Compact harmonic speed reducer

Abstract

The utility model relates to the technical field of harmonic speed reducers, in particular to a compact harmonic speed reducer which comprises a rigid gear, a flexible gear connected in the rigid gear in a meshed mode, a harmonic generator arranged in the flexible gear, a shaft hole formed in the harmonic generator, an inner gear arranged on the inner wall of the rigid gear, an outer gear arranged on the outer wall of the flexible gear, and a threaded hole and a lubricating oil storage groove formed in the rigid gear. A flow guide face is arranged in the lubricating oil storage groove, a countersunk head groove and an oil outlet hole are formed in the rigid wheel, a threaded column is arranged in the threaded hole, a column pressure sealing cap is arranged on the threaded column, an inner hexagonal groove is formed in the column pressure sealing cap, an anti-wear layer is arranged in the inner hexagonal groove, an elastic sealing ring is arranged in the countersunk head groove, a ball groove is formed in the rigid wheel, and oil rolling balls are arranged in the ball groove. The real-time lubricity between the inner gear on the rigid gear and the outer gear on the flexible gear is improved, lubricating oil can be conveniently supplemented to the lubricating oil storage tank, and the service life of the column pressure sealing cap is greatly prolonged.

Description

Technical Field

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

[0002] Compact harmonic reducer is a transmission device commonly used in industrial robots, precision mechanical arms, automation equipment and other fields.

[0003] The working principle of the compact harmonic reducer is based on the harmonic drive theory, that is, a flexible element (such as a wave generator) generates vibrations of a certain frequency, so that the flexible gear and the rigid gear regularly engage and disengage, thereby achieving power transmission and deceleration.

[0004] Compact harmonic reducers are generally composed of a harmonic generator, a flexible wheel, and a rigid wheel. An internal gear is set on the inner wall of the rigid wheel, and a matching external gear is set on the outer wall of the flexible wheel to achieve gear meshing transmission between the steel wheel and the flexible wheel.

[0005] At present, after long-term use, the existing compact harmonic reducer will become dry and lack lubrication between the internal gear on the rigid wheel and the external gear on the flexible wheel, which will affect the normal use of the compact harmonic reducer.

[0006] The above problems are widespread and urgently need to be improved. Utility Model Content

[0007] The purpose of the utility model is to solve the above-mentioned shortcomings in the prior art and to propose a compact harmonic reducer.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A compact harmonic reducer is designed, comprising a rigid wheel, a flexible wheel is meshedly connected to the rigid wheel, a harmonic generator is arranged in the flexible wheel, an axial hole is arranged on the harmonic generator, an internal gear is arranged on the inner wall of the rigid wheel, an external gear is arranged on the outer wall of the flexible wheel, a threaded hole and a lubricating oil storage tank are provided on the rigid wheel, a guide surface is provided in the lubricating oil storage tank, a countersunk groove and an oil outlet hole are provided on the rigid wheel, a threaded column is provided in the threaded hole, a column pressure sealing cap is provided on the threaded column, an inner hexagonal groove is provided on the column pressure sealing cap, an anti-wear layer is provided in the inner hexagonal groove, an elastic sealing ring is provided in the countersunk groove, a ball groove is provided on the rigid wheel, and an oil ball is provided in the ball groove.

[0010] Furthermore, the inner gear is meshedly connected with the outer gear, the rolling oil ball, the oil outlet hole and the lubricating oil storage tank form a group, which are four groups arranged circumferentially in total, and the rolling oil ball is in rolling contact with the outer gear.

[0011] Furthermore, the countersunk groove, threaded hole, lubricating oil storage tank, oil outlet hole, and ball groove are connected, and the guide surface is inclined toward the oil outlet hole with an inclination of nineteen degrees.

[0012] Furthermore, the oil rolling ball is made of hard alloy steel, and the oil rolling ball is a spherical structure as a whole and is rollingly engaged in the ball groove.

[0013] Furthermore, the threaded column is threadedly connected to the threaded hole, the threaded column is not higher than the countersunk groove, and the column pressure sealing cap is arranged at the outer end of the threaded column.

[0014] Furthermore, the elastic sealing ring is evenly arranged along the inner wall of the countersunk groove, and the elastic sealing ring is extruded with the column pressure sealing cap.

[0015] Furthermore, the inner hexagonal slot is open, the column pressure sealing cap is not higher than the countersunk slot, and the anti-wear layer is a diamond coating with a thickness of thirty to forty microns.

[0016] The utility model proposes a compact harmonic reducer, which has the following beneficial effects:

[0017] 1. The utility model provides a lubricating oil storage tank and an oil ball structure on the rigid wheel, and provides an oil outlet hole, so as to achieve effective and comprehensive lubricating oil coating between the internal gear on the rigid wheel and the external gear on the flexible wheel, thereby improving the real-time lubricity between the internal gear on the rigid wheel and the external gear on the flexible wheel.

[0018] 2. The utility model provides a countersunk groove with an elastic sealing ring, a column pressure sealing cap with a threaded connection structure, and a hexagonal groove on the column pressure sealing cap, so as to facilitate the replenishment of lubricating oil to the lubricating oil storage tank, thereby ensuring the real-time lubrication effect between the internal gear on the rigid wheel and the external gear on the flexible wheel.

[0019] 3. The utility model greatly increases the service life of the column pressure sealing cap by arranging an anti-wear layer structure on the inner groove wall of the inner hexagonal groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an exploded schematic diagram of the overall structure of the utility model;

[0021] Figure 2 For the utility model Figure 1 A partial enlarged view of the middle part;

[0022] Figure 3 It is a front view cross-sectional view of the overall structure of the utility model;

[0023] Figure 4 For the utility model Figure 3 A partial enlarged view of point B in the middle;

[0024] Figure 5 It is a schematic front view of the overall structure of the utility model.

[0025] In the figure: 1 rigid wheel; 11 internal gear; 12 threaded hole; 2 flexible wheel; 21 external gear; 3 harmonic generator; 31 shaft hole; 4 countersunk groove; 41 elastic sealing ring; 5 column pressure sealing cap; 51 threaded column; 6 inner hexagonal groove; 61 anti-wear layer; 7 lubricating oil storage tank; 71 guide surface; 72 oil outlet hole; 8 ball groove; 81 oil ball. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0027] Reference Figure 1-5 A compact harmonic reducer comprises a rigid wheel 1, wherein the rigid wheel 1 is meshedly connected with a flexible wheel 2, wherein a harmonic generator 3 is arranged in the flexible wheel 2, wherein an axial hole 31 is arranged on the harmonic generator 3, wherein an inner gear 11 is arranged on the inner wall of the rigid wheel 1, wherein an outer gear 21 is arranged on the outer wall of the flexible wheel 2, wherein a threaded hole 12 and a lubricating oil storage tank 7 are provided on the rigid wheel 1, wherein a guide surface 71 is provided in the lubricating oil storage tank 7, wherein a countersunk groove 4 and an oil outlet hole 72 are provided on the rigid wheel 1, wherein a A threaded column 51 is provided with a column pressure sealing cap 5, a hexagonal groove 6 is provided on the column pressure sealing cap 5, an anti-wear layer 61 is provided in the hexagonal groove 6, an elastic sealing ring 41 is provided in the countersunk groove 4, a ball groove 8 is provided on the rigid wheel 1, and an oil ball 81 is provided in the ball groove 8. The rigid wheel 1, the flexible wheel 2, and the harmonic generator 3 are the relevant structures of the compact harmonic reducer, which are the prior art. Some of the existing structures are not drawn and marked, and there is no need to repeat them. At the same time, the operating principle is also the prior art.

[0028] In detail, the inner gear 11 is meshedly connected with the outer gear 21, and the rolling oil beads 81, the oil outlet holes 72, and the lubricating oil storage tank 7 form a group, which are four groups arranged circumferentially, and can achieve the rolling oil effect at four locations at the same time, greatly improving the efficiency of applying lubricating oil between the inner gear 11 and the outer gear 21 on the flexible wheel 2.

[0029] The rolling oil ball 81 is in rolling contact with the outer gear 21 . When the outer gear 21 actively meshes and rolls, it drives the rolling oil ball 81 to roll in the ball groove 8 , thereby achieving a rolling coating effect of the lubricating oil.

[0030] Furthermore, the countersunk groove 4, threaded hole 12, lubricating oil storage tank 7, oil outlet hole 72, and ball groove 8 are connected, which not only ensures that the rolling oil balls 81 in the rolling process effectively and comprehensively apply lubricating oil to the inner gear 11 on the rigid wheel 1 and the outer gear 21 on the flexible wheel 2, but also enables the lubricating oil added later to enter the lubricating oil storage tank 7 through the threaded hole 12.

[0031] The guide surface 71 is inclined toward the oil outlet 72 with an inclination of 19 degrees, so that the lubricating oil in the lubricating oil storage tank 7 is concentrated to flow toward the oil outlet 72, thereby improving the lubricating oil rolling effect of the later rolling oil beads 81.

[0032] Furthermore, the rolling oil ball 81 is made of cemented carbide steel, which is durable, does not deform, and is resistant to aging, wear and oil, thereby greatly increasing the service life of the rolling oil ball 81.

[0033] The oil ball 81 is a spherical structure as a whole and is rolled and clamped in the ball groove 8, ensuring that the oil ball 81 is in the ball groove 8 and effectively and comprehensively applies lubricating oil between the internal gear 11 on the rigid wheel 1 and the external gear 21 on the flexible wheel 2, while preventing the oil ball 81 from slipping out of the ball groove 8.

[0034] In more detail, the threaded column 51 is threadedly connected to the threaded hole 12 , the threaded column 51 is not higher than the countersunk groove 4 , and the column pressure sealing cap 5 is arranged at the outer end of the threaded column 51 .

[0035] In general, the elastic sealing ring 41 is evenly arranged along the inner wall of the countersunk groove 4, and the elastic sealing ring 41 is extruded and arranged with the column pressure sealing cap 5. The elastic sealing ring 41 is made of elastic vulcanized rubber material, which is oil-resistant and wear-resistant, and has elastic sealing properties. When the threaded column 51 is threadedly locked with the threaded hole 12, at this time, the column pressure sealing cap 5 will be extruded and contacted with the elastic sealing ring 41 as a whole, so that the threaded hole 12 can be sealed as a whole to avoid oil leakage.

[0036] Finally, the hexagonal socket 6 is open, the column pressure sealing cap 5 is not higher than the countersunk socket 4, the anti-wear layer 61 is a diamond coating with a thickness of thirty to forty microns, and an hexagonal wrench is often inserted into the hexagonal socket 6 for rotation. The set anti-wear layer 61 has excellent wear resistance, which greatly improves the service life of the column pressure sealing cap 5.

[0037] Working method: When the compact harmonic reducer is running, at this time, the internal gear 11 and the external gear 21 are meshing and rotating (this is the prior art), and the meshing and rotating external gear 21 will drive the rolling oil ball 81 to rotate in the ball groove 8, and the rotating rolling oil ball 81 will evenly apply the lubricating oil preset in the lubricating oil storage tank 7 between the internal gear 11 on the rigid wheel 1 and the external gear 21 on the flexible wheel 2, thereby achieving effective and comprehensive lubricating oil coating between the internal gear 11 on the rigid wheel 1 and the external gear 21 on the flexible wheel 2, thereby improving the real-time lubricity between the internal gear 11 on the rigid wheel 1 and the external gear 21 on the flexible wheel 2.

[0038] Moreover, for example, if it is necessary to refill the lubricating oil storage tank 7 on the upper side, first take the hexagonal wrench and insert it into the hexagonal slot 6, and then turn the hexagonal wrench counterclockwise to drive the column pressure sealing cap 5 and the threaded column 51 to rotate counterclockwise, and drive the threaded column 51 upward for convenient withdrawal and removal through the threaded transmission between the threaded hole 12, and then take the oil replenishing tank, and insert the preset oil replenishing pipe of the oil replenishing tank into the threaded hole 12, so that the lubricating oil storage tank 7 can be conveniently replenished with lubricating oil, and later the column pressure sealing cap 5 and the threaded column 51 can be rotated clockwise to seal them. Similarly, the other three lubricating oil storage tanks 7 can also be conveniently replenished with lubricating oil, thereby ensuring the real-time lubrication effect between the internal gear 11 on the rigid wheel 1 and the external gear 21 on the flexible wheel 2.

[0039] In addition, by providing an anti-wear layer 61 structure on the inner groove wall of the inner hexagonal groove 6, the service life of the column pressure sealing cap 5 is greatly improved.

[0040] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A compact harmonic reducer, comprising a rigid wheel (1), characterized in that: The rigid wheel (1) is meshedly connected with a flexible wheel (2), a harmonic generator (3) is arranged in the flexible wheel (2), an axial hole (31) is arranged on the harmonic generator (3), an inner wall of the rigid wheel (1) is provided with an internal gear (11), an outer wall of the flexible wheel (2) is provided with an external gear (21), a threaded hole (12) and a lubricating oil storage tank (7) are opened on the rigid wheel (1), a guide surface (71) is arranged in the lubricating oil storage tank (7), and the rigid wheel (1) A countersunk groove (4) and an oil outlet hole (72) are provided on the upper surface; a threaded column (51) is provided in the threaded hole (12); a column pressure sealing cap (5) is provided on the threaded column (51); a hexagonal groove (6) is provided on the column pressure sealing cap (5); an anti-wear layer (61) is provided in the hexagonal groove (6); an elastic sealing ring (41) is provided in the countersunk groove (4); a ball groove (8) is provided on the rigid wheel (1); and an oil ball (81) is provided in the ball groove (8).

2. A compact harmonic reducer according to claim 1, characterized in that: The inner gear (11) is meshedly connected with the outer gear (21); the rolling oil ball (81), the oil outlet hole (72) and the lubricating oil storage tank (7) form a group, which is a total of four groups arranged in a circle; the rolling oil ball (81) is in rolling contact with the outer gear (21).

3. A compact harmonic reducer according to claim 1, characterized in that: The countersunk groove (4), the threaded hole (12), the lubricating oil storage tank (7), the oil outlet hole (72), and the ball groove (8) are connected, and the guide surface (71) is inclined toward the oil outlet hole (72) with an inclination of 19 degrees.

4. A compact harmonic reducer according to claim 1, characterized in that: The rolling oil ball (81) is made of hard alloy steel, and the rolling oil ball (81) is a spherical structure as a whole and is rollingly engaged in the ball groove (8).

5. A compact harmonic reducer according to claim 1, characterized in that: The threaded column (51) is threadedly connected to the threaded hole (12); the threaded column (51) is not higher than the countersunk groove (4); and the column pressure sealing cap (5) is arranged at the outer end of the threaded column (51).

6. A compact harmonic reducer according to claim 1, characterized in that: The elastic sealing ring (41) is evenly arranged along the inner wall of the countersunk groove (4), and the elastic sealing ring (41) and the column pressure sealing cap (5) are extruded and arranged.

7. A compact harmonic reducer according to claim 1, characterized in that: The inner hexagonal groove (6) is open, the column pressure sealing cap (5) is not higher than the countersunk groove (4), and the anti-wear layer (61) is a diamond coating with a thickness of thirty to forty microns.

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