Harmonic speed reducer
By designing multiple external and internal teeth on the soft wheel of the harmonic reducer, and using the meshing relationship between the wave generation module and the dynamic rigid wheel, the problems of tooth loss and operational instability caused by uneven cam meshing in the prior art are solved, and higher torsional rigidity and load-bearing capacity are achieved.
Patent Information
- Application Number
- CN202421842108.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-01
- Publication Date
- 2025-04-22
- Estimated Expiration
- 2034-08-01
AI Technical Summary
When the existing harmonic speed reduction device is running, the cam only meshes at the teeth at both ends of the long shaft, resulting in tooth loss and unstable operation.
A harmonic reducer is designed. The outer edge of the flexible wheel has multiple external teeth, and the inner edge has multiple internal teeth and abutment surfaces adjacent to each other. The wave generation module mechanically connects the abutment surface. The inner dynamic rigid wheel meshes the inner teeth, and the outer dynamic rigid wheel and the static rigid wheel mesh the outer teeth together.
Through this design, the torsional rigidity and load-bearing capacity of the harmonic reducer are improved, tooth loss is reduced, and operation stability is improved.
Smart Images
Figure CN222782953U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a reducer, in particular to a harmonic reducer. Background Art
[0002] Existing harmonic reducers have been widely used in the field of precision machinery, especially in the robotics, aerospace and medical equipment industries. However, there are still some limitations in existing harmonic reducers, which results in a poor service life of the existing harmonic reducers. Specifically, when the existing harmonic reducer is in operation, only the teeth at the two ends of the cam on the long shaft are engaged, which causes tooth loss and affects the stability of operation.
[0003] Therefore, the inventor of the present invention believes that the above defects can be improved, and has devoted himself to research and applied scientific principles to finally propose a utility model with a reasonable design that 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 to address the deficiencies of the prior art.
[0005] The utility model embodiment discloses a harmonic reducer, comprising: a flexible wheel, having an outer edge and an inner edge, the outer edge of the flexible wheel having a plurality of outer teeth, the inner edge of the flexible wheel having a plurality of adjacent inner teeth and abutting surface; a wave generating module, mechanically connected to the abutting surface, the wave generating module can be used to connect a driving device to drive the flexible wheel to rotate; an inner dynamic rigid wheel, arranged in the inner edge of the flexible wheel, the inner dynamic rigid wheel meshing with the plurality of inner teeth of the flexible wheel; an outer dynamic rigid wheel and a static rigid wheel, arranged on the outer edge of the flexible wheel, the outer dynamic rigid wheel and the static rigid wheel jointly meshing with the plurality of outer teeth of the flexible wheel; and a flange, fixing the inner dynamic rigid wheel and the outer dynamic rigid wheel; wherein, there are two opposite first meshing sections between the plurality of outer teeth of the flexible wheel and the outer dynamic rigid wheel, and there are two opposite second meshing sections between the plurality of inner teeth of the flexible wheel and the inner dynamic rigid wheel.
[0006] Optionally, there is a first symmetry axis between the two first meshing sections, and there is a second symmetry axis between the two second meshing sections, and the first symmetry axis is perpendicular to the second symmetry axis.
[0007] Optionally, the outer dynamic rigid wheel and the inner dynamic rigid wheel are located on the same side of the flexible wheel.
[0008] Optionally, a width of the outer dynamic rigid wheel along an axial direction is between 95% and 100% of a width of at least one of the inner dynamic rigid wheel and the static rigid wheel along the axial direction.
[0009] Optionally, the wave generating module includes: a flexible bearing, arranged in the flexible wheel, the flexible bearing and the static rigid wheel are located on the same side of the flexible wheel, and the outer edge of the flexible bearing is mechanically connected to the abutment surface; and a cam, arranged in the flexible bearing and mechanically connected to the inner edge of the flexible bearing.
[0010] Optionally, a width of the flexible bearing along an axial direction is between 95% and 100% of a width of the static rigid wheel along the axial direction.
[0011] Optionally, a width of the flexible bearing along an axial direction is between 95% and 100% of a width of the inner dynamic rigid wheel or the outer dynamic rigid wheel along the axial direction.
[0012] Optionally, there is a predetermined tooth difference between the number of teeth of the plurality of external teeth of the flexible wheel and the number of teeth of the static rigid wheel, and the predetermined tooth difference is an even number.
[0013] Optionally, the number of the plurality of inner teeth of the flexible wheel is equal to the number of teeth of the inner dynamic rigid wheel and the number of teeth of the outer dynamic rigid wheel.
[0014] Optionally, a width of the plurality of inner teeth of the flexible spline along an axial direction is between 45% and 50% of a width of the plurality of outer teeth of the flexible spline along the axial direction.
[0015] In summary, the harmonic reducer disclosed in the embodiment of the utility model can improve torsional rigidity and load-bearing capacity through the design of "the outer edge of the flexible wheel has a plurality of external teeth, and the inner edge of the flexible wheel has a plurality of adjacent internal teeth and a supporting surface", "the wave generating module is mechanically connected to the supporting surface, the inner dynamic rigid wheel meshes with the plurality of internal teeth of the flexible wheel, and the outer dynamic rigid wheel and the static rigid wheel jointly mesh with the plurality of external teeth of the flexible wheel".
[0016] 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
[0017] Figure 1 It is a three-dimensional schematic diagram of the harmonic reducer of the utility model.
[0018] Figure 2 It is an exploded schematic diagram of the harmonic reducer of the utility model.
[0019] Figure 3 This is another exploded schematic diagram of the harmonic reducer of the utility model.
[0020] Figure 4 for Figure 1 Schematic diagram of the cross section along line IV-IV.
[0021] Figure 5 for Figure 4 A magnified schematic diagram of a local area.
[0022] Figure 6 It is a cross-sectional schematic diagram of the harmonic reducer of the utility model.
[0023] Figure 7 for Figure 6 Schematic diagram of the enlarged region VII.
[0024] Figure 8 for Figure 6 Schematic enlargement of region VIII. DETAILED DESCRIPTION
[0025] 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.
[0026] 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".
[0027] See also Figures 1 to 8 As shown, this embodiment provides a harmonic reducer 100. Figures 1 to 3 As shown, the harmonic reducer 100 includes a flexible wheel 1, a wave generating module 2 and an inner dynamic rigid wheel 3 disposed inside the flexible wheel 1, an outer dynamic rigid wheel 4 and a static rigid wheel 5 disposed outside the flexible wheel 1, and a flange 6 for fixing the inner dynamic rigid wheel 3 and the outer dynamic rigid wheel 4.
[0028] The harmonic reducer 100 can improve torsional rigidity and load-bearing capacity by configuring the wave generating module 2, the inner dynamic rigid wheel 3, the outer dynamic rigid wheel 4 and the static rigid wheel 5 on the flexible wheel 1. Next, the components of the harmonic reducer 100 and their connection relationships are introduced below.
[0029] like Figure 2 , Figure 3 and Figure 5 As shown, the flexible spline 1 has an outer edge and an inner edge. The outer edge of the flexible spline 1 has a plurality of outer teeth 14 , and the inner edge of the flexible spline 1 has a plurality of adjacent inner teeth 13 and a contact surface 12 .
[0030] Specifically, the flexible wheel 1 includes an annular body 11, the abutting surface 12 and the plurality of inner teeth 13 connected to the inner edge of the annular body 11, and the plurality of outer teeth 14 connected to the outer edge of the annular body 11. The annular body 11 is made of a flexible material, and has an axial direction DS.
[0031] In this embodiment, the plurality of external teeth 14 are arranged on the outer edge of the annular body 11 along the axial direction DS, and the width L14 of the plurality of external teeth 14 along the axial direction DS is substantially equal to the width L11 of the annular body 11 along the axial direction DS. In other words, the plurality of external teeth 14 substantially covers the outer edge of the annular body 11.
[0032] In addition, the width L13 of the multiple internal teeth 13 along the axial direction DS is smaller than the width L11 of the annular body 11 along the axial direction DS, and the multiple internal teeth 13 are arranged on one side of the inner edge of the annular body 11 along the axial direction DS, so that the other side of the inner edge of the annular body 11 can generate the abutment surface 12.
[0033] Re-reference Figure 2 , Figure 3 and Figure 5 As shown, the wave generating module 2 is mechanically connected to the abutting surface 12, and the wave generating module 2 can be used to connect a driving device (not shown) to drive the flexible wheel 1 to rotate. The mechanical connection referred to in the present invention can be any physical method that can fix two components to each other, such as friction and interference fit.
[0034] In this embodiment, the wave generating module 2 includes a flexible bearing 21 and a cam 22. The flexible bearing 21 is disposed inside the inner edge of the flexible wheel 1, and the outer edge of the flexible bearing 21 can be mechanically connected to the abutting surface 12. In addition, the cam 22 is disposed inside the flexible bearing 21 and mechanically connected to the inner edge of the flexible bearing 21. The cam 22 can be used to connect to the driving device, so that the driving device can drive the cam 22 to drive the flexible wheel 1 to rotate through the flexible bearing 21.
[0035] Cooperate Figure 2 , Figure 3 and Figure 5 As shown, the inner dynamic rigid wheel 3 is disposed on the inner edge of the flexible wheel 1, and the outer edge of the inner dynamic rigid wheel 3 has a plurality of teeth. The inner dynamic rigid wheel 3 meshes with the inner teeth 13 of the flexible wheel 1 through its plurality of teeth, so that the inner dynamic rigid wheel 3 can be driven by the flexible wheel 1. The number of the plurality of teeth of the inner dynamic rigid wheel 3 is equal to the number of the plurality of inner teeth 13 of the flexible wheel 1.
[0036] like Figures 3 to 5 As shown, the external dynamic rigid wheel 4 and the static rigid wheel 5 are disposed on the outer edge of the flexible wheel 1. In this embodiment, the external dynamic rigid wheel 4 is located at the corresponding position of the flexible wheel 1.
[0037] The outer dynamic rigid wheel 4 and the inner dynamic rigid wheel 3 are located on one side of the flexible wheel 1 in the axial direction DS, and the static rigid wheel 5 and the flexible bearing 21 are located on the other side of the flexible wheel 1 in the axial direction DS.
[0038] Furthermore, the inner edges of the outer dynamic rigid wheel 4 and the static rigid wheel 5 each have a plurality of teeth. The outer dynamic rigid wheel 4 can mesh with the outer teeth 14 of the flexible wheel 1 through its plurality of teeth, and the static rigid wheel 5 can mesh with the outer teeth 14 of the flexible wheel 1 through its plurality of teeth, that is, the outer dynamic rigid wheel 4 and the static rigid wheel 5 are meshed with the plurality of outer teeth 14 of the flexible wheel 1 together, so that the outer dynamic rigid wheel 4 can be driven by the flexible wheel 1.
[0039] The number of the plurality of teeth of the external dynamic rigid wheel 4 is equal to the number of the plurality of internal teeth 13 of the flexible wheel 1. In addition, there is a predetermined tooth difference between the number of the plurality of teeth of the static rigid wheel 5 and the number of the plurality of external teeth 14 of the flexible wheel 1, and the predetermined tooth difference is an even number (for example, the predetermined tooth difference is 2 or 4).
[0040] It is worth noting that Figures 6 to 8As shown, when the flexible wheel 1 is inserted through the wave generating module 2, the flexible wheel 1 can be deformed to be generally elliptical, so that the multiple external teeth 14 of the flexible wheel 1 and the external dynamic rigid wheel 4 have two opposite first meshing sections B1, and the multiple internal teeth 13 of the flexible wheel 1 and the internal dynamic rigid wheel 3 have two opposite second meshing sections B2. In other words, when the harmonic reducer 100 is running, the inner edge and the outer edge of the flexible wheel 1 can be supported by the internal dynamic rigid wheel 3 and the external dynamic rigid wheel 4 at the same time, so that the overall rigidity of the harmonic reducer 100 or the load that the flexible wheel 1 can bear can be improved.
[0041] In addition, when the harmonic reducer 100 is running, the two first meshing sections B1 and the two second meshing sections B2 can be evenly located around the flexible wheel 1. In other words, the positions of the two first meshing sections B1 can be symmetrical to each other to have a first symmetry axis S1, and the positions of the two second meshing sections B2 can be symmetrical to each other to have a second symmetry axis S2, and the first symmetry axis S1 and the second symmetry axis S2 are perpendicular to each other, so that the two first meshing sections B1 are, for example, located at 0 degrees and 180 degrees of the flexible wheel 1, and the two second meshing sections B2 are, for example, located at 90 degrees and 270 degrees of the flexible wheel 1.
[0042] In addition, Figure 5 As shown, in order to ensure that the flexible wheel 1 can be evenly stressed between the outer dynamic rigid wheel 4, the static rigid wheel 5, the inner dynamic rigid wheel 3 and the flexible bearing 21, the width L13 of the plurality of inner teeth 13 of the flexible wheel 1 along the axial direction DS is
[0043] The width L14 of the plurality of external teeth 14 along the axial direction DS is between 45% and 50%, that is, the width ratio of each of the internal teeth 13 to the external teeth 14 is substantially 1:2.
[0044] In addition, in order to match the width L13 of the inner teeth 13, the width L21 of the flexible bearing 21 along the axial direction DS is between 95% and 100% of the width L13 of the inner teeth 13 along the axial direction DS, and the width L21 of the flexible bearing 21 is also between 95% and 100% of the width L3 of the inner dynamic rigid wheel 3 along the axial direction DS, that is, the width ratio of each inner tooth 13, the flexible bearing 21 and the inner dynamic rigid wheel 3 is substantially 1:1:1. Among them, the width L21 of the flexible bearing 21 is substantially equal to the width L12 of the abutment surface 12 of the flexible wheel 1.
[0045] Furthermore, in order to match the width of the static rigid wheel 5 and each of the external teeth 14, the width L4 of the external rigid wheel 4 along the axial direction DS is between 95% and 100% of the width L5 of the static rigid wheel 5 along the axial direction DS. In other words, the width ratio of the external rigid wheel 4, the static rigid wheel 5 and each of the external teeth 14 is generally 1:1:2.
[0046] Of course, when the width ratio of the inner teeth 13 to the outer teeth 14 is substantially 1:2, the width ratio of the flexible bearing 21 , the inner dynamic rigid wheel 3 , the outer dynamic rigid wheel 4 and the static rigid wheel 5 is substantially 1:1:1:1.
[0047] Re-reference Figure 2 and Figure 5 As shown, the flange 6 has a receiving groove G in this embodiment, and the receiving groove G receives the inner dynamic rigid wheel 3 and the outer dynamic rigid wheel 4, and the flange in this embodiment fixes the inner dynamic rigid wheel 3 and the outer dynamic rigid wheel 4 by a plurality of fasteners (e.g., screws), but the present invention is not limited thereto.
[0048] Technical effects of the utility model embodiment
[0049] In summary, the harmonic reducer disclosed in the embodiment of the utility model can improve the torsional rigidity and load-bearing capacity through the design of "the outer edge of the flexible wheel has an external tooth, and the inner edge of the flexible wheel has an adjacent internal tooth and a supporting surface", "the wave generating module is mechanically connected to the supporting surface, the inner dynamic rigid wheel meshes with the internal teeth of the flexible wheel, and the outer dynamic rigid wheel and the static rigid wheel jointly mesh with the external teeth of the flexible wheel".
[0050] 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, characterized in that: The harmonic reducer comprises: A flexible wheel having an outer edge and an inner edge, wherein the outer edge of the flexible wheel has a plurality of outer teeth, and the inner edge of the flexible wheel has a plurality of adjacent inner teeth and an abutting surface; a wave generating module, mechanically connected to the abutting surface, wherein the wave generating module can be used to connect to a driving device to drive the flexible wheel to rotate; An inner dynamic rigid wheel is disposed in the inner edge of the flexible wheel, and the inner dynamic rigid wheel meshes with the plurality of inner teeth of the flexible wheel; An outer dynamic rigid wheel and a static rigid wheel are disposed on the outer edge of the flexible wheel, and the outer dynamic rigid wheel and the static rigid wheel are engaged with the plurality of outer teeth of the flexible wheel; and A flange, fixing the inner dynamic rigid wheel and the outer dynamic rigid wheel; There are two opposite first meshing sections between the plurality of external teeth of the flexible wheel and the external dynamic rigid wheel, and there are two opposite second meshing sections between the plurality of internal teeth of the flexible wheel and the internal dynamic rigid wheel.
2. The harmonic reducer according to claim 1, characterized in that: There is a first symmetry axis between the two first meshing sections, and there is a second symmetry axis between the two second meshing sections. The first symmetry axis is perpendicular to the second symmetry axis.
3. The harmonic reducer according to claim 1, characterized in that: The outer dynamic rigid wheel and the inner dynamic rigid wheel are located on the same side of the flexible wheel.
4. The harmonic reducer according to claim 1, characterized in that: The width of the outer dynamic rigid wheel along an axial direction is between 95% and 100% of the width of at least one of the inner dynamic rigid wheel and the static rigid wheel along the axial direction.
5. The harmonic reducer according to claim 1, characterized in that: The wave generation module comprises: a flexible bearing disposed in the flexible wheel, wherein the flexible bearing and the static rigid wheel are located on the same side of the flexible wheel, and an outer edge of the flexible bearing is mechanically connected to the abutment surface; and A cam is disposed in the flexible bearing and mechanically connected to the inner edge of the flexible bearing.
6. The harmonic reducer according to claim 5, characterized in that: The width of the flexible bearing along an axial direction is between 95% and 100% of the width of the static rigid wheel along the axial direction.
7. The harmonic reducer according to claim 5, characterized in that: The width of the flexible bearing along an axial direction is between 95% and 100% of the width of the inner dynamic rigid wheel or the outer dynamic rigid wheel along the axial direction.
8. The harmonic reducer according to claim 1, characterized in that: There is a predetermined tooth difference between the number of the plurality of external teeth of the flexible wheel and the number of teeth of the static rigid wheel, and the predetermined tooth difference is an even number.
9. The harmonic reducer according to claim 1, characterized in that: The number of the plurality of internal teeth of the flexible wheel is equal to the number of teeth of the inner dynamic rigid wheel and the number of teeth of the outer dynamic rigid wheel.
10. The harmonic reducer according to claim 1, characterized in that: The width of the plurality of inner teeth of the flexspline along an axial direction is between 45% and 50% of the width of the plurality of outer teeth of the flexspline along the axial direction.