a second boss which are arranged around the rigid wheel and protrude in the radial direction of the rigid wheel. The first boss cooperates with the reducer housing to limit the rigid wheel from moving toward the inner side of the flexible wheel.

5. The cup-type harmonic reducer with overload protection function according to claim 4 is characterized in that: It also includes a limiting flange fixed on the end surface of the reducer housing, wherein the limiting flange is sleeved on the outer side of the rigid wheel and cooperates with the second boss to limit the movement of the rigid wheel away from the flexible wheel.

6. The cup-type harmonic reducer with overload protection function according to claim 5, characterized in that: The limiting flange is fixed to the reducer housing by screws.

7. The cup-type harmonic reducer with overload protection function according to claim 1, characterized in that: The bearing is a crossed roller bearing.

8. The cup-type harmonic reducer with overload protection function according to claim 1, characterized in that: The invention also includes a wave generator which is arranged inside the rigid wheel.

9. The cup-type harmonic reducer with overload protection function according to claim 1, characterized in that: The reducer housing is cup-shaped.

10. The cup-type harmonic reducer with overload protection function according to claim 3, characterized in that: The elastic ring is in a non-closed shape and includes an opening.

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