Harmonic reducer

Abstract

The utility model relates to the technical field of speed reduction transmission, and provides a harmonic reducer which is characterized in that a first inner ring of an inner support bearing is fixedly sleeved on the peripheral side of a cam; a stepped hole is formed in a second outer ring of the outer supporting bearing in the axial direction of the cam, the cam and the inner supporting bearing are placed in a large-diameter section of the stepped hole, rigid teeth are arranged on the inner side wall of the large-diameter section, a transmission part of the second inner ring is fixed to a first connecting part, the transmission part can elastically deform and is provided with flexible teeth, and part of the flexible teeth can be meshed with the rigid teeth; the first connecting part is inserted into the small-diameter section of the stepped hole and used for being connected with a load. The rigid teeth are arranged on a second outer ring of the outer supporting bearing, the flexible teeth are arranged on a second inner ring of the outer supporting bearing, and the cam directly acts on the second inner ring through the inner supporting bearing to drive the second inner ring to rotate. The first connecting part, used for being connected with the load, of the second inner ring and the cam are distributed in the axial direction, so that the first connecting part can have the relatively large size, and then the structural strength of the first connecting part is enhanced.

Description

Technical Field

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

[0002] A harmonic reducer mainly consists of four basic components: a wave generator, a flexible gear, a flexible bearing, and a rigid gear. A harmonic drive reducer is a gear drive that relies on the wave generator assembled with a flexible bearing to cause the flexible gear to produce controllable elastic deformation and mesh with the rigid gear to transmit motion and power.

[0003] Commonly, the rigid gear and the flexible gear are respectively connected to the inner and outer rings of a crossed roller bearing. The rigid gear and the flexible gear are in a sleeved relationship, but the rigid gear and the flexible gear are axially fixed to the crossed roller bearing, and several connecting pieces are used for connection, resulting in a relatively large axial dimension of the harmonic reducer and limited application scenarios.

[0004] Therefore, there is an urgent need for a harmonic reducer to solve the above technical problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a harmonic reducer that can reduce the use of connecting pieces, reduce the axial dimension, and enhance the connection reliability with the load.

[0006] To achieve the above object, the utility model adopts the following technical solutions:

[0007] A harmonic reducer, comprising:

[0008] A cam;

[0009] An inner support bearing, the inner support bearing is a flexible bearing, and the first inner ring of the inner support bearing is fixedly sleeved on the outer peripheral side of the cam;

[0010] An outer support bearing, a stepped hole is axially formed in the second outer ring of the outer support bearing. The cam and the inner support bearing are placed in the large-diameter section of the stepped hole. The inner side wall of the large-diameter section is provided with rigid teeth. The second inner ring of the outer support bearing includes a transmission part and a first connection part. The transmission part and the first connection part are fixed. The transmission part is radially clamped between the inner support bearing and the second outer ring. The transmission part can undergo elastic deformation and is provided with flexible teeth. Some of the flexible teeth can mesh with the rigid teeth. The first connection part is inserted into the small-diameter section of the stepped hole for connecting a load.

[0011] As a preferred technical solution of the above harmonic reducer, the cam and the shoulder of the stepped hole are axially spaced on the cam. The shoulder is formed between the large-diameter section and the small-diameter section.

[0012] As a preferred technical solution of the above harmonic reducer, rolling elements are clamped between the first connecting portion of the second inner ring and the circumferential side wall of the small-diameter section of the second outer ring.

[0013] As a preferred technical solution of the above harmonic reducer, an installation groove is formed in the outer peripheral wall of the first connecting portion of the second inner ring. The installation groove is used for installing an oil baffle ring, and the installation groove is located on the side of the rolling element facing away from the cam.

[0014] As a preferred technical solution of the above harmonic reducer, a first sliding groove is formed in the outer side wall of the first connecting portion, and a second sliding groove is formed in the inner peripheral wall of the small-diameter section of the second outer ring. The first sliding groove and the second sliding groove enclose a guide rail for installing the rolling element.

[0015] As a preferred technical solution of the above harmonic reducer, rolling elements are arranged between the shoulder of the second outer ring and the second inner ring along the axis of the cam.

[0016] As a preferred technical solution of the above harmonic reducer, the outer support bearing is selected from any one of crossed roller bearings, ball bearings, angular contact bearings, cylindrical roller bearings and tapered roller bearings.

[0017] As a preferred technical solution of the above harmonic reducer, the inner support bearing is selected from any one of crossed roller bearings, ball bearings, angular contact bearings, cylindrical roller bearings and tapered roller bearings.

[0018] As a preferred technical solution of the above harmonic reducer, the first connecting portion of the second inner ring is connected to the load through a flange structure.

[0019] As a preferred technical solution of the above harmonic reducer, the large-diameter section of the second outer ring is connected to the support member through a flange structure.

[0020] Advantageous effects of the present utility model:

[0021] The present utility model provides a harmonic reducer, which includes a cam, an inner support bearing and an outer support bearing. The inner support bearing is a flexible bearing, and the first inner ring of the inner support bearing is fixedly sleeved on the outer peripheral side of the cam; a stepped hole is axially formed in the second outer ring of the outer support bearing, and the cam and the inner support bearing are placed in the large-diameter section of the stepped hole. Rigid teeth are provided on the inner side wall of the large-diameter section. The second inner ring of the outer support bearing includes a transmission portion and a first connecting portion, the transmission portion and the first connecting portion are fixed, the transmission portion is radially clamped between the inner support bearing and the second outer ring, the transmission portion can undergo elastic deformation and is provided with flexible teeth, and part of the flexible teeth can mesh with the rigid teeth. The first connecting portion is inserted into the small-diameter section of the stepped hole for connecting the load.

[0022] Thus, the rigid teeth are arranged on the second outer ring of the outer support bearing, the flexible teeth are arranged on the second inner ring of the outer support bearing, and the cam acts directly on the second inner ring through the inner support bearing, thereby changing the meshing state between the flexible teeth and the rigid teeth, and further driving the rotation of the second inner ring, reducing the use of connecting parts. The cam and the inner support bearing are placed inside the outer support bearing, which can reduce the axial dimension, and the first connecting part of the second inner ring for connecting with the load and the cam are axially distributed, enabling the first connecting part to have a relatively large volume, thereby enhancing the structural strength of the first connecting part and further enhancing the reliability of the connection with the load. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the content of the embodiments of the present invention and these drawings.

[0024] Figure 1 is a schematic structural diagram of a harmonic reducer provided by an embodiment of the present invention;

[0025] Figure 2 is a front view of a harmonic reducer provided by an embodiment of the present invention;

[0026] Figure 3 is Figure 2 a cross-sectional view taken along A-A in;

[0027] Figure 4 is Figure 2 a partial enlarged view at B in;

[0028] Figure 5 is a rear view of a harmonic reducer provided by an embodiment of the present invention;

[0029] Figure 6 is a schematic structural diagram of a second inner ring provided by an embodiment of the present invention;

[0030] Figure 7 is a side view of a second inner ring provided by an embodiment of the present invention;

[0031] Figure 8 is a schematic structural diagram of a second outer ring provided by an embodiment of the present invention.

[0032] In the figure:

[0033] 100, cam;

[0034] 200, inner support bearing; 210, first inner ring; 220, first outer ring;

[0035] 300. Outer support bearing; 310. Second inner ring; 311. Transmission part; 3111. Flexible tooth; 312. First connection part; 313. Installation groove; 314. First sliding groove; 315. Second connection hole; 320. Second outer ring; 321. Large-diameter section; 3211. Rigid tooth; 322. Small-diameter section; 323. Shoulder; 324. Second sliding groove; 325. Third connection hole. Detailed implementation manner

[0036] The present utility model will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that, for the sake of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.

[0037] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0038] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "above the top of", and "on the top of" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below the bottom of", and "under the bottom of" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature is at a lower horizontal height than the second feature.

[0039] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0040] As Figures 1 to 8As shown in the figure, the present utility model provides a harmonic reducer, which includes a cam 100, an inner support bearing 200 and an outer support bearing 300. The inner support bearing 200 is a flexible bearing, and the first inner ring 210 of the inner support bearing 200 is fixedly sleeved on the outer peripheral side of the cam 100; a stepped hole is axially formed in the second outer ring 320 of the outer support bearing 300 along the cam 100, and the cam 100 and the inner support bearing 200 are placed in the large-diameter section 321 of the stepped hole. Rigid teeth 3211 are provided on the inner side wall of the large-diameter section 321. The second inner ring 310 of the outer support bearing 300 includes a transmission part 311 and a first connection part 312. The transmission part 311 and the first connection part 312 are fixed. The transmission part 311 is radially clamped between the inner support bearing 200 and the second outer ring 320. The transmission part 311 can undergo elastic deformation and is provided with flexible teeth 3111. Part of the flexible teeth 3111 can mesh with the rigid teeth 3211. The first connection part 312 is inserted into the small-diameter section 322 of the stepped hole for connecting a load.

[0041] Specifically, the cam 100 includes a long shaft and a short shaft. Radially, the length of the long shaft is greater than that of the short shaft; both the inner ring and the outer ring of the inner support bearing 200 are flexible components that can undergo elastic deformation. When the inner support bearing 200 is sleeved on the outer peripheral side of the cam 100, the inner support bearing 200 can change with the outer contour surface of the cam 100, and the first inner ring 210 of the inner support bearing 200 is fixed to the cam 100. When the cam 100 rotates, the first inner ring 210 of the inner support bearing 200 can rotate therewith; the outer support bearing 300 includes a second inner ring 310 and a second outer ring 320. The second outer ring 320 is used to be fixed to a support member. When the cam 100 rotates, relative movement occurs between the cam 100, the support member and the second outer ring 320. Rigid teeth 3211 are provided on the inner peripheral wall of the large-diameter section 321 of the second outer ring 320. The second inner ring 310 includes a transmission part 311 and a first connection part 312 distributed axially. The transmission part 311 is a flexible component that can undergo elastic deformation. The transmission part 311 is radially clamped between the inner support bearing 200 and the second outer ring 320. Flexible teeth 3111 are provided on the outer peripheral wall of the transmission part 311. The long shaft of the cam 100 can squeeze the transmission part 311 to deform, causing the transmission part 311 to tilt towards the peripheral side wall of the second outer ring 320, thereby enabling the flexible teeth 3111 of the second inner ring 310 to mesh with the rigid teeth 3211 of the second outer ring 320, while the short shaft of the cam 100 does not cause the transmission part 311 to deform, and the flexible teeth 3111 corresponding to the short shaft are disengaged from the rigid teeth 3211. Thus, when the cam 100 rotates, the positions of the long shaft and the short shaft of the cam 100 change in real time, causing the meshing area between the second inner ring 310 and the second outer ring 320 to change with rotation. Also, since the second outer ring 320 remains stationary, the second inner ring 310 can rotate relative to the second outer ring 320, and the rotation direction is opposite to that of the cam 100.

[0042] In this way, the rigid teeth 3211 are arranged on the second outer ring 320 of the outer support bearing 300, and the flexible teeth 3111 are arranged on the second inner ring 310 of the outer support bearing 300. The cam 100 directly acts on the second inner ring 310 through the inner support bearing 200, thereby changing the meshing state between the flexible teeth 3111 and the rigid teeth 3211, and then driving the rotation of the second inner ring 310, reducing the use of connecting parts. The cam 100 and the inner support bearing 200 are placed inside the outer support bearing 300, which can reduce the axial dimension, and the first connecting portion 312 of the second inner ring 310 for connecting with the load and the cam 100 are axially distributed, so that the first connecting portion 312 can have a relatively large volume, thereby enhancing the structural strength of the first connecting portion 312 and further enhancing the reliability of the connection with the load.

[0043] Optionally, the cam 100 and the shoulder 323 of the stepped hole are axially spaced apart on the cam 100. The shoulder 323 is formed between the large-diameter section 321 and the small-diameter section 322. Since the rotation speed of the cam 100 is different from that of the second inner ring 310 of the outer support bearing 300, the cam 100 and the second inner ring 310 are spaced apart to avoid frictional work generated by relative movement after they come into contact, resulting in internal heating of the harmonic reducer.

[0044] Optionally, rolling elements are installed between the cam 100 and the shoulder 323 of the second inner ring 310. The rolling elements serve as the support between the cam 100 and the second inner ring 310 in the axial direction of the cam 100, which can maintain the relative stability between the cam 100 and the second inner ring 310, and the rolling elements can convert the friction between the cam 100 and the second inner ring 310 into rolling friction, reducing the friction coefficient.

[0045] Optionally, the first outer ring 220 of the inner support bearing 200 is in interference fit with the transmission portion 311 of the second inner ring 310. Also, since the first inner ring 210 of the inner support bearing 200 is fixed to the cam 100, in this way, the cam 100 can be axially relatively fixed to the second inner ring 310 through the inner support bearing 200. It should be noted that the inner support bearing 200 is not in interference fit with the entire circumference of the second inner ring 310, and only the area corresponding to the long axis of the cam 100 can have an interference fit with the second inner ring 310.

[0046] Since the transmission part 311 of the second inner ring 310 of the outer support bearing 300 will undergo elastic deformation when being extruded by the long axis of the cam 100, the radial distance between the transmission part 311 of the second inner ring 310 and the side wall of the large-diameter section 321 of the second outer ring 320 will change. Therefore, it is not suitable to install the rolling elements of the outer support bearing 300 at the above position. For this reason, in this embodiment, rolling elements are clamped between the first connecting part 312 of the second inner ring 310 and the circumferential side wall of the small-diameter section 322 of the second outer ring 320. In this way, the rolling elements can enable rolling friction to be formed between the second inner ring 310 and the second outer ring 320. The second inner ring 310 is used to drive the load to move, while the second outer ring 320 is used to connect with the support member and remain stationary to form relative movement between the second inner ring 310 and the second outer ring 320.

[0047] Optionally, an installation groove 313 is formed on the outer peripheral wall of the first connecting part 312 of the second inner ring 310. The installation groove 313 is used to install an oil retaining ring, and the installation groove 313 is located on the side of the rolling elements facing away from the cam 100. In this way, the oil retaining ring can prevent the lubricating oil attached to the rolling elements from detaching from the rolling elements during high-speed rotation and splashing out of the harmonic reducer when the second inner ring 310 and the second outer ring 320 perform relative movement.

[0048] Optionally, a first sliding groove 314 is formed on the outer side wall of the first connecting part 312, and a second sliding groove 324 is formed on the inner peripheral wall of the small-diameter section 322 of the second outer ring 320. The first sliding groove 314 and the second sliding groove 324 enclose a guide rail for installing the rolling elements.

[0049] Specifically, the first sliding groove 314 is formed on the outer side wall of the first connecting part 312 around the axis of the outer support bearing 300, and the second sliding groove 324 is formed on the small-diameter section 322 of the second outer ring 320 around the axis of the outer support bearing 300. Both the first sliding groove 314 and the second sliding groove 324 are annular. When the first connecting part 312 of the second inner ring 310 is inserted into the small-diameter section 322 of the second outer ring 320, the first sliding groove 314 and the second sliding groove 324 are opposite to form a guide rail, and the rolling elements are installed in the guide rail, which can standardize the movement track of the rolling elements and prevent the rolling elements from disengaging between the second outer ring 320 and the second inner ring 310.

[0050] Optionally, rolling elements are arranged along the axis of the cam 100 between the shoulder 323 of the second outer ring 320 and the second inner ring 310. The rolling elements serve as the axial support between the second outer ring 320 and the second inner ring 310 to reduce the friction between the two.

[0051] Optionally, the outer support bearing 300 is selected from any one of crossed roller bearings, ball bearings, angular contact bearings, cylindrical roller bearings, and tapered roller bearings.

[0052] Optionally, the inner support bearing 200 is selected from any one of crossed roller bearings, ball bearings, angular contact bearings, cylindrical roller bearings, and tapered roller bearings.

[0053] Optionally, the first connecting portion 312 of the second inner ring 310 is connected to the load through a flange structure. Specifically, a plurality of second connecting holes 315 are evenly formed in the first connecting portion 312 around the axis of the outer support bearing 300. The second inner ring 310 is connected to the load through threaded fasteners, and the threaded fasteners correspond to the second connecting holes 315 one by one. In this way, the connection stability between the second inner ring 310 and the load can be stronger, and stress concentration is not likely to occur.

[0054] Optionally, the large-diameter section 321 of the second outer ring 320 is connected to the support member through a flange structure. Specifically, a plurality of third connecting holes 325 are evenly formed in the large-diameter section 321 around the axis of the outer support bearing 300. The second outer ring 320 is connected to the support member through threaded fasteners, and the threaded fasteners correspond to the third connecting holes 325 one by one. In this way, the connection stability between the second outer ring 320 and the support member can be stronger, and stress concentration is not likely to occur.

[0055] Optionally, the cam 100 is connected to the output end of the driver through a flange structure.

[0056] In addition, the above are only the preferred embodiments of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. Harmonic reducer, characterized in that, Comprising: A cam (100); An inner support bearing (200), the inner support bearing (200) being a flexible bearing, and a first inner ring (210) of the inner support bearing (200) being fixedly sleeved on the outer peripheral side of the cam (100); An outer support bearing (300), a stepped hole being axially formed in a second outer ring (320) of the outer support bearing (300), the cam (100) and the inner support bearing (200) being placed in a large-diameter section (321) of the stepped hole, a rigid tooth (3211) being provided on an inner side wall of the large-diameter section (321), a second inner ring (310) of the outer support bearing (300) including a transmission part (311) and a first connection part (312), the transmission part (311) and the first connection part (312) being fixed, the transmission part (311) being radially clamped between the inner support bearing (200) and the second outer ring (320), the transmission part (311) being capable of elastic deformation and being provided with flexible teeth (3111), some of the flexible teeth (3111) being capable of meshing with the rigid teeth (3211), and the first connection part (312) being inserted into a small-diameter section (322) of the stepped hole for connecting a load.

2. The harmonic reducer according to claim 1, wherein The cam (100) and a shoulder (323) of the stepped hole are axially spaced apart on the cam (100), and the shoulder (323) is formed between the large-diameter section (321) and the small-diameter section (322).

3. The harmonic reducer according to claim 1, characterized in that, Rolling elements are clamped between a first connection part (312) of the second inner ring (310) and a peripheral side wall of the small-diameter section (322) of the second outer ring (320).

4. The harmonic reducer according to claim 3, characterized in that, An installation groove (313) is formed in an outer peripheral wall of the first connection part (312) of the second inner ring (310), the installation groove (313) being used for installing an oil baffle ring, and the installation groove (313) is located on a side of the rolling element facing away from the cam (100).

5. The harmonic reducer according to claim 3, characterized in that, A first chute (314) is formed in an outer side wall of the first connection part (312), and a second chute (324) is formed in an inner peripheral wall of the small-diameter section (322) of the second outer ring (320), and the first chute (314) and the second chute (324) enclose a guide rail for installing the rolling element.

6. The harmonic reducer according to claim 3, characterized in that, Rolling elements are arranged along an axis of the cam (100) between a shoulder (323) of the second outer ring (320) and the second inner ring (310).

7. The harmonic reducer according to claim 1, characterized in that, The outer support bearing (300) is selected from any one of a crossed roller bearing, a ball bearing, an angular contact bearing, a cylindrical roller bearing, and a tapered roller bearing.

8. The harmonic reducer according to claim 1, characterized in that, The inner support bearing (200) is selected from any one of a crossed roller bearing, a ball bearing, an angular contact bearing, a cylindrical roller bearing, and a tapered roller bearing.

9. The harmonic reducer according to any one of claims 1-8, characterized in that, The first connection part (312) of the second inner ring (310) is connected to the load through a flange structure.

10. The harmonic reducer according to any one of claims 1-8, characterized in that, The large-diameter section (321) of the second outer ring (320) is connected to a support member through a flange structure.

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