Harmonic reducer

Abstract

The utility model provides a harmonic reducer, relates to the technical field of mechanical equipment, and solves the technical problem of high manufacturing process cost of a steel flexible gear in the prior art. The device comprises a flexible gear, the flexible gear comprises a metal cup ring and an injection molding shell, the metal cup ring is fixedly arranged in the injection molding shell, and at least one through hole is formed in the metal cup ring; the metal cup ring is made of metal, and the injection molding shell is made of thermoplastic materials.

Description

Technical Field

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

[0002] The harmonic reducer is a precision transmission device that achieves low-speed and high-torque output through special staggered tooth motion. Its structure is mainly composed of a wave generator, a flexible wheel and a steel wheel connected by a cross roller bearing. According to the number of mechanical waves, it can be divided into single-wave, double-wave and triple-wave transmissions. Currently, double-wave transmission is the most commonly used type. Driven by the wave generator, the difference in the number of teeth between the flexible wheel and the steel wheel is 2, thereby achieving the rotation of the flexible wheel.

[0003] Most of the parts of the harmonic reducer in the prior art are made of steel and are relatively heavy. The material performance requirements of the steel flexible wheel are relatively high, and the manufacturing process is complex and the manufacturing process cost is high. The mechanism body adopts metal crossed roller bearings to support rotation, which has a large specific gravity and occupies a large volume. Since the crossed roller bearings are designed for line contact rolling, the axial force and radial force that can be withstood are relatively small, and the line contact also affects the impact resistance of the entire reducer to a certain extent. Utility Model Content

[0004] The purpose of the utility model is to provide a harmonic reducer to solve the technical problem of high manufacturing process cost of steel flexible wheels in the prior art. The preferred technical solution among the many technical solutions provided by the utility model can produce many technical effects as described below.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The utility model provides a harmonic reducer, comprising a flexible wheel, wherein the flexible wheel comprises a metal cup ring and an injection molded shell, the metal cup ring is fixedly arranged in the injection molded shell, and at least one through hole is arranged on the metal cup ring;

[0007] The metal cup ring is made of metal, and the injection molded shell is made of thermoplastic material.

[0008] Optionally, the metal cup ring is connected to the injection-molded shell by an injection molding process, and the thermoplastic material is at least partially filled into the through hole.

[0009] Optionally, the metal cup ring is made of a metal plate or a metal mesh.

[0010] Optionally, the thermoplastic material includes one of POM, PA, PPS, PES, PEEK, PEI, PAI, or a composite wear-resistant material containing one of these materials.

[0011] Optionally, it further comprises a steel wheel, an output disk, a fixed disk, a driving flange and a wave generator, wherein the driving flange, the steel wheel and the fixed disk are arranged in sequence and connected by screws, the flexible wheel is located in the steel wheel and the flexible wheel is meshedly connected with the steel wheel, the output disk is located in the fixed disk, and the wave generator passes through the driving flange, the flexible wheel and the output disk in sequence and is connected;

[0012] A first sliding sheet is arranged between the output disk and the steel wheel, or a first sliding sheet is arranged between the output disk and the steel wheel and a second sliding sheet is arranged between the output disk and the fixed disk.

[0013] Optionally, both the first sliding sheet and the second sliding sheet are single-layer structures, and the materials used are thermoplastic materials or thermosetting materials;

[0014] Alternatively, both the first sliding sheet and the second sliding sheet are multi-layer structures, and both include a metal substrate layer and a wear-resistant non-metal layer.

[0015] Optionally, at least one side of each of the first sliding sheet and the second sliding sheet is provided with a groove for storing grease.

[0016] Optionally, the number of the first sliding sheets and the number of the second sliding sheets are both plural, all of the first sliding sheets are distributed along the circumferential direction of the output disk, at least one of the first sliding sheets is connected to the output disk via a pin, and all of the second sliding sheets are distributed along the circumferential direction of the output disk, and at least one of the second sliding sheets is connected to the fixed disk via a pin.

[0017] Optionally, the steel wheel and the output disc are both made of metal material, and the surfaces of the steel wheel and the output disc are both hard-oxidized;

[0018] The material of the fixing plate is metal material or engineering plastic, and the material of the driving flange is metal material or engineering plastic.

[0019] Optionally, sealing rings are provided between the wave generator and the driving flange, between the wave generator and the output disk, and between the output disk and the fixed disk.

[0020] The utility model provides a harmonic reducer, in which the flexible wheel adopts a metal cup ring with a through hole combined with a thermoplastic material, which greatly reduces the manufacturing process cost of the flexible wheel made of metal material as a whole, and at the same time ensures the fatigue resistance of the flexible wheel under repeated deformation, greatly improves the service life, and also reduces the weight of the flexible wheel, thereby solving the technical problem of high manufacturing process cost of steel flexible wheels existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 these drawings without paying creative work.

[0022] Figure 1 It is a cross-sectional view of a flexible wheel of a harmonic reducer provided by an embodiment of the utility model;

[0023] Figure 2 It is a structural schematic diagram of a metal cup ring of a harmonic reducer provided in an embodiment of the utility model;

[0024] Figure 3 It is an exploded diagram of the harmonic reducer provided by the embodiment of the utility model;

[0025] Figure 4 is a cross-sectional view of a harmonic reducer provided by an embodiment of the utility model;

[0026] Figure 5 It is a cross-sectional view of another structure of a harmonic reducer provided in an embodiment of the utility model.

[0027] In the figure, 1 is a flexible wheel; 11 is a metal cup ring; 12 is an injection molded shell;

[0028] 2. Steel wheel;

[0029] 3. Output disk;

[0030] 4. Fixed plate;

[0031] 5. Driving flange;

[0032] 6. Wave generator;

[0033] 7. A first sliding sheet;

[0034] 8. Second sliding piece. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. 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 implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0036] In the description of the present utility model, it should be noted that, unless otherwise specified, "multiple" means two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0038] The utility model provides a harmonic reducer, comprising a flexible wheel 1, wherein the flexible wheel 1 comprises a metal cup ring 11 and an injection molded shell 12, the metal cup ring 11 is fixedly arranged in the injection molded shell 12, and at least one through hole is arranged on the metal cup ring 11, thereby reducing the weight of the metal cup ring 11;

[0039] The material of the metal cup ring 11 is metal, and the material of the injection molded shell 12 is thermoplastic. In order to reduce weight, increase service life, and reduce manufacturing costs, the flexible wheel 1 adopts a metal cup ring 11 with a durable and anti-fatigue mesh structure. The flexible wheel structure is integrated with high-strength and wear-resistant engineering plastics through injection molding and encapsulation on the metal cup ring 11, which not only reduces the manufacturing process cost, but also ensures the strength and toughness required for frequent deformation of the flexible wheel 1. The utility model provides a harmonic reducer, in which the flexible wheel 1 adopts a metal cup ring 11 with a through hole combined with a thermoplastic material to greatly reduce the manufacturing process cost of the flexible wheel made of metal material as a whole, and at the same time ensures the fatigue resistance of the flexible wheel 1 under repeated deformation, greatly improves the service life, and also reduces the weight of the flexible wheel 1, solving the technical problem of high manufacturing process cost of steel flexible wheels existing in the prior art.

[0040] As an optional embodiment, the metal cup ring 11 is connected to the injection molded shell 12 by an injection molding process, and the thermoplastic material is at least partially filled into the through hole. The injection molding process can ensure that the metal cup ring 11 is firmly combined with the injection molded shell 12, and can ensure the fatigue resistance of the repeated deformation of the flexible wheel 1, greatly improving the service life. When the teeth formed by the thermoplastic material mesh with the metal teeth on the steel wheel 2, the meshing noise is greatly reduced.

[0041] As an optional embodiment, the metal cup ring 11 is made of a metal plate or a metal mesh.

[0042] As an optional embodiment, the thermoplastic material includes but is not limited to one of POM, PA, PPS, PES, PEEK, PEI, PAI, or a composite wear-resistant material containing one of these materials.

[0043] As an optional embodiment, it also includes a steel wheel 2, an output disk 3, a fixed disk 4, a driving flange 5 and a wave generator 6, the driving flange 5, the steel wheel 2 and the fixed disk 4 are arranged in sequence and connected by screws, the flexible wheel 1 is located in the steel wheel 2 and the flexible wheel 1 is meshed and connected with the steel wheel 2, the end of the flexible wheel 1 is connected with the output disk 3, the output disk 3 is located in the fixed disk 4, the wave generator 6 passes through the driving flange 5, the flexible wheel 1 and the output disk 3 in sequence and is connected, and the wave generator 6 and the driving flange 5, and the wave generator 6 and the output disk 3 are connected through bearings;

[0044] A first sliding sheet 7 is provided between the output disc 3 and the steel wheel 2, or a first sliding sheet 7 is provided between the output disc 3 and the steel wheel 2 and a second sliding sheet 8 is provided between the output disc 3 and the fixed disc 4. The first sliding sheet 7 and the second sliding sheet 8 are used to replace the sliding sheet of the cross roller bearing in the original structure, which greatly reduces the weight and the operating noise of the bearing.

[0045] As an optional embodiment, at least one of the surfaces of the first sliding sheet 7 and the second sliding sheet 8 has a low friction coefficient and wear resistance. The first sliding sheet 7 and the second sliding sheet 8 are both single-layer structures, and the materials used are thermoplastic materials or thermosetting materials; the thermoplastic materials include but are not limited to one of POM, PA, PPS, PES, PEEK, PEI, PAI, or a composite wear-resistant material containing one of these materials; the thermosetting materials include but are not limited to one of PTFE, PI, phenolic resin, epoxy resin, or a composite wear-resistant material containing one of these materials;

[0046] Alternatively, the first sliding sheet 7 and the second sliding sheet 8 are both multi-layer structures, and both include a metal substrate layer and a wear-resistant non-metal layer. The metal substrate includes but is not limited to a low-carbon steel plate, a stainless steel plate, a copper plate, etc.; the wear-resistant non-metal layer includes but is not limited to one of POM, PA, PPS, PES, PEEK, PEI, PAI, PTFE, PI, phenolic resin, epoxy resin, or a composite wear-resistant material containing one of these materials.

[0047] As an optional implementation, at least one side of the first sliding sheet 7 and the second sliding sheet 8 is provided with a groove for storing grease, which can further reduce the friction coefficient, thereby improving the transmission efficiency. Since the sliding sheet is in surface contact in both the axial and radial directions, the axial force and radial force of the reducer are greatly improved, and the impact resistance in both directions is improved.

[0048] As an optional implementation, the number of the first sliding sheets 7 and the second sliding sheets 8 are both multiple, all the first sliding sheets 7 are distributed along the circumferential direction of the output disk 3, at least one first sliding sheet 7 is connected to the output disk 3 by a pin, so that there is no relative sliding between the first sliding sheet 7 and the output disk 3, all the second sliding sheets 8 are distributed along the circumferential direction of the output disk 3, at least one second sliding sheet 8 is connected to the fixed disk 4 by a pin, so that there is no relative sliding between the second sliding sheet 8 and the fixed disk 4.

[0049] As an optional implementation, the steel wheel 2 and the output disc 3 are both made of metal materials, and the surfaces of the steel wheel 2 and the output disc 3 are hard-oxidized to increase the service life; the metal materials include but are not limited to low-carbon steel, stainless steel, and aluminum alloy; aluminum alloy is preferred to achieve lightweight; the inner ring of the steel wheel 2 has an involute tooth design;

[0050] The material of the fixing plate 4 is metal material or engineering plastic, and the material of the driving flange 5 is metal material or engineering plastic. The metal material includes but is not limited to low carbon steel, stainless steel, and aluminum alloy; aluminum alloy material is preferred to achieve lightweight; engineering plastic includes but is not limited to one of POM, PA, PBT, PET, PPS, PES, PEEK, PEI, PAI, phenolic resin, epoxy resin, or a composite material containing one of these materials.

[0051] As an optional implementation, sealing rings are provided between the wave generator 6 and the driving flange 5 , between the wave generator 6 and the output disk 3 , and between the output disk 3 and the fixed disk 4 to prevent leakage of internal grease.

[0052] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A harmonic reducer, characterized in that: It comprises a flexible wheel (1), wherein: The flexible wheel (1) comprises a metal cup ring (11) and an injection molded shell (12); the metal cup ring (11) is fixedly arranged in the injection molded shell (12); and at least one through hole is arranged on the metal cup ring (11); The material used for the metal cup ring (11) is metal, and the material used for the injection-molded shell (12) is thermoplastic material.

2. The harmonic reducer according to claim 1, characterized in that: The metal cup ring (11) is connected to the injection-molded shell (12) through an injection-molding encapsulation process, and the thermoplastic material is at least partially filled into the through hole.

3. The harmonic reducer according to claim 1, characterized in that: The metal cup ring (11) is made of a metal plate or a metal mesh.

4. The harmonic reducer according to claim 1, characterized in that: The thermoplastic material includes one of POM, PA, PPS, PES, PEEK, PEI, and PAI.

5. The harmonic reducer according to claim 1, characterized in that: It also comprises a steel wheel (2), an output disk (3), a fixed disk (4), a driving flange (5) and a wave generator (6), wherein the driving flange (5), the steel wheel (2) and the fixed disk (4) are arranged in sequence and connected by screws, the flexible wheel (1) is located in the steel wheel (2) and the flexible wheel (1) is meshedly connected with the steel wheel (2), the output disk (3) is located in the fixed disk (4), and the wave generator (6) passes through the driving flange (5), the flexible wheel (1) and the output disk (3) in sequence and is connected to each other; A first sliding sheet (7) is arranged between the output disc (3) and the steel wheel (2), or a first sliding sheet (7) is arranged between the output disc (3) and the steel wheel (2) and a second sliding sheet (8) is arranged between the output disc (3) and the fixed disc (4).

6. The harmonic reducer according to claim 5, characterized in that: The first sliding sheet (7) and the second sliding sheet (8) are both single-layer structures, and the materials used are thermoplastic materials or thermosetting materials; Alternatively, the first sliding sheet (7) and the second sliding sheet (8) are both multi-layer structures, each comprising a metal substrate layer and a wear-resistant non-metallic layer.

7. The harmonic reducer according to claim 5, characterized in that: The first sliding sheet (7) and the second sliding sheet (8) are both provided with a groove for storing grease on at least one side.

8. The harmonic reducer according to claim 5, characterized in that: The number of the first sliding sheets (7) and the number of the second sliding sheets (8) are both plural, all of the first sliding sheets (7) are distributed along the circumferential direction of the output disk (3), at least one of the first sliding sheets (7) is connected to the output disk (3) via a pin, and all of the second sliding sheets (8) are distributed along the circumferential direction of the output disk (3), and at least one of the second sliding sheets (8) is connected to the fixed disk (4) via a pin.

9. The harmonic reducer according to claim 5, characterized in that: The steel wheel (2) and the output disc (3) are both made of metal material, and the surfaces of the steel wheel (2) and the output disc (3) are both hard-oxidized. The material used for the fixing plate (4) is metal material or engineering plastic, and the material used for the driving flange (5) is metal material or engineering plastic.

10. The harmonic reducer according to claim 5, characterized in that: Sealing rings are provided between the wave generator (6) and the driving flange (5), between the wave generator (6) and the output disk (3), and between the output disk (3) and the fixed disk (4).

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