Harmonic reducer

Abstract

The utility model provides a harmonic reducer which comprises a steel wheel 1, a crossed roller, an upper gland 3, a reducer shell 4 and a flexible gear 5. Wherein the inner circumferential wall of the steel wheel 1 is meshed with the periphery of the flexible wheel 5; the steel wheel 1 is fixedly connected with a crossed roller inner ring 2 of the crossed roller in series; the upper gland 3 is fixedly connected with a flexible gear 5 through a threaded hole formed in the speed reducer shell 4. Therefore, the steel wheel and the inner ring of the crossed roller bearing are integrated, the strength of the steel wheel is improved, and the steel wheel cannot be pulled out in the rotating process.

Description

Technical Field

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

[0002] Harmonic reducers have been widely used in electronics, aerospace, robotics and other industries due to their advantages of high load capacity, large transmission ratio, small size, light weight, smooth transmission and high transmission accuracy.

[0003] The utility model patent with publication number CN213332271U discloses a harmonic reducer and a robot, including a wave generator, a flexible spline, a rigid spline and a cross-roller bearing. The flexible spline is sleeved on the wave generator, and the rigid spline and the cross-roller bearing are sleeved on the flexible spline. The flexible spline includes a first connecting wall engaged with the inner circumferential wall of the rigid spline. The inner ring of the cross-roller bearing is provided with a protrusion on the end face facing the rigid spline, and the axial end face of the rigid spline is provided with a recessed portion corresponding to the protrusion, and the protrusion is inserted into the recessed portion.

[0004] The technical solution implemented by inserting the protrusion into the recess in the prior art has the problem that the steel wheel and the inner ring of the cross roller bearing are separated, the strength of the steel wheel is low, and the steel wheel can be pulled out during rotation. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a bearing for a harmonic reducer and a harmonic reducer.

[0006] The harmonic reducer provided by the utility model includes: a steel wheel 1, a cross roller, an upper pressure cover 3, a reducer housing 4, and a flexible pulley 5;

[0007] The inner peripheral wall of the steel wheel 1 is meshed with the outer periphery of the flexible wheel 5;

[0008] The steel wheel 1 is fixedly connected in series with the cross roller inner ring 2 of the cross roller;

[0009] The upper pressure cover 3 is fixedly connected to the flexible wheel 5 through a threaded hole provided on the reducer housing 4 .

[0010] Preferably, the reducer housing 4 and the upper pressure cover 3 are mounted on the outside of the cross roller outer ring 8 of the cross roller, and one end of the cross roller outer ring 8 contacts the inner wall of the reducer housing 4; the other end of the cross roller outer ring 8 contacts the inner wall of the upper pressure cover 3.

[0011] Preferably, the roller 7 is further included; the roller 7 is connected through the cross roller outer ring 8 and the cross roller inner ring 2, and the roller 7 can roll in the raceway formed by the cross roller inner ring 2 and the cross roller outer ring 8;

[0012] Preferably, there are multiple rollers 7, and the rollers 7 are arranged in a cross-staggered manner.

[0013] Preferably, a cross roller cover 6 is further included, and the cross roller cover 6 is fixedly connected to the cross roller outer ring 8.

[0014] Preferably, a sealing groove is provided on a side of the reducer housing 4 close to the flexible spline 5 , and a sealing ring 9 is provided in the sealing groove.

[0015] Preferably, the sealing ring 9 is a static sealing ring.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The steel wheel 1 and the inner ring of the cross roller bearing 2 are connected in series by a fixed connection; thereby, the steel wheel and the inner ring of the cross roller bearing become one, thereby improving the strength of the steel wheel and preventing the steel wheel from being pulled out during rotation;

[0018] (2) By adopting a fixed series structure of the upper pressure cover 3, the reducer housing 4, the flexspline 5, and the cross roller outer ring 8, the outer ring of the cross roller bearing is locked on the flexspline 5 by the upper pressure cover 3 and the cross roller outer ring 8 through the threaded holes provided on the reducer housing 4, thereby improving the connection strength between the flexspline and the outer ring of the cross roller bearing, and preventing the outer ring of the cross roller bearing from being pulled out during the rotation process;

[0019] (3) By adopting the serial connection structure of the steel wheel, the inner ring of the cross roller 2, the upper pressure cover 3, the reducer housing 4 and the flexible wheel 5, the harmonic reducer and the bearing parts are shared, which reduces the number of overall parts and facilitates assembly and production. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0021] Figure 1 A half-section schematic diagram of the present utility model;

[0022] Figure 2 This is an explosion diagram of the utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the utility model after assembly;

[0024] The figure shows:

[0025] DETAILED DESCRIPTION

[0026] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various variations and improvements without departing from the scope of the present invention. Such variations and improvements are all within the scope of protection of the present invention.

[0027] The utility model provides a harmonic speed reduction, comprising a steel wheel 1, a cross roller inner ring 2, an upper pressure cover 3, a speed reducer housing 4, and a flexible pulley 5;

[0028] Among them, the inner circumferential wall of the steel wheel 1 is engaged with the flexible wheel 5; the upper pressure cover 3 is fixedly connected to the flexible wheel 5 through the threaded hole set on the reducer housing 4, and the steel wheel 1 and the inner ring of the cross roller 2 are connected in series by adopting a fixed connection; thereby, the steel wheel and the inner ring of the cross roller bearing become integrated, thereby improving the strength of the steel wheel and preventing it from being pulled out during rotation.

[0029] The cross roller outer ring 8 is also included; the reducer housing 4 and the upper pressure cover 3 press the cross roller outer ring, and the upper pressure cover 3, the reducer housing 4, the flexible wheel 5, and the cross roller outer ring 8 are fixedly connected in series, so that the outer ring of the cross roller bearing is locked on the flexible wheel 5 by the upper pressure cover 3 and the cross roller outer ring 8 through the threaded holes provided on the reducer housing 4, thereby improving the connection strength between the flexible wheel and the outer ring of the cross roller bearing, and preventing the outer ring of the cross roller bearing from being pulled out during the rotation process;

[0030] It also includes a roller 7 and a sealing ring 9;

[0031] The roller 7 is formed by connecting the cross roller outer ring 8 and the cross roller inner ring 2, and the roller 7 can roll in the raceway formed by the cross roller inner ring 2 and the cross roller outer ring 8; the number of rollers 7 is multiple, and the rollers 7 are arranged in a cross-staggered manner;

[0032] It also includes a cross roller cover 6, which is fixedly connected to the cross roller outer ring 8 to prevent dust and the like from entering the raceway and affecting the normal movement of the roller;

[0033] A sealing groove is provided on the reducer housing 4. A sealing ring 9 is provided in the sealing groove provided on the reducer housing 4 to achieve better sealing between the reducer housing 4 and the flexible wheel 5. The sealing ring 9 is a static sealing ring.

[0034] Working principle:

[0035] When the reducer drives the wave generator 10 to rotate, the flexible wheel 5 undergoes flexural deformation, and the teeth on the outer periphery of the flexible wheel 5 and the teeth on the inner periphery of the steel wheel 1 undergo relative displacement, thereby driving the steel wheel 1 to rotate; since the inner ring 2 of the cross roller is fixedly connected to the steel wheel 1, the inner ring 2 of the cross roller is driven to rotate, and then the roller 7 rolls in the raceway formed by the inner ring 2 of the cross roller and the outer ring 8 of the cross roller.

[0036] The technical solution of the present invention can achieve convenient installation and a reduced number of parts; and the axial and radial load capacities of the steel wheel in the harmonic are significantly improved.

[0037] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0038] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A harmonic reducer, characterized in that: include: Steel wheel (1), cross roller, upper gland (3), reducer housing (4), flexible wheel (5); wherein the inner peripheral wall of the steel wheel (1) meshes with the outer periphery of the flexible wheel (5); The steel wheel (1) and the cross roller inner ring (2) of the cross roller are fixedly connected in series; The upper pressure cover (3) is fixedly connected to the flexible wheel (5) through a threaded hole provided on the reducer housing (4).

2. The harmonic reducer according to claim 1, characterized in that: The reducer housing (4) and the upper pressure cover (3) are sleeved on the outside of the cross roller outer ring (8) of the cross roller, one end of the cross roller outer ring (8) contacts the inner wall of the reducer housing (4); the other end of the cross roller outer ring (8) contacts the inner wall of the upper pressure cover (3).

3. The harmonic reducer according to claim 2, characterized in that: Also includes a roller (7); The roller (7) is located between the cross roller outer ring (8) and the cross roller inner ring (2), and the roller (7) can roll in the raceway formed by the cross roller inner ring (2) and the cross roller outer ring (8).

4. The harmonic reducer according to claim 3, characterized in that: The number of the rollers (7) is multiple, and the rollers (7) are arranged in a cross-staggered manner.

5. The harmonic reducer according to claim 2, characterized in that: It also includes a cross roller cover (6), which is fixedly connected to the cross roller outer ring (8).

6. The harmonic reducer according to claim 1, characterized in that: A sealing groove is provided on one side of the reducer housing (4) close to the flexible wheel (5), and a sealing ring (9) is provided in the sealing groove.

7. The harmonic reducer according to claim 6, characterized in that: The sealing ring (9) is a static sealing ring.

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