Axial rigid harmonic reducer

Abstract

An axial rigid harmonic reducer relates to the technical field of transmission equipment. Comprising an upper shell and a lower shell, a power input rotating disc is rotationally installed in the lower shell, and an output gear disc is rotationally installed in the upper shell; a protruding face is arranged at the lower end of the upper shell, a circle of end face teeth are arranged on the protruding face, an outer gear ring corresponding to the end face teeth in position is arranged on the outer wall of the output gear disc, first steel balls movably arranged in the axial direction are correspondingly arranged in tooth grooves of the outer gear ring respectively, and the first steel balls are upwards supported and arranged on the end face teeth at the same time. The number of the end face teeth is larger than that of the outer gear ring, so that the first steel balls are arranged on the end face teeth in a periodic waveform mode. The inner ring of the upper end of the power input rotating disc is a continuous curved surface, and the shape of the curved surface is consistent with the waveform formed by arranging the first steel balls. Compared with a planetary reducer and a worm reducer, the planetary reducer is simpler in structure, smaller in size and lighter in weight, and compared with a harmonic reducer, the planetary reducer has the advantages that the reduction ratio span is large, and alternating stress cannot be generated.

Description

Technical Field

[0001] The utility model relates to the technical field of transmission equipment, in particular to an axial rigid harmonic reducer. Background Art

[0002] my country's robotics industry has achieved vigorous development, and higher requirements have been placed on the accuracy, noise, and volume of reducers. In the existing technology, reducers used in robots mainly include planetary reducers, worm reducers, harmonic reducers, etc. Planetary reducers and worm reducers have complex structures and are difficult to manufacture and install. They may generate noise during operation, have low transmission efficiency, and are heavy. In harmonic reducers, the flexible wheel deforms periodically, thereby generating alternating stress, which makes it easy to produce fatigue damage, and cannot be used in situations with small reduction ratios. Utility Model Content

[0003] The purpose of the utility model is to provide two structures of axial rigid harmonic reducers, which can effectively solve the problems in the background technology.

[0004] The structure of the axial rigid harmonic reducer

[0005] The axial rigid harmonic reducer is characterized by comprising an upper shell and a lower shell which are connected to each other and arranged coaxially, wherein a power input rotary disc is rotatably installed in the lower shell, and an output gear disc is rotatably installed in the upper shell;

[0006] The lower end of the upper shell is provided with a convex surface protruding inwardly from the lower shell, and a circle of end face teeth is provided on the convex surface. A circle of outer gear ring corresponding to the position of the end face teeth is provided on the outer wall of the output gear plate, and first steel balls arranged movably along the axial direction are respectively provided in the tooth grooves of the outer gear ring, and the first steel balls are supported upward and arranged on the end face teeth at the same time;

[0007] The number of teeth of the end face teeth is greater than the number of teeth of the outer gear ring, so that the first steel balls form a periodic waveform arrangement on the end face teeth; the upper inner ring of the power input rotary disc is set as a continuous curved surface, and the shape of the curved surface is consistent with the waveform formed by the arrangement of the first steel balls;

[0008] The first steel ball protrudes from the tooth groove of the outer gear ring in the radial direction of the output gear plate, and the protruding portion of the first steel ball is clamped between the curved surface and the end face tooth.

[0009] Furthermore, a second annular groove is provided between the lower shell and the power input turntable, and a circle of second steel balls is provided in the second annular groove, so that a rotational fit is formed between the lower shell and the power input turntable; the lower shell outside the second steel ball and the power input turntable are sealed by a second oil seal.

[0010] Furthermore, a first annular groove is provided between the upper shell and the output gear plate, and a circle of third steel balls is provided in the first annular groove, so that a rotational fit is formed between the upper shell and the output gear plate; the upper shell outside the third steel ball and the output gear plate are sealed by a first oil seal.

[0011] Furthermore, a positioning ring connected to the inner end of the output gear plate is provided in the power input turntable, the output gear plate and the end surface of the positioning ring are sealed by a sealing ring, and the positioning ring and the side wall of the power input turntable are sealed by a third oil seal.

[0012] Furthermore, the end face teeth are arranged to be inclined outward and downward.

[0013] Structure 2 of axial rigid harmonic reducer

[0014] The axial rigid harmonic reducer is characterized by comprising an upper shell and a lower shell which are connected to each other and arranged coaxially, wherein a power input rotary disc is rotatably installed in the lower shell, and an output gear disc is rotatably installed in the upper shell;

[0015] A circle of end face teeth is arranged at the bottom end of the output gear plate, and a circle of inner gear ring corresponding to the position of the end face teeth is arranged on the inner wall of the upper shell body, and first steel balls arranged movably along the axial direction are respectively arranged in the tooth grooves of the inner gear ring, and the first steel balls are supported upward and arranged on the end face teeth at the same time;

[0016] The number of teeth of the end face teeth is greater than the number of teeth of the inner gear ring, so that the first steel balls form a periodic waveform arrangement on the end face teeth; the upper outer ring of the power input turntable is set as a continuous curved surface, and the shape of the curved surface is consistent with the waveform formed by the arrangement of the first steel balls;

[0017] The first steel ball protrudes from the tooth groove of the inner gear ring in the radial direction of the output gear plate, and the protruding portion of the first steel ball is clamped between the curved surface and the end face tooth.

[0018] Furthermore, a second annular groove is provided between the lower shell and the power input turntable, and a circle of second steel balls is provided in the second annular groove, so that a rotational fit is formed between the lower shell and the power input turntable.

[0019] Furthermore, the second steel ball is installed in the second annular groove through a retaining frame, and the lower shell outside the second steel ball and the power input turntable are sealed by a second oil seal.

[0020] Furthermore, a first annular groove is provided between the upper shell and the output gear plate, and a circle of third steel balls is provided in the first annular groove, so that a rotational fit is formed between the upper shell and the output gear plate; the upper shell outside the third steel ball and the output gear plate are sealed by a first oil seal.

[0021] Furthermore, a positioning ring connected to the inner end of the power input rotary disc is provided in the output gear disc, the power input rotary disc and the end surface of the positioning ring are sealed by a sealing ring, and the positioning ring and the side wall of the power output gear disc are sealed by a third oil seal.

[0022] The beneficial effects of the utility model: compared with planetary reducers and worm reducers, the utility model has the advantages of simpler structure, smaller size, lighter weight and lower cost, and through the rolling transmission of steel balls, there is little noise during operation; compared with harmonic reducers, it has a large reduction ratio span and through the rolling transmission of steel balls, so it has a longer service life and does not generate alternating stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a perspective view of the first embodiment;

[0024] Figure 2 is a cross-sectional view of the first embodiment;

[0025] Figure 3 A partial exploded view of the first embodiment;

[0026] Figure 4 It is a partial schematic diagram of the first embodiment;

[0027] Figure 5 is a perspective view of a second embodiment;

[0028] Figure 6 is a cross-sectional view of a second embodiment;

[0029] Figure 7 It is a partial exploded view of the second embodiment. DETAILED DESCRIPTION

[0030] Example 1

[0031] like Figure 1-4 As shown, the utility model includes an upper shell 1 and a lower shell 2 which are interconnected by bolts and arranged coaxially, a power input turntable 7 is rotatably installed in the lower shell 2, a second annular groove 8 is provided between the lower shell 2 and the power input turntable 7, a circle of second steel balls 9 is provided in the second annular groove 8, so that a rotational fit is formed between the lower shell 2 and the power input turntable 7; further, the second steel ball 9 is installed in the second annular groove 8 through a retaining frame 15, and the lower shell 2 outside the second steel ball 9 and the power input turntable 7 are sealed by a second oil seal 10.

[0032] An output gear plate 3 is rotatably installed in the upper shell 1, and a first annular groove 4 is provided between the upper shell 1 and the output gear plate 3. A circle of third steel balls 5 is filled in the first annular groove 4, so that a rotational fit is formed between the upper shell 1 and the output gear plate 3, and the upper shell 1 outside the third steel balls 5 and the output gear plate 3 are sealed by a first oil seal 6.

[0033] The lower end of the upper shell 1 is provided with a protruding surface 11 protruding inwardly from the lower shell 2 , and a circle of end face teeth 12 is provided on the protruding surface 11 , and the end face teeth 12 are arranged to be inclined outwardly and downwardly.

[0034] An outer gear ring 13 corresponding to the position of the end face teeth 12 is arranged on the outer wall of the output gear plate 3. The inner end of the end face teeth 12 and the top end of the outer gear ring 13 are arranged as inclined surfaces parallel to each other and with a gap. The tooth grooves of the outer gear ring 13 are respectively provided with first steel balls 14 movably arranged along the axial direction. The first steel balls 14 are also supported upward and arranged on the end face teeth 12.

[0035] The number of teeth of the end face teeth 12 is greater than the number of teeth of the axial transmission teeth, so that the first steel balls 14 form a periodic waveform arrangement on the end face teeth 12; the upper inner ring of the power input turntable 7 is set as a continuous curved surface 37, and the shape of the curved surface 37 is consistent with the waveform formed by the arrangement of the first steel balls 14.

[0036] The first steel balls 14 protrude from the tooth grooves of the outer gear ring 13 in the radial direction of the output gear plate 3 , and the protruding portions of the first steel balls 14 are clamped between the curved surface 37 and the face teeth 12 .

[0037] In this embodiment, in order to ensure the sealing effect, a positioning ring 16 connected to the inner end of the output gear plate 3 is provided in the power input turntable 7, the output gear plate 3 and the end face of the positioning ring 16 are sealed by a sealing ring 17, and the positioning ring 16 and the side wall of the power input turntable 7 are sealed by a third oil seal 18.

[0038] The working principle of this embodiment is as follows: during operation, power is input from the power input turntable 7, and the curved surface 37 of the power input turntable 7 pushes the first steel ball 14 to make a small tooth difference movement between the end face tooth 12 and the outer gear ring 13. During the movement, the first steel ball 14 simultaneously pushes the outer gear ring 13 to drive the output gear plate 3 to reduce the output.

[0039] Example 2

[0040] like Figure 5-7 As shown, the utility model includes a lower shell 29 and an upper shell 38 which are interconnected by bolts and arranged coaxially. A power input turntable 21 is rotatably installed in the lower shell 29. A second annular groove 22 is provided between the lower shell 29 and the power input turntable 21. A circle of second steel balls 23 is provided in the second annular groove 22, so that a rotational fit is formed between the lower shell 29 and the power input turntable 21; further, the second steel ball 23 is installed in the second annular groove 22 through a retaining frame 24, and the lower shell 29 outside the second steel ball 23 and the power input turntable 21 are sealed by a second oil seal 25.

[0041] A first annular groove 27 is provided between the upper shell 38 and the output gear plate 26 , and a circle of third steel balls 28 are filled in the first annular groove 27 , so that a rotational fit is formed between the upper shell 38 and the output gear plate 26 , and the upper shell 38 outside the third steel balls 28 and the output gear plate 26 are sealed by a first oil seal 40 .

[0042] A circle of end face teeth 30 is provided at the bottom end of the output gear plate 26, and a circle of inner gear ring 32 corresponding to the position of the end face teeth 30 is provided on the inner wall of the upper shell body 38. The outer end of the end face teeth 30 and the top end of the inner gear ring 32 are arranged as inclined surfaces parallel to each other and with a gap. The tooth grooves of the inner gear ring 32 are respectively provided with first steel balls 33 arranged axially movably, and the first steel balls 33 are simultaneously supported upward and arranged on the end face teeth 30.

[0043] The number of teeth of the end face teeth 30 is greater than the number of teeth of the inner gear ring 32, so that the first steel balls 33 form a periodic waveform arrangement on the end face teeth 30; the upper outer ring of the power input turntable 21 is set as a continuous curved surface 34, and the shape of the curved surface 34 is consistent with the waveform formed by the arrangement of the first steel balls 33.

[0044] The first steel balls 33 protrude from the tooth grooves of the inner gear ring 32 in the radial direction of the output gear plate 26 , and the protruding portions of the first steel balls 33 are clamped between the curved surface 34 and the face gear 30 .

[0045] In this embodiment, in order to ensure the sealing effect, a positioning ring 35 connected to the inner end of the power input turntable 21 is provided in the output gear plate 26, the power input turntable 21 and the end surface of the positioning ring 35 are sealed by a sealing ring 36, and the positioning ring 35 and the side wall of the power output gear plate 26 are sealed by a third oil seal 37.

[0046] The working principle of this embodiment is as follows: during operation, power is input from the power input turntable 21, and the curved surface 34 of the power input turntable 21 pushes the first steel ball 33 to move with a small tooth difference between the end face tooth 30 and the inner gear ring 32. During the movement, the first steel ball 33 is constrained by the fixed inner gear ring 32, and pushes the output gear plate 26 to reduce the output.

Claims

1. Axial rigid harmonic reducer, characterized by: It comprises an upper shell and a lower shell which are connected to each other and arranged coaxially, wherein a power input rotary disc is rotatably installed in the lower shell, and an output gear disc is rotatably installed in the upper shell; The lower end of the upper shell is provided with a convex surface protruding inwardly from the lower shell, and a circle of end face teeth is provided on the convex surface. A circle of outer gear ring corresponding to the position of the end face teeth is provided on the outer wall of the output gear plate, and first steel balls arranged movably along the axial direction are respectively provided in the tooth grooves of the outer gear ring, and the first steel balls are supported upward and arranged on the end face teeth at the same time; The number of teeth of the end face teeth is greater than the number of teeth of the outer gear ring, so that the first steel balls form a periodic waveform arrangement on the end face teeth; the upper inner ring of the power input rotary disc is set as a continuous curved surface, and the shape of the curved surface is consistent with the waveform formed by the arrangement of the first steel balls; The first steel ball protrudes from the tooth groove of the outer gear ring in the radial direction of the output gear plate, and the protruding portion of the first steel ball is clamped between the curved surface and the end face tooth.

2. The axial rigid harmonic reducer according to claim 1, characterized in that: A second annular groove is provided between the lower shell and the power input turntable, and a circle of second steel balls is provided in the second annular groove, so that the lower shell and the power input turntable form a rotational fit; the lower shell outside the second steel ball and the power input turntable are sealed by a second oil seal.

3. The axially rigid harmonic reducer according to claim 1, characterized in that: A first annular groove is provided between the upper shell and the output gear plate, and a circle of third steel balls is provided in the first annular groove, so that a rotational fit is formed between the upper shell and the output gear plate; the upper shell outside the third steel ball and the output gear plate are sealed by a first oil seal.

4. The axially rigid harmonic reducer according to claim 1, characterized in that: A positioning ring connected to the inner end of the output gear plate is arranged inside the power input turntable. The output gear plate and the end surface of the positioning ring are sealed by a sealing ring, and the positioning ring and the side wall of the power input turntable are sealed by a third oil seal.

5. The axially rigid harmonic reducer according to claim 1, characterized in that: The end face teeth are arranged to be inclined outward and downward.

6. Axial rigid harmonic reducer, characterized by: It comprises an upper shell and a lower shell which are connected to each other and arranged coaxially, wherein a power input rotary disc is rotatably installed in the lower shell, and an output gear disc is rotatably installed in the upper shell; A circle of end face teeth is arranged at the bottom end of the output gear plate, and a circle of inner gear ring corresponding to the position of the end face teeth is arranged on the inner wall of the upper shell body, and first steel balls arranged movably along the axial direction are respectively arranged in the tooth grooves of the inner gear ring, and the first steel balls are supported upward and arranged on the end face teeth at the same time; The number of teeth of the end face teeth is greater than the number of teeth of the inner gear ring, so that the first steel balls form a periodic waveform arrangement on the end face teeth; the upper outer ring of the power input turntable is set as a continuous curved surface, and the shape of the curved surface is consistent with the waveform formed by the arrangement of the first steel balls; The first steel ball protrudes from the tooth groove of the inner gear ring in the radial direction of the output gear plate, and the protruding portion of the first steel ball is clamped between the curved surface and the end face tooth.

7. The axially rigid harmonic reducer according to claim 6, characterized in that: A second annular groove is arranged between the lower shell and the power input rotary disc, and a circle of second steel balls is arranged in the second annular groove, so that a rotational fit is formed between the lower shell and the power input rotary disc.

8. The axially rigid harmonic reducer according to claim 6, characterized in that: The second steel ball is installed in the second annular groove through a retaining frame, and the lower shell outside the second steel ball and the power input turntable are sealed by a second oil seal.

9. The axially rigid harmonic reducer according to claim 6, characterized in that: A first annular groove is provided between the upper shell and the output gear plate, and a circle of third steel balls is provided in the first annular groove, so that a rotational fit is formed between the upper shell and the output gear plate; the upper shell outside the third steel ball and the output gear plate are sealed by a first oil seal.

10. The axially rigid harmonic reducer according to claim 6, characterized in that: A positioning ring connected to the inner end of the power input rotary disc is arranged in the output gear disc. The power input rotary disc and the end face of the positioning ring are sealed by a sealing ring, and the positioning ring and the side wall of the power output gear disc are sealed by a third oil seal.

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