Hollow harmonic speed reduction platform

Abstract

The utility model discloses a hollow harmonic speed reduction platform which comprises a machine shell, a harmonic speed reducer and a motor, the machine shell is connected with the motor, the harmonic speed reducer is fixedly installed in the machine shell, the harmonic speed reducer comprises a wave generator, a steel ball sleeve, a flexible gear and a rigid gear, the wave generator comprises an oval cam and a flexible bearing, a hollow groove is formed in the center of the cam, the cam is sleeved with the flexible bearing through the steel ball sleeve, the outer ring of the flexible bearing is sleeved with the flexible gear, and the outer ring of the flexible gear is meshed with the inner ring of the rigid gear. According to the hollow harmonic speed reduction platform, the motor structure is optimized, control is improved, and a feedback mechanism is added, so that the hollow harmonic speed reduction platform has higher transmission efficiency, higher load capacity, higher rigidity and longer service life.

Description

Technical Field

[0001] The utility model relates to the technical field of transmission equipment, in particular to a hollow harmonic reduction platform. Background Art

[0002] With the continuous development of science and technology, the demand for transmission equipment is also increasing. As an important transmission equipment, harmonic reducer is widely used in aviation, aerospace, electronic equipment, medical equipment and other fields. However, the existing harmonic reducer still has certain limitations in transmission efficiency, load capacity, stiffness and life, and it is difficult to meet the growing demand. Utility Model Content

[0003] The purpose of the utility model is to provide a hollow harmonic deceleration platform to solve the defects mentioned in the above background technology.

[0004] To achieve the above-mentioned purpose, a hollow harmonic reduction platform is provided, comprising: a housing, a harmonic reducer and a motor, wherein the housing is connected to the motor, the harmonic reducer is fixedly installed in the housing, and the harmonic reducer comprises: a wave generator, a steel ball sleeve, a flexible gear and a rigid gear, the wave generator comprises an elliptical cam and a flexible bearing, a hollow groove is provided at the center of the cam, the flexible bearing is sleeved on the cam through the steel ball sleeve, the outer ring of the flexible bearing is sleeved with the flexible gear, and the outer ring of the flexible gear is meshed with the inner ring of the rigid gear.

[0005] Furthermore, the wave generator is provided with a plurality of mounting holes, and the wave generator is fixed in the casing by means of the mounting holes using screws.

[0006] Furthermore, the steel ball sleeve includes: a retaining frame and a plurality of balls, the balls are rotatably mounted on the retaining frame and the balls protrude from the retaining frame.

[0007] Furthermore, the flexible gear is a flexible thin-walled elastomeric part with an outer gear ring, which is installed at the output end of the harmonic reducer.

[0008] Furthermore, the rigid gear is a rigid annular part with an inner gear ring, which is fixedly mounted on the casing.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] 1. High transmission efficiency: Through the setting of the steel ball sleeve, the friction between the flexible bearing and the flexible gear is changed from sliding friction to rolling friction, which reduces the friction resistance and improves the transmission efficiency.

[0011] 2. Strong load capacity: The flexible gear adopts a thin cylindrical cup structure made of alloy steel, which has high strength and rigidity and can withstand large loads.

[0012] 3. High rigidity: The periodic deformation of the flexible gear and the staggered tooth movement with the rigid gear make the transmission smoother, reduce impact and vibration, and thus improve the rigidity.

[0013] 4. Long service life: The setting of the steel ball sleeve reduces the requirements for the smoothness of the inner wall of the flexible wheel, reduces the risk of wear and damage, and thus extends the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0015] Figure 2 This is a cross-sectional schematic diagram of the structural harmonic reducer of the utility model;

[0016] Figure 3 for Figure 2 Schematic diagram of part A in FIG.

[0017] Numbers in the figure: 1, motor; 2, housing; 3, harmonic reducer; 4, wave generator; 5, cam; 6, flexible bearing; 7, steel ball sleeve; 8, cage; 9, ball; 10, flexible gear; 11, rigid gear; 12, hollow groove; 13, mounting hole. DETAILED DESCRIPTION

[0018] 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 in 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.

[0019] See also Figure 1-Figure 3 The utility model provides a hollow harmonic reduction platform, including: a casing 2, a harmonic reducer 3 and a motor 1, the casing 2 is connected to the motor 1, the wave generator 4 is provided with a plurality of mounting holes 13, and the wave generator 4 is fixed in the casing 2 by screws through the mounting holes 13.

[0020] The harmonic reducer 3 includes: a wave generator 4, a steel ball sleeve 7, a flexible gear 10 and a rigid gear 11. The wave generator 4 includes an elliptical cam 5 and a flexible bearing 6. A hollow groove 12 is provided in the center of the cam 5. The flexible bearing 6 is sleeved on the cam 5 through the steel ball sleeve 7. The cam 5 is interference fit with the flexible bearing 6.

[0021] The steel ball sleeve 7 includes a retaining frame 8 and a plurality of balls 9 . The balls 9 are rotatably mounted on the retaining frame 8 and the balls 9 protrude from the retaining frame 8 .

[0022] The flexible gear 10 is a flexible thin-walled elastic part with an outer gear ring, and is installed at the output end of the harmonic reducer 3 .

[0023] The flexible gear 10 is sleeved on the outer ring of the flexible bearing 6 , and the outer ring of the flexible gear 10 is meshed with the inner ring of the rigid gear 11 . The rigid gear 11 is a rigid annular part with an inner gear ring, and is fixedly mounted on the housing 2 .

[0024] In the assembled state, the long axis end of the elliptical cam 5 in the wave generator 4 squeezes the flexible bearing 6, causing the flexible bearing 6 to deform along the long axis direction. This effect is transmitted to the flexible gear 10 that is closely connected to the wave generator 4, and then it meshes with the inner teeth of the rigid gear 11. In the short axis direction of the elliptical cam 5, the rigid gear 11 and the flexible gear 10 are in a separated state. When the wave generator 4 rotates continuously, the flexible gear 10 will produce periodic deformation, so that each tooth of its outer gear ring will mesh with the inner gear ring of the rigid gear 11 successively, that is, it will experience four states of meshing-meshing-meshing-disengaging, and repeat continuously, thereby generating staggered tooth movement, which makes the transmission between the flexible gear 10 and the rigid gear 11 more stable, reduces impact and vibration, and thus improves transmission efficiency.

[0025] At the same time, the setting of the steel ball sleeve 7 changes the friction between the flexible bearing 6 and the flexible gear 10 from sliding friction to rolling friction, reducing friction resistance and further improving transmission efficiency. In addition, the steel ball sleeve 7 can also reduce the finish requirements on the inner wall of the flexible wheel, thereby reducing production costs.

[0026] Working principle: After assembling all components according to the design requirements, insert the wave generator 4 into the flexible gear 10 to make the flexible gear 10 elliptical, fix the rigid gear 11 on the reducer body to mesh with the flexible gear 10, install the steel ball sleeve 7 between the flexible bearing 6 and the flexible gear 10 to ensure that the ball 9 can roll smoothly, evenly apply grease on the flexible bearing 6 to ensure the smooth operation of the flexible bearing 6. When the wave generator 4 rotates continuously, the flexible gear 10 will produce periodic deformation, so that each tooth of its outer gear ring will mesh with the inner gear ring of the rigid gear 11 successively, that is, it will experience four states of meshing-meshing-meshing-disengaging, and repeat them continuously, thereby generating staggered tooth movement; this is the entire working process of the hollow harmonic reduction platform.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hollow harmonic deceleration platform, comprising: A housing (2), a harmonic reducer (3) and a motor (1), wherein the housing (2) is connected to the motor (1), and the harmonic reducer (3) is fixedly installed in the housing (2), characterized in that the harmonic reducer (3) comprises a wave generator (4), a steel ball sleeve (7), a flexible gear (10) and a rigid gear (11), wherein the wave generator (4) comprises an elliptical cam (5) and a flexible bearing (6), wherein a hollow groove (12) is provided at the center of the cam (5), wherein the flexible bearing (6) is sleeved on the cam (5) through the steel ball sleeve (7), wherein the outer ring of the flexible bearing (6) is sleeved with the flexible gear (10), and the outer ring of the flexible gear (10) is meshed with the inner ring of the rigid gear (11).

2. A hollow harmonic deceleration platform according to claim 1, characterized in that: The wave generator (4) is provided with a plurality of mounting holes (13), and the wave generator (4) is fixed in the housing (2) by means of screws through the mounting holes (13).

3. The hollow harmonic deceleration platform according to claim 1, characterized in that: The steel ball sleeve (7) comprises: a retaining frame (8) and a plurality of balls (9); the balls (9) are rotatably mounted on the retaining frame (8) and the balls (9) protrude from the retaining frame (8).

4. The hollow harmonic deceleration platform according to claim 1, characterized in that: The flexible gear (10) is a flexible thin-walled elastic part with an outer gear ring, and is installed at the output end of the harmonic reducer (3).

5. The hollow harmonic deceleration platform according to claim 1, characterized in that: The rigid gear (11) is a rigid annular part with an inner gear ring and is fixedly mounted on the housing (2).

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