Harmonic reducer

Abstract

The utility model relates to the technical field of speed reducers, in particular to a harmonic speed reducer which comprises a wave generator. The flexible gear is arranged on the wave generator in a sleeving mode, and an outer gear ring is arranged on the circumferential outer wall of the flexible gear; the rigid gear is arranged on the flexible gear in a sleeving mode, an inner gear ring is arranged on the inner wall of the rigid gear, and the outer gear ring is meshed with the inner gear ring in a matched mode; one end of the rigid wheel is located in the shell, and the shell comprises an upper end cover; the flexible gear fixing bearing is arranged at the bottom, close to the shell, of the flexible gear in a sleeving manner; and the wave generator is arranged on the flexible gear through the wave generator fixing bearing. According to the utility model, abnormal noise and other linkage problems caused by unstable transmission due to swinging of the wave generator when the motor inputs power to rotate can be prevented.

Description

Technical Field

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

[0002] At present, the harmonic speed reducer is a precision speed reducer applied to robot joints, usually composed of three major components: a flexible gear, a rigid gear and a wave generator. The wave generator rotates to make the flexible gear generate periodic wave deformation, forcing the flexible gear and the rigid gear to engage in internal meshing with a small tooth difference, so as to realize the transmission of motion and power.

[0003] When the motor outputs power to the wave generator, the wave generator will swing unstably when rotating, and phenomena such as vibration and noise will occur during operation, affecting the use experience of the machine. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a harmonic speed reducer that can solve the above technical problems.

[0005] The utility model provides a harmonic speed reducer, comprising:

[0006] A wave generator;

[0007] A flexible gear sleeved on the wave generator, and an external tooth ring is arranged on the circumferential outer wall of the flexible gear;

[0008] A rigid gear sleeved on the flexible gear, an internal tooth ring is arranged on the inner wall of the rigid gear, and the external tooth ring is adaptively meshed with the internal tooth ring;

[0009] A housing, one end of the rigid gear is located in the housing, and the housing includes an upper end cover;

[0010] A flexible gear fixing bearing sleeved on the bottom of the flexible gear close to the housing;

[0011] A wave generator fixing bearing, and the wave generator is arranged on the flexible gear through the wave generator fixing bearing.

[0012] Further, the wave generator includes a motor, the motor is fixedly connected to the upper end cover, an output shaft of the motor passes through the upper end cover and is fixedly connected with a wave generator body, the wave generator body includes a through shaft, the through shaft is fixedly sleeved outside the output shaft of the motor, and the wave generator fixing bearing is installed at one end of the through shaft close to the bottom of the housing.

[0013] Further, the wave generator body further includes an upper cover of the wave generator and a lower cover of the wave generator. The through-shaft penetrates through the upper cover of the wave generator and the lower cover of the wave generator and is fixedly connected to both. A plurality of rollers are arranged between the upper cover of the wave generator and the lower cover of the wave generator and are distributed around their axes. The overall movement of the plurality of rollers deforms the flexspline.

[0014] Further, a plurality of roller fixing shafts are fixedly connected to the bottom of the upper cover of the wave generator. The rollers are movably sleeved on the roller fixing shafts. The lower cover of the wave generator is provided with mounting grooves matching the rollers. The bottom of the mounting grooves is provided with mounting holes for placing the roller fixing shafts. The upper cover of the wave generator and the lower cover of the wave generator enclose the rollers inside the two.

[0015] Further, there are four roller fixing shafts and they are circumferentially distributed along the axis of the upper cover of the wave generator.

[0016] Further, the flexspline is made of a non-metallic material.

[0017] Further, the rigid spline is made of a non-metallic material.

[0018] Further, the flexspline fixing bearing and the wave generator fixing bearing are double-row angular contact ball bearings or single-row deep groove ball bearings.

[0019] The present utility model also provides a robot joint, including the above harmonic reducer.

[0020] The present utility model also provides a robot, including the above robot joint.

[0021] Beneficial effects:

[0022] When the wave generator is connected to the motor and works, the present utility model exerts an action on the flexspline to deform the flexspline. Further, the external gear of the flexspline and the internal gear of the rigid spline perform relative transmission. During the relative transmission process, the external teeth of the flexspline in the direction of the major axis of the ellipse mesh with some internal teeth of the external internal-tooth rigid spline, and the external teeth of the flexspline in the direction of the minor axis of the ellipse are separated from some internal teeth of the external internal-tooth rigid spline. Therefore, speed reduction operation will occur. At the same time, a wave generator fixing bearing is added at the lower end of the wave generator of this reducer to prevent the wave generator from swinging during the rotation of the motor input power, resulting in unstable transmission, abnormal noise and other chain problems. Description of the drawings

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure of the present invention;

[0025] Figure 2 Exploded view of the structure of the present invention;

[0026] Figure 3 Schematic diagram of the structure of the wave generator in the present invention;

[0027] Figure 4 Cross-sectional view of the present invention.

[0028] Explanation of reference numerals: 1 - wave generator, 101 - motor, 102 - output shaft, 103 - through shaft, 104 - upper cover of wave generator, 105 - lower cover of wave generator, 106 - roller, 107 - roller fixing shaft, 108 - installation groove, 109 - installation hole, 2 - flexspline, 3 - circular spline, 4 - housing, 401 - upper end cover, 5 - flexspline fixing bearing, 6 - wave generator fixing bearing. Specific embodiments

[0029] The following will clearly and completely describe the technical solutions of the present invention in combination with the embodiments. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, 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 therefore should not be construed as a limitation to the present invention.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined. In addition, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. 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 circumstances.

[0032] Embodiment 1

[0033] As Figures 1-4 shown, a harmonic reducer includes a wave generator 1, a flexible gear 2, a rigid gear 3, a housing 4, a flexible gear fixing bearing 5, and a wave generator fixing bearing 6. Both the flexible gear 2 and the rigid gear 3 are made of plastic material. The flexible gear 2 is sleeved on the wave generator 1. An external gear ring is provided on the outer circumferential wall of the flexible gear 2. The rigid gear 3 is sleeved on the flexible gear 2. An internal gear ring is provided on the inner wall of the rigid gear 3. The external gear ring is adapted to mesh with the internal gear ring. One end of the rigid gear 3 is located inside the housing 4. The housing 4 includes an upper end cover 401. The flexible gear fixing bearing 5 is sleeved on the flexible gear 2 near the bottom of the housing 4. The wave generator 1 is arranged on the flexible gear 2 through the wave generator fixing bearing 6.

[0034] The wave generator 1 includes a motor 101. The motor 101 is fixedly connected to the upper end cover 401. The output shaft 102 of the motor 1 passes through the upper end cover 401 and is fixedly connected to a wave generator body. The wave generator body includes a through shaft 103. The through shaft 103 is fixedly sleeved outside the output shaft 102 of the motor. The wave generator fixing bearing 6 is sleeved on one end of the through shaft 103 near the bottom of the housing 4. The wave generator body further includes a wave generator upper cover 104 and a wave generator lower cover 105. The through shaft 103 passes through the wave generator upper cover 104 and the wave generator lower cover 105 and is fixedly connected to both of them. As Figure 3 shown, for the internal structure diagram of the wave generator, the motor 101 is mounted on the upper end cover 401. The output shaft 102 of the motor 101 and the wave generator 1 are in interference connection on the wave generator upper cover 104 (i.e., the output shaft 102 of the motor and the through shaft 103 are in interference fit). The motor transmits power to the wave generator through the shaft, and then the rollers on the wave generator rotate relative to the flexible gear to transmit the power to the flexible gear.

[0035] Between the wave generator upper cover 104 and the wave generator lower cover 105, multiple rollers 106 are distributed around the axes of the two. The collective movement of the multiple rollers 106 causes the flexible wheel to deform. Specifically, multiple roller fixing shafts 107 are fixedly connected to the bottom of the wave generator upper cover 104. The rollers 106 are movably mounted on the roller fixing shafts 107. The wave generator lower cover 105 is provided with mounting grooves 108 that match the rollers 106. The bottom of the mounting grooves 108 is provided with mounting holes 109 for receiving the roller fixing shafts 107. The wave generator upper cover 104 and the wave generator lower cover 105 enclose the rollers 106 within themselves. There are four roller fixing shafts 107, which are distributed circumferentially along the axis of the wave generator upper cover 105.

[0036] The above-mentioned flexible spline fixed bearing and wave generator fixed bearing are either double-row angular contact ball bearings or single-row deep groove ball bearings.

[0037] Example 2

[0038] The basic structure is the same as that of Example 1, with the difference being that an output shaft connected to the flexible wheel transmission is installed at the bottom of the shell, a cooling fan is detachably connected to the outside of the output shaft, and heat sinks are evenly distributed on the outside of the cooling fan. The heat sinks are welded to the bottom of the shell, and the shell and the heat sinks are both made of aluminum alloy.

[0039] Example 3

[0040] A robot joint includes the harmonic reducer of embodiment 1.

[0041] Example 4

[0042] A robot comprises the robot joint of embodiment 3.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A harmonic reducer, characterized in that, Comprising: A wave generator; A flexspline, sleeved on the wave generator, and an external gear ring is provided on the outer circumferential wall of the flexspline; A rigid ring, sleeved on the flexspline, and an internal gear ring is provided on the inner wall of the rigid ring, and the external gear ring is adapted to mesh with the internal gear ring; A housing, one end of the rigid ring is located inside the housing, and the housing includes an upper end cover; A flexspline fixed bearing, sleeved on the bottom of the flexspline close to the housing; A wave generator fixed bearing, and the wave generator is arranged on the flexspline through the wave generator fixed bearing.

2. The harmonic reducer according to claim 1, characterized in that, The wave generator includes a motor, the motor is fixedly connected to the upper end cover, an output shaft of the motor passes through the upper end cover and is fixedly connected to a wave generator body, the wave generator body includes a through shaft, the through shaft is fixedly sleeved outside the output shaft of the motor, and the wave generator fixed bearing is installed at one end of the through shaft close to the bottom of the housing.

3. The harmonic reducer according to claim 2, wherein The wave generator body further includes an upper wave generator cover and a lower wave generator cover, the through shaft penetrates through the upper wave generator cover and the lower wave generator cover and is fixedly connected to both of them, and a plurality of rollers distributed around their axes are provided between the upper wave generator cover and the lower wave generator cover, and the overall movement of the plurality of rollers causes the flexspline to deform.

4. The harmonic reducer according to claim 3, characterized in that, The bottom of the upper wave generator cover is fixedly connected with a plurality of roller fixed shafts, the rollers are movably sleeved on the roller fixed shafts, the lower wave generator cover is provided with an installation groove matching with the rollers, the bottom of the installation groove is provided with an installation hole for placing the roller fixed shafts, and the upper wave generator cover and the lower wave generator cover enclose the rollers inside the two.

5. The harmonic reducer according to claim 4, characterized in that, There are four roller fixed shafts and they are circumferentially distributed along the axis of the upper wave generator cover.

6. The harmonic reducer according to claim 1, characterized in that The flexspline is made of a non-metallic material.

7. The harmonic reducer according to claim 1, wherein The rigid ring is made of a non-metallic material.

8. The harmonic reducer according to claim 1, wherein The flexspline fixed bearing and the wave generator fixed bearing are double row angular contact ball bearings or single row deep groove ball bearings.

9. A robot joint, characterized in that, Comprising a harmonic reducer according to any one of claims 1-8.

10. A robot, characterized in that, Comprising a robot joint according to claim 9.

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