Harmonic corner hollow speed reducer

Abstract

The utility model relates to the technical field of drivers, in particular to a harmonic corner hollow speed reducer, which comprises a fixed seat, a rotating shaft, a rotating shaft and a rotating shaft, the input assembly comprises an input shaft with one end extending into the containing cavity, a driving bevel gear arranged on the input shaft and a motor used for driving the input shaft to operate. The output assembly comprises a cam shaft which partially extends into the accommodating cavity and is provided with a shaft hole, a driven bevel gear which is arranged on the cam shaft and is suitable for being meshed with the driving bevel gear, and a speed reduction group which is arranged on the fixed seat and is matched with the cam shaft; the speed reduction set comprises a hat-shaped flexible gear connected with the outer side wall of the cam shaft in a matched mode through a first bearing, a steel wheel arranged on the outer side of the hat-shaped flexible gear, and a crossed roller bearing arranged on the outer side of the hat-shaped flexible gear and matched with the steel wheel. And one shaft side end of the steel wheel is also connected with the output flange.

Description

Technical Field

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

[0002] Due to their high precision and high torque, harmonic reducers are widely used in industries such as 3C, machine tools, and automation. The principle of harmonic gear transmission is to utilize the relative motion of the flexspline, steel wheel, and camshaft, primarily the controlled elastic deformation of the flexspline, to achieve motion and power transmission. The elliptical cam within the camshaft rotates within the flexspline, causing the flexspline to deform. As the flexspline teeth at both ends of the elliptical cam's major axis engage with the steel wheel teeth, the flexspline teeth at both ends of the minor axis disengage from the steel wheel teeth. The teeth between the camshaft's major and minor axes are in a semi-meshing state (called engagement) along the circumference of the flexspline and steel wheel, and in a semi-meshing state (disengagement) along the circumference of the camshaft. As the camshaft rotates continuously, the flexspline continuously deforms, causing the teeth on both wheels to continuously change their original working states through four motions: engagement, disengagement, and disengagement. This produces staggered tooth motion, enabling motion transmission from the active camshaft to the flexspline.

[0003] In this regard, the announcement number CN220816479U discloses a hollow corner module with an integrated harmonic reducer, which can realize the hollow wire passing function, greatly shorten the axial length, and is compact, saving installation space. For the hollow corner module, the upper end of the flexible wheel it uses has external teeth. During the working process, the upper end of the flexible wheel needs to continuously deform into an elliptical shape. After the deformation, the flexible wheel corresponding to the long axis position of the elliptical shape is in an external support state. As a key component of the harmonic reducer, the flexible wheel is repeatedly deformed during the working process and is prone to fatigue damage, even to a large extent.

[0004] In order to improve the flexibility of the flexspline, some existing technologies directly reduce the wall thickness of the flexspline, but this makes processing difficult, the quality cannot be guaranteed, and the stability is poor when accidentally overloaded.

[0005] In summary, in order to solve the problems existing in the actual use of the existing harmonic angle hollow reducer, its overall structure needs to be further optimized. Utility Model Content

[0006] The purpose of the utility model is to provide a harmonic angle hollow reducer to solve the technical problem of optimizing the overall use effect thereof.

[0007] The harmonic angle hollow reducer of the utility model is realized as follows:

[0008] A harmonic angle hollow reducer, comprising:

[0009] A fixing seat having a hollow accommodating cavity;

[0010] An input assembly, comprising an input shaft with one end extending into the accommodating cavity, a driving bevel gear provided on the input shaft, and a motor for driving the input shaft;

[0011] The output assembly includes a camshaft partially extending into the accommodating cavity and having an axial hole, a passive bevel gear provided on the camshaft and adapted to mesh with the active bevel gear, and a reduction group provided on a fixed seat and cooperating with the camshaft;

[0012] The reduction group includes a top-hat-shaped flexible spline matched with the outer side wall of the camshaft through a first bearing, a steel wheel arranged on the outside of the top-hat-shaped flexible spline, and a cross-roller bearing arranged on the outside of the top-hat-shaped flexible spline and matched with the steel wheel; one axial side end of the steel wheel is also connected to the output flange.

[0013] In an optional embodiment of the present invention, the first bearing includes an inner ring, an outer ring and a ball roller; wherein

[0014] The inner side wall of the inner ring is in contact with the outer circumferential surface of the camshaft;

[0015] The outer side wall of the outer ring fits the inner circumferential surface of the top-hat-shaped flexible wheel; a mounting groove is formed between the inner ring and the outer ring, and the ball rollers are circumferentially distributed in the mounting groove.

[0016] In an optional implementation of the present invention, the outer peripheral annular surface of the top-hat-shaped flexible wheel is provided with internal teeth;

[0017] The inner circumferential surface of the steel wheel corresponding to the top-hat-shaped flexible wheel is provided with external teeth, and the internal teeth are matched with the external teeth.

[0018] In an optional implementation of the present invention, the top-hat-shaped flexible spline includes a cylindrical body having an axial hollow cavity and an annular flange provided on the outer peripheral side of an axial side end of the cylindrical body.

[0019] In an optional implementation of the present invention, a plurality of penetrating first flexible holes are provided on the columnar body, and the first flexible holes are all located between the inner teeth and the annular flange.

[0020] In an optional implementation of the present invention, an annular groove is provided on the outer side wall of the corner portion where the columnar body is connected to the annular flange.

[0021] In an optional implementation of the present invention, the middle portion of the annular groove is a straight surface, and the upper and lower side walls of the annular groove located on the straight surface are arc-shaped surfaces.

[0022] In an optional implementation of the present invention, the cross roller bearing includes an inner wheel, an outer wheel and rollers; wherein

[0023] The inner wheel is connected to the steel wheel.

[0024] In an optional embodiment of the present invention, the output flange has a central hole that fits the camshaft;

[0025] A first deep groove ball bearing is provided between the inner wall of the central hole and the outer wall of the camshaft; and

[0026] A second deep groove ball bearing is further provided between the outer side wall of one end portion of the camshaft away from the output flange and the fixing seat.

[0027] In an optional implementation of the present invention, an angular contact bearing is provided between the input shaft and the fixing seat.

[0028] By adopting the above technical solution, the utility model has the following beneficial effects: the harmonic angular hollow reducer of the utility model has a camshaft arranged in a top-hat-shaped flexible pulley, a steel wheel sleeve is arranged on the outside of the top of the top-hat-shaped flexible pulley, a first bearing is arranged between the outer circumference of the camshaft and the inner circumference of the top-hat-shaped flexible pulley, a cross-roller bearing is sleeved on the bottom of the top-hat-shaped flexible pulley, and the steel wheel is arranged on the top surface of the cross-roller bearing. The input power is transmitted through the camshaft, and the first bearing deforms under the action of the camshaft, driving the top-hat-shaped flexible pulley to deform. The power transmission is achieved by the internal and external teeth meshing between the top-hat-shaped flexible pulley and the steel wheel, completing the output of the input power. The design of the top-hat-shaped flexible pulley can delay the occurrence of fatigue damage that may occur after repeated deformation. Furthermore, the cooperation between the cross-roller bearing and the steel wheel can prevent the steel wheel from deforming and loosening. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure shows a schematic structural diagram of the harmonic angle hollow reducer of the present invention from a first perspective;

[0030] Figure 2 The figure shows a second perspective structural diagram of the harmonic angle hollow reducer of the present invention;

[0031] Figure 3 for Figure 2 A-direction sectional view;

[0032] Figure 4 The figure shows the partial structure of the harmonic angle hollow reducer of the utility model. Figure 1 ;

[0033] Figure 5 The figure shows the partial structure of the harmonic angle hollow reducer of the utility model. Figure 2 ;

[0034] Figure 6 The figure shows the structure of the top-hat-shaped flexible pulley of the harmonic angular hollow reducer in Example 2 of the present invention;

[0035] Figure 7 for Figure 6 An enlarged schematic diagram of portion B in an optional implementation.

[0036] In the figure: fixed seat 1, accommodating cavity 11, input shaft 21, motor 22, active bevel gear 23, camshaft 3, shaft hole 31, passive bevel gear 4, steel wheel 5, external teeth 51, inner ring 61, outer ring 62, ball roller 63, top hat-shaped flexible wheel 7, cylindrical body 71, axial hollow cavity 711, annular flange 72, internal teeth 73, first flexible hole 74, straight surface 741, arcuate surface 742, second flexible hole 75, mounting hole 76, annular groove 74, inner wheel 81, outer wheel 82, roller 83, output flange 9, first deep groove ball bearing 110, second deep groove ball bearing 120, angular contact bearing 130. DETAILED DESCRIPTION

[0037] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0038] Example 1: Please refer to Figures 1 to 5 As shown, this embodiment provides a harmonic angular hollow reducer, including: a fixing seat 1 and an input component and an output component used in conjunction with the fixing seat 1.

[0039] The fixing base 1 has a hollow accommodating cavity 11. For example, if the fixing base 1 has a roughly cylindrical structure, the three different side ends of the fixing base 1 are provided with openings connected to the accommodating cavity 11, one of the openings is used to match the input component, and the other two openings are used to match the output components.

[0040] First of all, the input assembly includes an input shaft 21 with one end extending into the accommodating cavity 11, an active bevel gear 23 provided on the input shaft 21, and a motor 22 for driving the input shaft 21 to operate. An angular contact bearing 130 is provided between the input shaft 21 and the fixed seat 1. The output assembly includes a camshaft 3 partially extending into the accommodating cavity 11 and having an axial hole 31, a passive bevel gear 4 provided on the camshaft 3 and suitable for engaging with the active bevel gear 23, and a reduction group provided on the fixed seat 1 and cooperating with the camshaft 3. Here, for the camshaft 3, it is simultaneously matched with the two openings of the fixed seat 1, and the design of its axial hole 31 allows the cable to pass through it, realizing the hollow wire-passing function, greatly shortening the axial length, and making the volume compact, thus saving installation space.

[0041] Furthermore, the reduction gear unit includes a top-hat-shaped flexspline 7 mated to the outer wall of the camshaft 3 via a first bearing, a steel pulley 5 located outside the top-hat-shaped flexspline 7, and a cross-roller bearing located outside the top-hat-shaped flexspline 7 and mating with the steel pulley 5. The deformation of the top-hat-shaped flexspline 7 under the action of the camshaft 3 and the first bearing transmits power to the steel pulley 5.

[0042] More specifically, the first bearing used in this embodiment comprises an inner ring 61, an outer ring 62, and ball rollers 63. The inner sidewall of the inner ring 61 contacts the outer circumference of the camshaft 3, while the outer sidewall of the outer ring 62 contacts the inner circumference of the top-hat flexspline 7. A mounting groove is formed between the inner and outer rings 61 and 62, with ball rollers 63 distributed around the circumference of the groove. Driven by the camshaft 3, the inner ring 61 deforms, which in turn, drives the outer ring 62 through the ball rollers 63, ultimately driving the deformation of the top-hat flexspline 7 connected to the outer ring 62, thereby achieving power transmission.

[0043] It should also be noted that the outer annular surface of the top-hat flexspline 7 is provided with internal teeth 73; the inner circumferential surface of the corresponding top-hat flexspline 7 of the steel wheel 5 is provided with external teeth 51, and the internal teeth 73 are arranged to match the external teeth 51. During the operation of the top-hat flexspline 7 within the steel wheel 5, some of the internal teeth 73 mesh with the external teeth 51, thereby improving positioning accuracy and rotational precision.

[0044] The top-hat flex spline 7 includes a cylindrical body 71 having an axial hollow cavity 711 and an annular flange 72 provided on the outer circumference of one axial end of the cylindrical body 71. Internal teeth 73 are provided on the outer wall of the cylindrical body 71 away from the annular flange 72.

[0045] Based on the above, it should be noted that an annular groove 74 is provided on the outer wall of the corner where the cylindrical body 71 connects to the annular flange 72. The center of the annular groove 74 is a straight surface 741, and the upper and lower side walls of the annular groove 74 located on the straight surface 741 are curved surfaces 742. The provision of the annular groove 74 here reduces the wall thickness at this location, facilitating the deformation of the top-hat-shaped flexible pulley 7 and reducing the force of the opening. Compared to a directly integral curved groove, the annular groove 74 used in this embodiment extends the height of the annular groove 74, making it easier to deform and reduce the force of the opening.

[0046] The crossed roller bearing comprises an inner wheel 81, an outer wheel 82, and rollers 83. The inner wheel 81 is connected to the steel wheel 5. One axial end of the steel wheel 5 is also connected to the output flange 9 for outputting the decelerated power. The output flange 9 has a central hole that fits the camshaft 3. A first deep groove ball bearing 110 is positioned between the inner wall of the central hole and the outer wall of the camshaft 3. A second deep groove ball bearing 120 is positioned between the outer wall of the camshaft 3, away from the output flange 9, and the fixed base 1.

[0047] In summary, in the harmonic angular hollow reducer of this embodiment, input power is transmitted via the camshaft 3. The deformation of the first bearing under the action of the camshaft 3 drives the deformation of the top-hat flexspline 7. The meshing of the internal and external teeth 51 between the top-hat flexspline 7 and the steel wheel 5 achieves power transmission, completing the output of the input power. The design of the top-hat flexspline 7 delays fatigue damage that may occur after repeated deformation. Furthermore, the coordination of the crossed roller bearing and the steel wheel 5 prevents deformation and loosening of the steel wheel 5.

[0048] Example 2: Please refer to Figures 1 to 7 As shown, based on the harmonic angular hollow reducer of Example 1, the harmonic angular hollow reducer provided in this embodiment has a plurality of first flexible holes 74 extending through the cylindrical body 71. The first flexible holes 74 are all located between the internal teeth 73 and the annular flange 72. This embodiment improves the fatigue strength of the top-hat flexspline 7 through the multiple first flexible holes 74, thereby extending the service life of the top-hat flexspline 7.

[0049] More specifically, the plurality of first flexible holes 74 are spaced apart along the circumference of the cylindrical body 71, with the spacing between any two adjacent first flexible holes 74 being equal. For example, in one optional embodiment, the first flexible holes 74 are circular holes, with the central axis of the first flexible holes 74 being perpendicular to the central axis of the axial hollow cavity 711.

[0050] Based on the above situation, in order to further improve the fatigue strength of the top-hat-shaped flexible spline 7 of this embodiment and extend its service life, a plurality of penetrating mounting holes 76 are provided on the annular flange 72. The central axis of the mounting hole 76 is parallel to the central axis of the axial hollow cavity 711, and is used to be fixedly connected to the cross-roller bearing and the fixed seat 1 to achieve circumferential freedom of the top-hat-shaped flexible spline 7.

[0051] Furthermore, the annular flange 72 is provided with a plurality of second flexible holes 75 spaced circumferentially. Each second flexible hole 75 is located between the mounting hole 76 and the cylindrical body 71. The central axis of the second flexible hole 75 is parallel to the central axis of the axial hollow cavity 711. In the axial direction, the first flexible holes 74 and the second flexible holes are arranged alternately to avoid reducing the strength of the top-hat flexspline 7.

[0052] In an optional embodiment, the second flexible hole 75 is a fan-shaped annular hole, the shortest radius of the fan-shaped annular hole is set at the end of the annular flange 72 close to the cylindrical body 71, and the maximum radius of the fan-shaped annular hole is set at the end of the annular flange 72 away from the cylindrical body 71. The center extension line of the second flexible hole 75 passes through the center of the annular flange 72.

[0053] This embodiment can enhance the fatigue strength of the top-hat-shaped flexible spline 7, extend the service life of the top-hat-shaped flexible spline 7, and make the harmonic angle hollow reducer more compact, smaller in size, and more stable.

[0054] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0055] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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. Therefore, it cannot be understood as a limitation on the present invention.

[0056] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0057] In the present invention, unless otherwise expressly specified or limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

Claims

1. A harmonic angle hollow reducer, characterized in that: include: A fixing seat having a hollow accommodating cavity; An input assembly, comprising an input shaft with one end extending into the accommodating cavity, a driving bevel gear provided on the input shaft, and a motor for driving the input shaft; The output assembly includes a camshaft partially extending into the accommodating cavity and having an axial hole, a passive bevel gear provided on the camshaft and adapted to mesh with the active bevel gear, and a reduction group provided on a fixed seat and cooperating with the camshaft; The reduction group includes a top-hat-shaped flexible spline matched with the outer side wall of the camshaft through a first bearing, a steel wheel arranged on the outside of the top-hat-shaped flexible spline, and a cross-roller bearing arranged on the outside of the top-hat-shaped flexible spline and matched with the steel wheel; one axial side end of the steel wheel is also connected to the output flange.

2. The harmonic angle hollow reducer according to claim 1, characterized in that: The first bearing comprises an inner ring, an outer ring and ball rollers; The inner side wall of the inner ring is in contact with the outer circumferential surface of the camshaft; The outer side wall of the outer ring fits the inner circumferential surface of the top-hat-shaped flexible wheel; a mounting groove is formed between the inner ring and the outer ring, and the ball rollers are circumferentially distributed in the mounting groove.

3. The harmonic angle hollow reducer according to claim 1 or 2, characterized in that: The outer peripheral annular surface of the top-hat-shaped flexible wheel is provided with internal teeth; The inner circumferential surface of the steel wheel corresponding to the top-hat-shaped flexible wheel is provided with external teeth, and the internal teeth are matched with the external teeth.

4. The harmonic angle hollow reducer according to claim 3, characterized in that: The top-hat-shaped flexible pulley includes a columnar body with an axial hollow cavity and an annular flange arranged on the outer peripheral side of an axial side end of the columnar body.

5. The harmonic angle hollow reducer according to claim 4, characterized in that: The columnar body is provided with a plurality of penetrating first flexible holes, and the first flexible holes are all located between the inner teeth and the annular flange.

6. The harmonic angle hollow reducer according to claim 4, characterized in that: An annular groove is provided on the outer side wall of the corner portion where the columnar body is connected to the annular flange.

7. The harmonic angle hollow reducer according to claim 6, characterized in that: The middle portion of the annular groove is a straight surface, and the upper and lower side walls of the annular groove located on the straight surface are arc-shaped surfaces.

8. The harmonic angle hollow reducer according to claim 1, characterized in that: The cross roller bearing comprises an inner wheel, an outer wheel and rollers; wherein The inner wheel is connected to the steel wheel.

9. The harmonic angle hollow reducer according to claim 8, characterized in that: The output flange has a central hole that fits the camshaft; A first deep groove ball bearing is provided between the inner wall of the central hole and the outer wall of the camshaft; and A second deep groove ball bearing is further provided between the outer side wall of one end portion of the camshaft away from the output flange and the fixing seat.

10. The harmonic angle hollow reducer according to claim 1, characterized in that: An angular contact bearing is provided between the input shaft and the fixing seat.

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