A harmonic reducer module

Abstract

The utility model relates to a harmonic reducer module, comprising a drive input module, a harmonic reducer module and a motion output module connected in sequence; the drive input module comprises a single output shaft motor body, the harmonic reducer module comprises a wave generator, and the motor output shaft of the single output shaft motor body is connected to the cam of the wave generator by a spline. Compared with the prior art, the utility model has the advantages of better reducing the error problems caused by installation clearance and eccentricity, ensuring higher transmission accuracy, and having better performance than ordinary harmonic reducers.

Description

Technical Field

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

[0002] In the harmonic gear transmission device, the transmission is realized by the controllable elastic deformation of the flexible wheel. The wave generator is usually used as the input end, and the speed reduction output is completed by using the working mode of rigid wheel fixing and flexible wheel output. Due to its advantages of high precision, large load, small size and light weight, it is widely used in industrial fields such as space technology, precision machine tools, robots, optical equipment, etc.

[0003] However, the working mode with the wave generator as the input end often adopts the method of locking with setscrews or key connection for positioning and connection, which will introduce transmission errors due to problems such as installation clearance and eccentricity, resulting in problems such as increased backlash and insufficient precision. Utility Model Content

[0004] The purpose of the utility model is to provide a harmonic reducer module in order to overcome the defects of the above-mentioned prior art. The connection between the motor output shaft and the wave generator cam is designed to be an involute spline, and a large-diameter centering method is adopted. This connection and centering method can better reduce the error problems caused by installation clearance and eccentricity, ensure higher transmission accuracy, and have better performance than ordinary harmonic reducer.

[0005] The purpose of the utility model can be achieved through the following technical solutions:

[0006] According to one aspect of the utility model, a harmonic reducer module is provided, comprising a drive input module, a harmonic reducer module and a motion output module connected in sequence; the drive input module comprises a single output shaft motor body, the harmonic reducer module comprises a wave generator, and the motor output shaft of the single output shaft motor body is connected to the cam of the wave generator by a spline manner.

[0007] As a preferred technical solution, the harmonic reducer module also includes a flexible wheel, a rigid wheel and a cross roller bearing. The flexible wheel is mounted on the wave generator. The rigid wheel and the flexible wheel transmit motion through conjugate meshing of gear teeth. The rigid wheel is fixedly connected to the cross roller bearing.

[0008] As a preferred technical solution, the wave generator further includes a flexible bearing and a cam end cover, and the inner ring of the flexible bearing is mounted on the cam profile.

[0009] As a preferred technical solution, the cam is processed with an internal spline, and the motor output shaft is processed with an external spline that matches the internal spline.

[0010] As a preferred technical solution, the spline adopts an involute spline with a large diameter centering method.

[0011] As a preferred technical solution, the drive input module also includes a sleeve one, a sleeve two and a shaft retaining ring, and the cam and the motor output shaft are axially positioned by the sleeve one and the sleeve two, and axially fixed by the shaft retaining ring.

[0012] As a preferred technical solution, the motion output module includes a flexible spline connecting flange and an inner ring of a cross roller bearing, and the flexible spline connecting flange and the inner ring of the cross roller bearing are fixedly connected.

[0013] As a preferred technical solution, the fixed connection between the flexible wheel connecting flange and the inner ring of the cross roller bearing adopts a combination of cylindrical pin connection and screw connection.

[0014] As a preferred technical solution, a flexspline cover plate is provided in the middle of the screw connection between the flexspline connecting flange and the inner ring of the cross roller bearing.

[0015] As a preferred technical solution, the inner ring of the cross roller bearing is the output interface of the motion output module.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] 1) The utility model adopts involute spline connection at the input end, which has higher load-bearing capacity, less stress concentration, and less weakening of the strength of the shaft and the hub; at the same time, the large diameter centering method is selected, and the automatic centering characteristics of the involute spline are utilized, which has better centering and guiding properties, reduces the errors caused by installation eccentricity, matching clearance, etc., improves transmission accuracy, and has better performance than ordinary harmonic reducers.

[0018] 2) The utility model adopts a connection method at the output end where the flexible wheel connecting flange and the inner ring of the cross roller bearing are positioned by cylindrical pins and fastened by screws. This method has higher rotation accuracy and greater load-bearing capacity. At the same time, the cross roller bearing is used for load bearing, thereby improving the overall rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the harmonic reducer module of the utility model.

[0020] Figure 2 It is a structural schematic diagram of the drive input module of the harmonic reducer module in the utility model.

[0021] Figure 3 It is a structural schematic diagram of the harmonic reducer module of the harmonic reducer module in the utility model.

[0022] Figure 4It is a structural schematic diagram of the motion output module of the harmonic reducer module in the utility model.

[0023] Figure 5 It is a three-dimensional structural schematic diagram of the harmonic reducer module of the utility model.

[0024] 10 is a drive input module, 20 is a harmonic reducer module, and 30 is a motion output module;

[0025] 11 is a single output shaft motor body, 12 is a motor output shaft, 13 is a transfer end cover, 14 is a shaft sleeve 1, 15 is a shaft sleeve 2, and 16 is a shaft retaining ring;

[0026] 21 is a wave generator, 22 is a flexible wheel, 23 is a rigid wheel, 24 is a cross roller bearing, 211 is a cam, 212 is a flexible bearing, 213 is a cam end cover, and 241 is an outer ring of the cross roller bearing;

[0027] 31 is a flexible pulley connection flange, 32 is a cross roller bearing inner ring, 33 is a flexible pulley cover plate, 34 is a fastening screw, 35 is a positioning pin, and 36 is a threaded hole for output connection. DETAILED DESCRIPTION

[0028] 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 part of the embodiments of the utility model, not all of them. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0029] The utility model provides a harmonic reducer module structure with high transmission accuracy, including a drive input module 10, a harmonic reducer module 20, and a motion output module 30. The drive input module 10 includes: a single output shaft motor body 11, a motor output shaft 12 with an involute external spline, a transfer end cover 13, a sleeve 14, a sleeve 2 15, and a shaft retaining ring 16. The harmonic reducer module 20 includes: a wave generator 21, a flexible wheel 22, a rigid wheel 23, and a cross roller bearing 24. The motion output module 30 includes: a flexible wheel connecting flange 31, a cross roller bearing inner ring 32, a flexible wheel cover plate 33, a fastening screw 34, a positioning cylindrical pin 35, and a threaded hole 36 for output connection.

[0030] Specifically, please refer to Figure 2The drive input module 10 includes: a single output shaft motor body 11, a motor output shaft 12 with an involute external spline, a transfer end cover 13, a sleeve 14, a sleeve 2 15, and a shaft retaining ring 16. The transfer end cover 13 is fixed to the motor connection flange by screw connection. The motor output shaft 12 is provided with a sleeve 14, a sleeve 2 15 and a shaft retaining ring 16 on both sides of the involute external spline section.

[0031] Specifically, please refer to Figure 3 The harmonic reducer module 20 includes: a wave generator 21, a flexible wheel 22, a rigid wheel 23, and a cross roller bearing 24. The wave generator 21 includes a cam 211 with an involute internal spline, a flexible bearing 212, and a cam end cover 213. The inner ring of the flexible bearing 212 in the wave generator 21 is sleeved on the contour of the cam 211, and the two are interference fit or transition fit. The flexible wheel 22 is sleeved on the wave generator 21, and the matching position is the inner wall of the flexible wheel 22 and the outer ring of the flexible bearing 212 in the wave generator 21. The teeth of the flexible wheel 22 and the teeth of the rigid wheel 23 perform conjugate meshing motion to complete motion transmission. The mounting flange of the rigid wheel 23 is fixedly connected to the outer ring of the cross roller bearing 24, and the connection method is screw connection.

[0032] Specifically, please refer to Figure 4 The motion output module 30 includes: a flexible wheel connection flange 31, a cross roller bearing inner ring 32, a flexible wheel cover plate 33, a fastening screw 34, a positioning cylindrical pin 35, and a threaded hole 36 for output connection. The flexible wheel connection flange 31 is provided with a screw connection hole and a cylindrical pin hole, and corresponds to the inner side of the cross roller bearing inner ring 32. The fixed connection here adopts a combination of cylindrical pin connection and screw connection. A flexible wheel cover plate 33 is provided in the middle of the screw connection to protect the flexible wheel, which not only ensures the connection accuracy between the flexible wheel connection flange 31 and the cross roller bearing inner ring 32, but also ensures the connection reliability. The outer side of the cross roller bearing inner ring 32 is provided with a threaded connection hole, and motion output can be performed through a threaded connection method such as a screw connection.

[0033] Specifically, please refer to Figures 1 to 4 The cam 211 is connected to the motor output shaft 12 through a spline and is circumferentially positioned and fixedly connected by a large diameter centering method. After the internal spline of the cam 211 is installed on the external spline of the motor output shaft 12, a sleeve 14 and a sleeve 2 15 are respectively arranged on both sides of the cam 211. The sleeve 14 cooperates with the shoulder of the motor output shaft 12 for axial positioning, and the sleeve 2 15 cooperates with the shaft retaining ring 16 for axial positioning and fixing. In addition, the axial size of the adapter end cover 13 is determined by the output shaft length of the motor to ensure that the wave generator 21 positioned and installed on the motor output shaft 12 and the flexible wheel 22 mounted thereon have a correct relative position designed in theory.

[0034] Specifically, please refer to Figures 1 to 4A harmonic reducer module with high transmission accuracy, wherein the motor output shaft 12 of the driving input module 10 is connected through a spline, driving the cam 211 of the wave generator 21 of the harmonic reducer module 20 to perform a rotary motion, and the cam 211 transmits the periodic regular deformation to the outer ring of the flexible bearing 212 through the inner ring and rolling element of the flexible bearing 212. This periodic regular deformation is transmitted through the cooperation between the outer ring of the flexible bearing 212 and the inner wall of the flexible wheel 22, forcing the teeth of the flexible wheel 22 to engage in conjugate meshing with the teeth of the rigid wheel 23, and completing the staggered tooth motion. The rigid wheel 23 is fixedly connected to the cross roller bearing 24 by a screw connection and remains stationary, so the rotary motion of the teeth of the flexible wheel 22 is transmitted to the flexible wheel connection flange 31 through the torsion of the cylinder of the flexible wheel 22. The flexible wheel connection flange 31 is fixedly connected to the inner side of the inner ring 32 of the cross roller bearing by a cylindrical pin connection and a screw connection, and further transmits the motion to the inner ring 32 of the cross roller bearing. The outer side of the inner ring 32 of the cross roller bearing is provided with a threaded connection hole, and the motion output can be carried out by a threaded connection method such as a screw connection. At this point, the harmonic reducer module with high transmission accuracy completes the motion transmission.

[0035] The utility model adopts involute spline connection at the input end, which has higher load-bearing capacity, less stress concentration, and less weakening of the strength of the shaft and the hub; at the same time, the large diameter centering method is selected, and the automatic centering characteristics of the involute spline are utilized, which has better centering and guiding properties, reduces errors caused by installation eccentricity, matching clearance, etc., improves transmission accuracy, and has better performance than ordinary harmonic reducers.

[0036] 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 various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements 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 module, characterized in that: The invention comprises a drive input module (10), a harmonic reducer module (20) and a motion output module (30) which are connected in sequence; the drive input module (10) comprises a single-output-shaft motor body (11), the harmonic reducer module (20) comprises a wave generator (21), and the motor output shaft (12) of the single-output-shaft motor body (11) is connected to a cam (211) of the wave generator (21) by means of a spline.

2. A harmonic reducer module according to claim 1, characterized in that: The harmonic reducer module (20) further comprises a flexible wheel (22), a rigid wheel (23) and a cross roller bearing (24); the flexible wheel (22) is mounted on the wave generator (21); the rigid wheel (23) and the flexible wheel (22) transmit motion through conjugate meshing of gear teeth; and the rigid wheel (23) is fixedly connected to the cross roller bearing (24).

3. A harmonic reducer module according to claim 1, characterized in that: The wave generator (21) further comprises a flexible bearing (212) and a cam end cover (213), wherein the inner ring of the flexible bearing (212) is mounted on the profile of the cam (211).

4. A harmonic reducer module according to claim 1, characterized in that: The cam (211) is processed with an internal spline, and the motor output shaft (12) is processed with an external spline that matches the internal spline.

5. A harmonic reducer module according to claim 1 or 4, characterized in that: The spline adopts an involute spline with a large diameter centering method.

6. A harmonic reducer module according to claim 1, characterized in that: The drive input module (10) further comprises a shaft sleeve 1 (14), a shaft sleeve 2 (15) and a shaft retaining ring (16); the cam (211) and the motor output shaft (12) are axially positioned by the shaft sleeve 1 (14) and the shaft sleeve 2 (15), and axially fixed by the shaft retaining ring (16).

7. A harmonic reducer module according to claim 1, characterized in that: The motion output module (30) comprises a flexible wheel connecting flange (31) and a cross roller bearing inner ring (32), and the flexible wheel connecting flange (31) and the cross roller bearing inner ring (32) are fixedly connected.

8. A harmonic reducer module according to claim 7, characterized in that: The fixed connection between the flexible wheel connecting flange (31) and the inner ring (32) of the cross roller bearing is achieved by matching a cylindrical pin connection with a screw connection.

9. A harmonic reducer module according to claim 8, characterized in that: A flex spline cover plate (33) is provided in the middle of the screw connection between the flex spline connecting flange (31) and the inner ring (32) of the cross roller bearing.

10. A harmonic reducer module according to claim 7, characterized in that: The inner ring (32) of the cross roller bearing is an output interface of the motion output module (30).

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