Harmonic speed reducer
By designing the meshing and flexible deformation of components such as the static rigid wheel and the flexible wheel, the conversion of the harmonic reduction device from rotational power to axial movement is achieved, solving the problem that the existing device requires additional connection of the conversion device. It is small in size and has a long service life.
Patent Information
- Application Number
- CN202422271487.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2034-09-18
AI Technical Summary
Existing harmonic reduction devices only have a reduction function and cannot directly convert rotational power into axial movement power. They need to be connected to other conversion devices, resulting in a bulky device.
A harmonic reduction gear is designed, which includes components such as a static rigid wheel, a flexspline, a flexible bearing, an input member and a hollow dynamic rigid wheel. The conversion of rotational power to axial movement is achieved through the engagement and flexible deformation between the components, without the need for additional connection conversion devices.
The conversion from rotary power to axial movement is realized, and the device is small in size, which prevents the leakage of lubricating grease and prolongs the service life.
Smart Images
Figure CN223375014U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a speed reducing device, in particular to a harmonic speed reducing device. Background Art
[0002] Common harmonic reducers are widely used in various mechanical devices, such as robotic arms. Because existing harmonic reducers only function to reduce speed, in practice, technicians must connect the output component of the harmonic reducer to another conversion device to convert the rotational power output of the harmonic reducer into axial motion. Utility Model Content
[0003] The utility model discloses a harmonic reduction device, which is mainly used to improve the existing harmonic reduction device, which only has a reduction function. The relevant technicians must connect other devices in addition to convert the power output by the harmonic reduction device in a rotating manner into power moving in the axial direction.
[0004] One embodiment of the present invention discloses a harmonic reduction device, which includes: a static rigid wheel, the inner side of which has a plurality of first internal tooth structures, and the two ends of the static rigid wheel are respectively an input end and an output end; a flexible wheel, the outer side of which has a plurality of first external tooth structures, and the inner side of the flexible wheel has a plurality of second internal tooth structures; the plurality of first external tooth structures are used to mesh with the plurality of first internal tooth structures; the number of the first external tooth structures included in the flexible wheel is different from the number of the first internal tooth structures included in the static rigid wheel; a flexible bearing connected to the outer side of the flexible wheel; an input member, which includes an annular wall, the annular wall is connected to the flexible bearing, and the input member is located at the input end; a middle The hollow dynamic rigid wheel has a plurality of second external tooth structures on its outer side, and the plurality of second external tooth structures are used to mesh with the plurality of second internal tooth structures. The number of the second external tooth structures included in the hollow dynamic rigid wheel is different from the number of the second internal tooth structures included in the flexible wheel; an internal spiral structure is generated on the inner side of the hollow dynamic rigid wheel; an output member includes a connecting portion and an output shaft, an external spiral structure is generated on the outer side of the connecting portion, and the output shaft is connected to the connecting portion; the external spiral structure is screwed to the internal spiral structure, and a portion of the output shaft is located in the hollow dynamic rigid wheel; an end cover is provided at the output end of the static rigid wheel, and the end cover includes a through hole; a portion of the output shaft can pass through the through hole
[0005] hole; wherein, when the input member is driven to rotate, the input member will drive the flexible wheel to repeatedly flexibly deform through the flexible bearing, and the repeatedly flexibly deformed flexible wheel will drive the hollow dynamic rigid wheel to rotate; when the hollow dynamic rigid wheel rotates, the outer spiral structure of the output member will rotate relative to the inner spiral structure, and the output member will move along an axial direction.
[0006] Optionally, the outer periphery of the output shaft is non-circular, and the shape of the through hole corresponds to the shape of the outer periphery of the output shaft.
[0007] Optionally, the output shaft is a rectangular columnar structure, and the through-hole is a rectangular through-hole.
[0008] Optionally, the input component includes a bottom, an annular wall and an external connecting portion, the outer periphery of the bottom extends to one side to form an annular wall, the external connecting portion is located on the other side of the bottom, and the external connecting portion is used to connect to an external power source; the bottom and the annular wall jointly form a groove; a portion of the hollow dynamic rigid wheel is located in the groove; an inner auxiliary bearing is provided on the inner side of the annular wall, and the hollow dynamic rigid wheel located in the groove can rotate relative to the annular wall through the inner auxiliary bearing; the flexible bearing is located in the groove, and the flexible bearing is connected to the annular wall.
[0009] Optionally, an inner annular limiting structure is generated on the inner side of the annular wall, and the inner annular limiting structure divides the groove into an inner bearing groove and a flexible bearing groove. The inner bearing groove is adjacent to the bottom, and the inner annular limiting structure includes an annular snap-fit groove and an annular protrusion structure. The annular snap-fit groove is used to provide an inner retaining ring setting; the inner bearing groove is used to accommodate an inner auxiliary bearing, and the flexible bearing groove is used to accommodate a flexible bearing; the inner retaining ring is used to limit the range of movement of the inner auxiliary bearing arranged in the inner bearing groove along the axial direction; the annular protrusion structure is used to limit the range of movement of the flexible bearing along the axial direction.
[0010] Optionally, the inner diameter of the annular protrusion structure is smaller than the outer diameter of the flexible bearing, the outer diameter of the inner auxiliary bearing is not larger than the inner diameter of the annular protrusion structure, and the inner auxiliary bearing can pass through the annular protrusion structure to be disposed in the inner bearing groove.
[0011] Optionally, the static rigid wheel includes a hollow shell and a rigid wheel body, the rigid wheel body is arranged inside the hollow shell, and the rigid wheel body divides the hollow shell into an output container and an input container; a plurality of first internal tooth structures are generated inside the rigid wheel body.
[0012] Optionally, the harmonic reduction device further comprises an annular oil seal component, which is arranged between the annular wall and the hollow shell; the annular oil seal component is used to seal the gap between the shell and the input component.
[0013] Optionally, the harmonic reduction device further comprises an external auxiliary bearing and an external retaining ring, wherein the external auxiliary bearing is located in the output groove; the external retaining ring is engaged with an external annular limiting structure fixed on the outer side of the hollow dynamic rigid wheel, and the external retaining ring is used to limit the range of motion of the external auxiliary bearing in the axial direction; the hollow dynamic rigid wheel can pass through the external auxiliary shaft
[0014] The bearing rotates relative to the static rigid wheel.
[0015] Optionally, both the outer auxiliary bearing and the inner auxiliary bearing are rubber-covered bearings.
[0016] In summary, the harmonic speed reducer of the present invention has an input member connected to a rotational power source, while the output member of the harmonic speed reducer moves axially. The harmonic speed reducer of the present invention not only reduces speed but also converts the rotational input power into axially moving output power, without the need for additional conversion devices.
[0017] 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
[0018] Figure 1 and Figure 2 They are schematic diagrams of the harmonic speed reducer of the present invention from different perspectives.
[0019] Figure 3 For the Figure 1 Schematic cross-sectional view of section line III-III.
[0020] Figures 4 to 9 They are respectively different partial exploded schematic diagrams of the harmonic speed reducer of the present invention.
[0021] Figure 10 for Figure 3 Schematic diagram of the output component after being driven to move. DETAILED DESCRIPTION
[0022] In the following description, if it is indicated that reference is made to a specific figure or as shown in a specific figure, it is only used to emphasize that most of the relevant content described in the subsequent description appears in the specific figure, but it does not limit the subsequent description to only referring to the specific figure.
[0023] Please also refer to Figures 1 to 9 , Figure 1 and Figure 2 They are schematic diagrams of the harmonic speed reducer of the utility model from different perspectives, Figure 3 For the Figure 1 Schematic cross-sectional view of section line III-III, Figures 4 to 9 They are respectively different partial exploded schematic diagrams of the harmonic speed reducer of the present invention.
[0024] like Figures 1 to 4As shown, the harmonic speed reducer A of the present invention includes: a static rigid wheel 1, an end cover 2, an output member 3, a hollow dynamic rigid wheel 4, an outer auxiliary bearing 5, an outer retaining ring 6, an input member 7, an annular oil seal member 8, an inner auxiliary bearing 9, a flexspline 100, a flexible bearing 200 and an inner retaining ring 300.
[0025] The two ends of the static rigid wheel 1 are defined as an output end 1A and an input end 1B, respectively. An end cap 2 is removably mounted on one end of the static rigid wheel 1. For example, the end cap 2 is attached to the output end 1A of the static rigid wheel 1 using a plurality of screws Q. The end cap 2 has a through-hole 21 for allowing one end of the output member 3 to pass through.
[0026] like Figure 2 、 Figure 4 and Figure 5 As shown, the output member 3 may include a connecting portion 31 and an output shaft 32. The connecting portion 31 has an outer spiral structure 311 formed on its outer side, and the output shaft 32 is connected to the connecting portion 31. The output shaft 32 extends through the through hole 21 at the end opposite to the connecting portion 31.
[0027] In practical applications, the outer periphery of the output shaft 32 is non-circular, and the shape of the through-hole 21 corresponds to the shape of the outer periphery of the output shaft 32. For example, the output shaft 32 may be a rectangular columnar structure, and the through-hole 21 may be a rectangular through-hole 21.
[0028] The hollow dynamic rigid wheel 4 is disposed in the static rigid wheel 1, and an inner spiral structure 41 is formed inside the hollow dynamic rigid wheel 4. The inner spiral structure 41 can be screwed with the outer spiral structure 311, and when the hollow dynamic rigid wheel 4 rotates, the inner spiral structure 41 can cooperate with the outer spiral structure 311, so that the output shaft 32 of the output member 3 moves along an axial direction (for example, Figure 3 Move forward or backward along the axis AX) indicated in FIG.
[0029] like Figure 3 and Figure 4 As shown, the end cap 2 is fixed to the output end 1A of the static rigid wheel 1. The end cap 2 can be used to close the opening 4A at one end of the hollow dynamic rigid wheel 4 and prevent the connecting portion 31 of the output member 3 from leaving the hollow dynamic rigid wheel 4. The inner diameter of the through hole 21 is larger than the outer diameter of the connecting portion 31 of the output member 3, and the connecting portion 31 cannot pass through the through hole 21.
[0030] like Figures 3 to 5As shown, an external auxiliary bearing 5 is disposed between one end of the hollow dynamic rigid wheel 4 and the static rigid wheel 1. The external auxiliary bearing 5 is connected to the hollow dynamic rigid wheel 4 and the inner side of the static rigid wheel 1. The hollow dynamic rigid wheel 4 can rotate relative to the static rigid wheel 1 via the external auxiliary bearing 5. The end of the hollow dynamic rigid wheel 4 connected to the external auxiliary bearing 5 has an outer annular limiting structure 42 (e.g., an annular groove formed on the outer side of the hollow dynamic rigid wheel 4). The outer annular limiting structure 42 is used to connect to the outer retaining ring 6. The outer retaining ring 6, which engages with the outer annular limiting structure 42, can be used to limit the range of motion of the outer auxiliary bearing 5 in the axial direction.
[0031] like Figure 3 、 Figure 6 and Figure 7 As shown, the static spline 1 includes a hollow housing 11 and a spline body 12, which is disposed inside the hollow housing 11. An end cap 2 is secured to one end of the hollow housing 11. The spline body 12 of the static spline 1 has a plurality of first internal tooth-like structures 13 disposed inside. The spline body 12 divides the hollow housing 11 into two receptacles, defined as an output receptacle 11A and an input receptacle 11B. The output receptacle 11A is adjacent to the output end 1A, while the input receptacle 11B is adjacent to the input end 1B. The external auxiliary bearing 5 is disposed in the output receptacle 11A.
[0032] The input end 1B of the static circular gear 1 is provided with an input member 7, and the static circular gear 1 is provided with an annular oil seal member 8 at the input end 1B. The annular oil seal member 8 is provided between the annular wall 72 of the input member 7 and the housing.
[0033] The annular oil seal member 8 is used to seal the gap between the hollow housing 11 and the input member 7.
[0034] like Figure 3 、 Figures 7 to 9 As shown, input member 7 comprises a base 71, an annular wall 72, and an external connection portion 73. The outer periphery of base 71 extends to one side to form annular wall 72, and external connection portion 73 is located on the other side of base 71. External connection portion 73 is used to connect to an external power source (e.g., an electric motor). The shape and location of external connection portion 73 can be designed based on actual needs and are not limited to the one shown in the figure.
[0035] The bottom 71 and annular wall 72 of the input member 7 together form a groove. An inner annular retaining structure 721 is formed on the inner side of the annular wall 72. This retaining structure 721 divides the groove into an inner bearing groove 7A and a flexible bearing groove 7B. The inner bearing groove 7A is adjacent to the bottom 71. An inner auxiliary bearing 9 is disposed within the input member 7 and located within the inner bearing groove 7A. The inner auxiliary bearing 9 is connected to the inner side of the annular wall 72 and to the outer side of the hollow dynamic rigid wheel 4. The inner auxiliary bearing 9 enables the hollow dynamic rigid wheel 4 to rotate relative to the annular wall 72.
[0036] The inner annular limiting structure 721 includes an annular engagement groove 7211 and an annular protrusion 7212. The annular engagement groove 7211 is adjacent to the inner bearing groove 7A, while the annular protrusion 7212 is adjacent to the flexible bearing groove 7B. The annular engagement groove 7211 accommodates the inner retaining ring 300. The inner retaining ring 300 engages with the annular engagement groove 7211, thereby limiting the axial range of motion of the inner auxiliary bearing 9 within the inner bearing groove 7A.
[0037] The flexible bearing 200 is mounted in the flexible bearing groove 7B. The inner diameter 7212L of the annular protrusion 7212 is smaller than the outer diameter 200L of the flexible bearing 200. The annular protrusion 7212 limits the axial range of motion of the flexible bearing 200 and prevents the flexible bearing 200 from entering the inner bearing groove 7A, thereby assisting in installation and preventing errors. The outer diameter of the inner auxiliary bearing 9 is no larger than the inner diameter of the annular protrusion 7212, allowing the inner auxiliary bearing 9 to pass through the annular protrusion 7212 for installation in the inner bearing groove 7A.
[0038] As described above, through the design of the annular engaging groove 7211 and the annular protrusion structure 7212, in conjunction with the outer diameter of the flexible bearing 200, the inner diameter of the annular protrusion structure 7212, the outer diameter of the inner auxiliary bearing 9, etc., it is possible for relevant personnel to install the flexible bearing 200, the inner auxiliary bearing 9 and the inner retaining ring 300 without basically any installation errors. Relevant personnel can easily know that the inner auxiliary bearing 9 must be installed in the inner bearing groove 7A, and the flexible bearing 200 must be installed in the flexible bearing groove 7B.
[0039] like Figure 3 、 Figure 7 and Figure 8 As shown, the flexible bearing 200 is connected to the outer side of the flexible wheel 100. The outer side of the flexible wheel 100 has a plurality of first external tooth structures 101, and the inner side of the flexible wheel 100 has a plurality of second internal tooth structures.
[0040] Structure 102. The plurality of first external tooth structures 101 are configured to mesh with the plurality of first internal tooth structures 13. The number of first external tooth structures 101 included in the flexspline 100 differs from the number of first internal tooth structures 13 included in the static rigid wheel 1. The flexspline 100 is disposed between the hollow dynamic rigid wheel 4 and the static rigid wheel 1. In actual use, the difference between a first total number of teeth of the first external tooth structures 101 included in the flexspline 100 and a second total number of teeth of the first internal tooth structures 13 included in the static rigid wheel 1 is two teeth, with the first total number of teeth being two less than the second total number of teeth.
[0041] The outer side of the hollow dynamic rigid wheel 4 has a plurality of second external tooth structures 43, which are used to mesh with the plurality of second internal tooth structures 102 of the flexspline 100. The number of second external tooth structures 43 included in the hollow dynamic rigid wheel 4 is the same as the number of second internal tooth structures 102 included in the flexspline 100.
[0042] Please also refer to Figure 3 and Figure 10 , Figure 10 for Figure 3 Schematic diagram of the output member being driven and moving. When the input member 7 is driven to rotate, it drives the flexspline 100 to repeatedly flexibly deform via the flexible bearing 200. The multiple first external tooth structures 101 of the flexspline 100 mesh with the multiple first internal tooth structures 13 of the static rigid wheel 1. Because the number of the multiple first tooth structures 101 of the flexspline 100 differs from the number of the multiple first internal tooth structures 13 of the static rigid wheel 1, the flexspline 100 repeatedly flexibly deforms only relative to the static rigid wheel 1. Furthermore, because there is no difference in the number of teeth between the multiple first internal tooth structures 13 of the flexspline 100 and the second external tooth structures 43 of the hollow dynamic rigid wheel 4, the repeatedly flexibly deformed flexspline 100 drives the hollow dynamic rigid wheel 4 to rotate at a reduced speed. As the hollow dynamic rigid wheel 4 rotates, the internal helical structure 41 drives the external helical structure 311, causing the output member 3 to rotate axially.
[0043] By designing the linkage between the above components, the harmonic speed reducer A of the present invention can convert a power source input in a rotational manner into an output in the form of axially decelerated movement. In addition, the harmonic speed reducer of the present invention has the advantage of being compact.
[0044] In addition, if Figure 10As shown, the length 7L from one end of the annular wall 72 of the input structure 7 to the outside of the bottom 71 along the axial direction is no greater than the length 11BL of the input groove 11B along the axial direction. The annular wall 72 does not protrude from the input groove 11B, and the flexible bearing 200 and the inner auxiliary bearing 9 are both disposed within the input member 7. An annular oil seal member 8 is also disposed between the input member 7 and the annular wall 72. Therefore, leakage of lubricating grease can be effectively prevented, and external dirt is not easily introduced into the area where the flexible wheel 100 and the flexible bearing 200 are located, thereby extending the service life of the harmonic reduction device A. In an optional embodiment, both the outer auxiliary bearing 5 and the inner auxiliary bearing 9 can be rubber-covered bearings. In this way,
[0045] This further prevents lubricating grease from leaking out, and prevents external dirt from entering the area where the flexible wheel 100 and the flexible bearing 200 are located.
[0046] In existing technologies, harmonic reduction gears only reduce speed and are unable to convert a rotating input power source into an axially decelerated output. Therefore, relevant technicians must connect the harmonic reduction gear to other conversion devices to convert the power source output mode. The additional conversion device would make the entire device bulky.
[0047] The above description is only an optional feasible embodiment of the present invention, and does not limit the patent scope of the present invention. Therefore, all equivalent technical changes made using the contents of the description and drawings of the present invention are included in the protection scope of the present invention.
Claims
1. A harmonic speed reducer, characterized in that: The harmonic reduction device comprises: a static rigid wheel having a plurality of first internal tooth structures on its inner side, wherein two ends of the static rigid wheel are respectively an input end and an output end; a flexspline having a plurality of first external tooth structures on its outer side and a plurality of second internal tooth structures on its inner side; the plurality of first external tooth structures are configured to mesh with the plurality of first internal tooth structures; the number of the first external tooth structures included in the flexspline is different from the number of the first internal tooth structures included in the static rigid wheel; and a flexible bearing connected to the outer side of the flexspline; an input member comprising an annular wall connected to the flexible bearing, the input member being located at the input end; a hollow dynamic rigid wheel having a plurality of second external tooth structures on its outer side, the plurality of second external tooth structures being configured to mesh with the plurality of second internal tooth structures, wherein the number of the second external tooth structures included in the hollow dynamic rigid wheel is different from the number of the second internal tooth structures included in the flexspline; an inner spiral structure generated inside the hollow dynamic rigid wheel; An output member includes a connecting portion and an output shaft, wherein an outer helical structure is formed on the outer side of the connecting portion, and the output shaft is connected to the connecting portion; the outer helical structure is threadedly connected to the inner helical structure, and a portion of the output shaft is located within the hollow dynamic rigid wheel; an end cover disposed at the output end of the static rigid wheel, the end cover comprising a through-hole; a portion of the output shaft can pass through the through-hole; When the input member is driven to rotate, the input member will drive the flexible wheel to repeatedly flexibly deform through the flexible bearing, and the repeatedly flexibly deformed flexible wheel will drive the hollow dynamic rigid wheel to rotate; when the hollow dynamic rigid wheel rotates, the outer helical structure of the output member will rotate relative to the inner helical structure, and the output member will move in an axial direction.
2. The harmonic speed reducer according to claim 1, characterized in that: The outer periphery of the output shaft is non-circular, and the shape of the through hole corresponds to the shape of the outer periphery of the output shaft.
3. The harmonic speed reducer according to claim 2, characterized in that: The output shaft is a rectangular columnar structure, and the through-hole is a rectangular through-hole.
4. The harmonic speed reducer according to claim 1, characterized in that: The input component includes a bottom, an annular wall and an external connecting portion, wherein the outer periphery of the bottom extends to one side to form the annular wall, and the external connecting portion is located on the other side of the bottom, and the external connecting portion is used to connect to an external power source; the bottom and the annular wall jointly form a groove; a portion of the hollow dynamic rigid wheel is located in the groove; an inner auxiliary bearing is provided on the inner side of the annular wall, and the hollow dynamic rigid wheel located in the groove can rotate relative to the annular wall through the inner auxiliary bearing; the flexible bearing is located in the groove, and the flexible bearing is connected to the annular wall.
5. The harmonic speed reducer according to claim 4, characterized in that: An inner annular limiting structure is formed on the inner side of the annular wall, and the inner annular limiting structure divides the groove into an inner bearing groove and a flexible bearing groove. The inner bearing groove is adjacent to the bottom, and the inner annular limiting structure includes an annular snap-fit groove and an annular protrusion structure. The annular snap-fit groove is used to provide an inner retaining ring setting; the inner bearing groove is used to accommodate the inner auxiliary bearing, and the flexible bearing groove is used to accommodate the flexible bearing; the inner retaining ring is used to limit the range of movement of the inner auxiliary bearing arranged in the inner bearing groove along the axial direction; the annular protrusion structure is used to limit the range of movement of the flexible bearing along the axial direction.
6. The harmonic speed reducer according to claim 5, characterized in that: The inner diameter of the annular protrusion structure is smaller than the outer diameter of the flexible bearing, and the outer diameter of the inner auxiliary bearing is not larger than the inner diameter of the annular protrusion structure. The inner auxiliary bearing can pass through the annular protrusion structure to be disposed in the inner bearing groove.
7. The harmonic speed reducer according to claim 5, characterized in that: The static rigid wheel includes a hollow shell and a rigid wheel body. The rigid wheel body is arranged on the inner side of the hollow shell. The rigid wheel body divides the hollow shell into an output container and an input container. A plurality of the first internal tooth structures are generated on the inner side of the rigid wheel body.
8. The harmonic speed reducer according to claim 7, characterized in that: The harmonic speed reducer further includes an annular oil seal component, which is disposed between the annular wall and the hollow housing. The annular oil seal component seals the gap between the housing and the input component.
9. The harmonic speed reducer according to claim 7, characterized in that: The harmonic reduction device also includes an external auxiliary bearing and an external retaining ring. The external auxiliary bearing is located in the output groove. The external retaining ring is engaged with an external annular limiting structure on the outside of the hollow dynamic rigid wheel. The external retaining ring is used to limit the range of movement of the external auxiliary bearing in the axial direction. The hollow dynamic rigid wheel can rotate relative to the static rigid wheel through the external auxiliary bearing.
10. The harmonic speed reducer according to claim 9, characterized in that: The outer auxiliary bearing and the inner auxiliary bearing are both rubber-covered bearings.