Harmonic speed reducer device and wave generating unit thereof
By using components such as static rigid wheels, flexible wheels and wave generation units in the harmonic reducer device, and using the combination of sun gears and planetary gears, the problems of inflexible adjustment of the transmission loss and reduction ratio of the existing device are solved, and more efficient reduction performance is achieved.
Patent Information
- Application Number
- CN202421573004.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2034-07-04
AI Technical Summary
The existing harmonic reducer devices have problems such as transmission loss and inflexible adjustment of the reduction ratio.
A harmonic reducer device is designed, using components such as static rigid wheels, flexible wheels, wave generation units, etc., and through the coordination of sun gears and M planetary gears, the reduction ratio can be adjusted and transmission losses are reduced.
Through this design, the effect of reducing transmission losses and improving the reduction ratio and adjusting elasticity is achieved, and the performance of the device is improved.
Smart Images
Figure CN222668822U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a reducer device, in particular to a harmonic reducer device and a wave generating unit thereof. Background Art
[0002] The existing harmonic reducer device realizes the effect of wave generator through a flexible bearing and a cam. However, when the flexible bearing is driven and deformed, there will be significant transmission loss between the flexible bearing and the flexible wheel. In addition, the reduction ratio of the existing harmonic reducer device is based on the relationship between the number of teeth of the flexible wheel and the rigid wheel, but the aforementioned relationship between the number of teeth is limited by the volume of the existing harmonic reducer device, resulting in limited flexibility in adjusting the reduction ratio.
[0003] Therefore, the present applicant believes that the above defects can be improved, and has conducted intensive research and applied scientific principles to finally propose a utility model that is reasonably designed and effectively improves the above defects. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a harmonic reducer device and a wave generating unit thereof in view of the deficiencies in the prior art.
[0005] The utility model discloses a harmonic reducer device, comprising: a static rigid wheel, having a first rigid wheel internal tooth; a flexible wheel, arranged in the static rigid wheel, the flexible wheel having a flexible wheel internal tooth and a flexible wheel external tooth, the flexible wheel external tooth meshing with the first rigid wheel internal tooth; a wave generating unit, arranged in the flexible wheel, and the wave generating unit comprises: a sun shaft, which can be driven by a driving device, the sun shaft having a sun gear; and M planetary gears, evenly arranged on the outer edge of the sun gear, and each of the planetary gears meshes with the sun gear and the flexible wheel internal tooth at the same time, M being a positive integer not less than 2; and a dynamic rigid wheel, sleeved on the flexible wheel, the dynamic rigid wheel having a second rigid wheel internal tooth, the second rigid wheel internal tooth meshing with the flexible wheel external tooth; an output method A flange is fixed on the dynamic rigid wheel and is located on one side of the inner teeth of the second rigid wheel; a rotating oil seal is against the output flange and the static rigid wheel; an outer cover is arranged in the static rigid wheel, and the outer cover is located on one side of the inner teeth of the first rigid wheel; and two first bearings, one of the first bearings is against the sun shaft and the outer cover, and the other first bearing is against the sun shaft and the output flange; wherein the sun shaft can drive M of the planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears, and the flexible wheel drives the dynamic rigid wheel to rotate; the static rigid wheel, the rotating oil seal, the output flange, the first bearing, the sun shaft and the outer cover can jointly generate a closed space for accommodating a lubricating liquid.
[0006] Optionally, the internal teeth of the flexible spline, the sun gear, and each of the planetary gears are at least one of a herringbone gear, a helical gear, and a spur gear.
[0007] Optionally, the number of the M planetary gears is two or three.
[0008] Optionally, the wave generating unit comprises 2M bushings, and the 2M bushings are arranged on both sides of the M planetary gears, so that each of the two sides of the planetary gear has two bushings respectively, and the bushings can contact the outer cover and the output flange respectively.
[0009] Optionally, when the two bushings are arranged on both sides of the planetary gear, there is a spacing distance between the outer side surfaces of the two bushings, and the spacing distance is not greater than the axial length of the internal teeth of the flexible spline.
[0010] Optionally, the two first bearings are spaced apart from the two bushings on each of the planetary gears to generate a gap space.
[0011] Optionally, the axial length of the first rigid wheel internal teeth and the axial length of the second rigid wheel internal teeth are each between 45% and 50% of the axial length of the flexible wheel external teeth.
[0012] Optionally, the harmonic reducer device further includes a second bearing, the second bearing abuts against the dynamic rigid wheel and the static rigid wheel, and the rotary oil seal is arranged on one side of the second bearing.
[0013] An embodiment of the utility model also discloses a wave generating unit, which is used to be installed in a flexible wheel of a harmonic reducer device, and the wave generating unit includes: a sun shaft, which can be driven by a driving device, and the sun shaft has a sun gear; and M planetary gears, which are evenly arranged on the outer edge of the sun gear, and each of the planetary gears simultaneously meshes with the sun gear and the flexible wheel, and M is a positive integer not less than 2; wherein, the sun shaft can drive the M planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears.
[0014] In summary, the harmonic reducer device and its wave generating unit disclosed in the embodiment of the utility model can reduce transmission loss by additionally adjusting the reduction ratio through the sun gear and the M planetary gears through the design that "the M planetary gears are evenly arranged on the outer edge of the sun gear, and each of the planetary gears simultaneously meshes with the sun gear and the inner teeth of the flexible wheel", and "the sun shaft can drive the M planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears, and the flexible wheel drives the dynamic rigid wheel to rotate".
[0015] In order to further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, such description and drawings are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a three-dimensional schematic diagram of the harmonic reducer device of the utility model.
[0017] Figure 2 It is an exploded schematic diagram of the harmonic reducer device of the utility model.
[0018] Figure 3 This is another exploded schematic diagram of the harmonic reducer device of the utility model.
[0019] Figure 4 for Figure 3 Schematic diagram of the cross section along line IV-IV.
[0020] Figure 5 for Figure 1 Schematic diagram of the cross section along line VV.
[0021] Figure 6 for Figure 5 Schematic diagram of the enlarged VI region.
[0022] Figure 7 It is a three-dimensional schematic diagram of the harmonic reducer device of the utility model (excluding the outer cover and the first bearing).
[0023] Figure 8 It is a three-dimensional schematic diagram of the harmonic reducer device (excluding the outer cover and the first bearing) of the utility model in another state.
[0024] Fig. 9 It is a three-dimensional schematic diagram of the harmonic reducer device (excluding the outer cover and the first bearing) of the utility model in another state.
[0025] Fig.10 It is a three-dimensional schematic diagram of the harmonic reducer device (excluding the outer cover and the first bearing) of the utility model in another state. DETAILED DESCRIPTION
[0026] The following is an explanation of the disclosed implementation mode of the utility model through specific specific embodiments. Those skilled in the art can understand the advantages and effects of the utility model from the contents disclosed in this specification. The utility model can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without deviating from the concept of the utility model. In addition, the drawings of the utility model are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following implementation modes will further explain the relevant technical contents of the utility model in detail, but the disclosed contents are not intended to limit the scope of protection of the utility model.
[0027] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation. Furthermore, the term "electrically coupled" used herein refers to one of "indirect electrical connection" and "direct electrical connection".
[0028] See also Figures 1 to 10 As shown, this embodiment provides a harmonic reducer device 100. Figures 1 to 3 As shown, the harmonic reducer device 100 includes a static rigid wheel 1, a flexible wheel 2 and an outer cover 3 arranged in the static rigid wheel 1, a wave generating unit 4 arranged in the flexible wheel 2, two first bearings 5 arranged in the wave generating unit 4, a dynamic rigid wheel 6 arranged outside the flexible wheel 2, an output flange 7 arranged on one side of the dynamic rigid wheel 6, a second bearing 8 and a rotating oil seal 9 arranged between the static rigid wheel 1 and the dynamic rigid wheel 6.
[0029] It should be noted that the static rigid wheel 1, the flexible wheel 2, the outer cover 3, the wave generating unit 4, the two first bearings 5, the dynamic rigid wheel 6, the output flange 7, the second bearing 8, and the rotating oil seal 9 are collectively defined as the harmonic reducer device 100 in this embodiment, but the present invention is not limited thereto. For example, the wave generating unit 4 can also be used alone (such as: implemented, manufactured, sold, etc.) or used in combination with other components. The following will introduce the structure of each component of the harmonic reducer device 100, and explain the connection relationship between the various components of the harmonic reducer device 100 when appropriate.
[0030] Cooperate Figures 2 to 4As shown, the static rigid wheel 1 has a first rigid wheel inner tooth 11, and the first rigid wheel inner tooth 11 can mesh with the flexible wheel 2. Specifically, the static rigid wheel 1 includes an outer ring 12, and an inner ring 13 connected to the outer ring 12. The outer ring 12 and the inner ring 13 are each annular structures, and the inner edge of the outer ring 12 is generally stepped. In addition, the inner ring 13 is connected to the inner edge of the outer ring 12, and an axial length L13 of the inner ring 13 is less than an axial length L12 of the outer ring 12, so that the static rigid wheel 1 can be separated into a first side space SP1 and a second side space SP2 through the inner ring 13. The first side space SP1 can be used to accommodate the outer cover 3, and the second side space SP2 can be used to accommodate the dynamic rigid wheel 6, the output flange 7, the second bearing 8 and the rotary oil seal 9.
[0031] More specifically, the inner ring 13 also has a main body 131 and a gear part 132, the main body 131 connects the outer ring 12 and the gear part 132, and the main body 131 and the gear part 132 are coplanar along an axial direction D1 and toward one side of the first side space SP1. The inner edge of the gear part 132 has the first rigid wheel internal teeth 11, and an axial length L132 of the gear part 132 is greater than an axial length L131 of the main body 131, so that the gear part 132 protrudes from the main body 131 and is located in the second side space SP2. In other words, part of the first rigid wheel internal teeth 11 is located in the second side space SP2.
[0032] Re-reference Figure 2 , Figure 3 ,and Figure 5 As shown, the flexible wheel 2 is disposed in the gear portion 132 of the inner ring member 13, and the flexible wheel 2 has a flexible wheel inner tooth 21 and a flexible wheel outer tooth 22. The flexible wheel inner tooth 21 is located at the inner edge of the flexible wheel 2, and the flexible wheel outer tooth 22 is located at the outer edge of the flexible wheel 2. The flexible wheel outer tooth 22 can mesh with the first rigid wheel inner tooth 11. The number of teeth of the first rigid wheel inner tooth 11 is greater than the number of teeth of the flexible wheel outer tooth 22 by two teeth or four teeth.
[0033] like Figure 2 , Figure 3 ,and Figure 5As shown, the dynamic rigid wheel 6 is sleeved on the flexible wheel 2 and is located on the side of the gear portion 132 away from the outer cover 3. The dynamic rigid wheel 6 does not directly contact the gear portion 132, and the inner edge of the dynamic rigid wheel 6 has a second rigid wheel inner tooth 61. The second rigid wheel inner tooth 61 can mesh with the flexible wheel outer tooth 22, so that the dynamic rigid wheel 6 can be driven by the flexible wheel 2. In addition, the output flange 7 is fixed to the side of the dynamic rigid wheel 6 away from the outer cover 3, and the output flange 7 can rotate with the traction of the dynamic rigid wheel 6.
[0034] Optionally, the second bearing 8 is disposed between the dynamic rigid wheel 6 and the static rigid wheel 1 , so that the dynamic rigid wheel 6 and the static rigid wheel 1 can rotate stably and asynchronously.
[0035] It is worth noting that, in practice, an axial length L11 of the first rigid wheel internal teeth 11 and an axial length L61 of the second rigid wheel internal teeth 61 are each between 45% and 50% of an axial length L22 of the flex spline external teeth 22. In other words, the ratio between the axial length L11 of the first rigid wheel internal teeth 11 and the axial length L61 of the second rigid wheel internal teeth 61 is close to 1, so that the stress of the flex spline external teeth 22 from the first rigid wheel internal teeth 11 and the second rigid wheel internal teeth 61 is more evenly applied.
[0036] Cooperate Figure 2 , Figure 5 ,and Figure 7 As shown, the wave generating unit 4 is disposed inside the outer cover 3, the flexible wheel 2, the dynamic rigid wheel 6 and the output flange 7, and the wave generating unit 4 includes a sun shaft 41 and M planetary gears 42 (M is a positive integer not less than 2).
[0037] The sun shaft 41 includes a shaft 411 and a sun gear 412 sleeved on the shaft 411. The shaft 411 can be driven by a driving device (not shown) to rotate the sun gear 412 fixed on the shaft 411.
[0038] Optionally, the shaft 411 is also sleeved with two first bearings 5, and the positions of the two first bearings 5 correspond to the outer cover 3 and the output flange 7 respectively, so that the rotating shaft can rotate asynchronously and stably relative to the outer cover 3 and the output flange 7. That is, one of the first bearings 5 can abut against the shaft 411 and the outer cover 3, and the other first bearing abuts against the shaft 411 and the output flange 7. The sun gear 412 is located in the flexible wheel 2, and the sun gear 412 is located between the outer cover 3 and the output flange 7.
[0039] In addition, the M planetary gears 42 are evenly arranged on the outer edge of the sun gear 412, and each of the planetary gears 42 can simultaneously mesh with the sun gear 412 and the flexible gear internal teeth 21. For example, when the number of the M planetary gears is two, two planetary gears 42 are located at the 0 degree position and the 180 degree position of the sun gear 412. In practice, the number of the M planetary gears 42 is preferably two, or three (e.g. Figure 7 and Figure 8 As shown), the wave generating unit 4 drives the flexspline 2 to rotate in the best state (for example, stability). In addition, the number of teeth of the flexspline internal teeth 21 is the number of teeth of the sun gear 412 plus twice the number of teeth of the planetary gear 42 (for example, the number of teeth of the flexspline internal teeth 21 is A, the number of teeth of the sun gear is B, the number of teeth of the planetary gear 42 is C, A=B+2C, A, B, C are positive integers).
[0040] In practice, the harmonic reducer device 100 of the present invention has a first reduction ratio and a second reduction ratio that can be adjusted. Specifically, when the total reduction ratio of the harmonic reducer device 100 is i S , when the first reduction ratio is i1 and the second reduction ratio is i2, i S =i1×i2. The relationship between the first reduction ratio and the first reduction ratio is i1=1 / (z 21 / z 412 +1), z 21 is the number of teeth of the flex spline internal teeth 21, z 412 is the number of teeth of the sun gear 412; the relationship of the second reduction ratio is i2=(z 11 -z 22 ) / z 22 , z 11 is the number of teeth of the first rigid wheel inner teeth 11, z 22 is the number of teeth of the flex spline external teeth 22 .
[0041] It is worth noting that Figure 5 and Figure 6 As shown, in order to extend the service life of each of the planetary gears 42, an axial length L42 of each of the planetary gears 42 can be between an axial length L21 of the flexible wheel internal teeth 21 and an axial length L412 of the sun gear 412, so that each of the planetary gears 42 can avoid collision or friction with the outer cover 3 or the output flange 7 when being driven by the sun gear 412.
[0042] Furthermore, in order to prevent the planetary gears 42 from moving along the axial direction D1, the wave generating unit 4 further includes 2M bushings 43, which are arranged on both sides of the M planetary gears 42, so that each of the two sides of the planetary gear 42 has two bushings 43. Accordingly, the two bushings 43 installed on each planetary gear 42 can abut against the outer cover 3 and the output flange 7.
[0043] In addition, the two bushings 43 and the two first bearings 5 on each of the planetary gears 42 can be arranged at intervals so that a gap space GP can be generated between the two bushings 43 on the planetary gears 42 and the two first bearings 5. The gap space GP can be used to avoid mutual friction between the bushings 43 and the first bearings 5, and can also be used to increase the heat dissipation efficiency of the bushings 43 to enhance the operating yield of the harmonic reducer device 100.
[0044] In practice, a closed space for accommodating a lubricating liquid can be formed between the static rigid wheel 1, the rotating oil seal 9, the output flange 7, the first bearing 5, the sun shaft 41 and the outer cover 3. Accordingly, the harmonic reducer device 100 can ensure the operating yield of the harmonic reducer device 100 through the lubricating liquid in the closed space.
[0045] It should be additionally stated that Figures 1 to 8 The flex spline internal gear 21, the sun gear 412, and each of the planetary gears 42 are spur gears, but the present invention is not limited thereto. Fig. 9 and Fig.10 As shown, the flex spline internal gear 21, the sun gear 412, and each of the planetary gears 42 may also be a herringbone gear or a helical gear.
[0046] [Technical effects of the utility model embodiment]
[0047] In summary, the harmonic reducer device and its wave generating unit disclosed in the embodiment of the utility model can reduce transmission loss by additionally adjusting the reduction ratio through the sun gear and the M planetary gears through the design that "the M planetary gears are evenly arranged on the outer edge of the sun gear, and each of the planetary gears simultaneously meshes with the sun gear and the inner teeth of the flexible wheel", and "the sun shaft can drive the M planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears, and the flexible wheel drives the dynamic rigid wheel to rotate".
[0048] The above description is only a preferred feasible embodiment of the utility model and is not intended to limit the protection scope of the utility model. All equivalent changes and modifications made according to the scope of the patent application of the utility model shall fall within the protection scope of the claims of the utility model.
Claims
1. A harmonic reducer device, characterized in that: The harmonic reducer device comprises: A static rigid wheel having a first rigid wheel inner tooth; A flexible wheel, disposed in the static rigid wheel, the flexible wheel having a flexible wheel inner tooth and a flexible wheel outer tooth, the flexible wheel outer tooth meshing with the first rigid wheel inner tooth; A wave generating unit is disposed in the flexible wheel, and the wave generating unit comprises: a sun shaft capable of being driven by a driving device, the sun shaft having a sun gear; and M planetary gears are evenly arranged on the outer edge of the sun gear, each of the planetary gears is meshed with the sun gear and the internal teeth of the flex spline at the same time, and M is a positive integer not less than 2; A dynamic rigid wheel, sleeved on the flexible wheel, the dynamic rigid wheel having a second rigid wheel inner tooth, the second rigid wheel inner tooth meshing with the flexible wheel outer tooth; An output flange, fixed on the dynamic rigid wheel and located on one side of the inner teeth of the second rigid wheel; a rotating oil seal abutting against the output flange and the static rigid wheel; an outer cover, disposed in the static rigid wheel, the outer cover being located on one side of the inner teeth of the first rigid wheel; and Two first bearings, one of which abuts against the sun shaft and the outer cover, and the other abuts against the sun shaft and the output flange; Among them, the sun shaft can drive the M planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears, and the flexible wheel drives the dynamic rigid wheel to rotate; the static rigid wheel, the rotating oil seal, the output flange, the first bearing, the sun shaft and the outer cover can jointly generate a closed space for accommodating a lubricating liquid.
2. The harmonic reducer device according to claim 1, characterized in that: The flex spline internal gear, the sun gear, and each of the planetary gears are at least one of a herringbone gear, a helical gear, and a spur gear.
3. The harmonic reducer device according to claim 1, characterized in that: The number of the M planetary gears is two or three.
4. The harmonic reducer device according to claim 1, characterized in that: The wave generating unit comprises 2M bushings, and the 2M bushings are arranged on both sides of the M planetary gears, so that each of the two sides of the planetary gear has two bushings respectively, and the two bushings can contact the outer cover and the output flange respectively.
5. The harmonic reducer device according to claim 4, characterized in that: When the two bushings are arranged on both sides of the planetary gear, there is a spacing distance between the outer side surfaces of the two bushings, and the spacing distance is not greater than the axial length of the inner teeth of the flexible wheel.
6. The harmonic reducer device according to claim 4, characterized in that: The two first bearings are spaced apart from the two bushings on each of the planetary gears to generate a gap space.
7. The harmonic reducer device according to claim 1, characterized in that: The axial length of the first rigid wheel internal teeth and the axial length of the second rigid wheel internal teeth are each between 45% and 50% of the axial length of the flex spline external teeth.
8. The harmonic reducer device according to claim 1, characterized in that: The harmonic reducer device further includes a second bearing, the second bearing abuts against the dynamic rigid wheel and the static rigid wheel, and the rotary oil seal is arranged on one side of the second bearing.
9. A wave generating unit, for installation in a flexible wheel of a harmonic reducer device, characterized in that: The wave generating unit comprises: a sun shaft capable of being driven by a driving device, the sun shaft having a sun gear; and M planetary gears are evenly arranged on the outer edge of the sun gear, and each of the planetary gears is meshed with the sun gear and the flexible gear at the same time, and M is a positive integer not less than 2; The sun shaft can drive the M planetary gears to rotate, so that the flexible wheel is driven by the M planetary gears.