Lightweight small-size harmonic reducer

Abstract

The utility model relates to the technical field of harmonic reducers, in particular to a light-weight small-size harmonic reducer. The light-weight small-size harmonic reducer comprises a crossed bearing, a steel wheel, a crossed bearing outer ring, a crossed bearing inner ring and crossed balls, the crossed bearing serves as a main framework of the reducer and is located in the middle of the reducer, and the crossed bearing is composed of the crossed bearing outer ring, the crossed bearing inner ring and the crossed balls. A first mounting hole is formed in the periphery of the cross bearing outer ring and penetrates through the end face of the cross bearing outer ring. Through the cooperation of the cam and the flexible bearing and the tooth number difference between the flexible gear and the rigid gear, the efficient speed reduction effect is achieved, and meanwhile the structure is kept compact and light.

Description

TECHNICAL FIELD

[0001] The utility model relates to harmonic reducer technical field especially relates to a lightweight small size edition harmonic reducer. BACKGROUND

[0002] Harmonic gear reducer is a kind of transmission device that makes the flexspline produce controllable elastic deformation wave by wave generator, realizes motion and power transmission through the interaction with the rigid wheel, with the advantages of simple structure, large transmission ratio, stable transmission, high precision and small backlash;Harmonic gear reducer is increasingly widely used in aviation, aerospace, energy, navigation, shipbuilding, bionic machinery, robot, machine tool, instrument, electronic equipment, mining metallurgy, transportation, textile machinery and medical equipment etc.

[0003] Since harmonic reducer is a kind of precision mechanical products, due to the application of harmonic reducer in domestic is later than abroad, the specification size of harmonic reducer has been shaped by foreign counterparts, and the corresponding size has been solidified and applied in the market, but with the continuous change of market demand, the size solidified harmonic reducer is not very practical in some specific occasions, but the corresponding standard parts are difficult to change, and it is difficult to meet the performance requirements of customers.

[0004] Therefore, a lightweight small size edition harmonic reducer is needed. CONTENT OF THE UTILITY MODEL

[0005] In order to overcome the shortcomings that with the continuous change of market demand, the size solidified harmonic reducer is not very practical in some specific occasions, but the corresponding standard parts are difficult to change, and it is difficult to meet the performance requirements of customers, the utility model provides a lightweight small size edition harmonic reducer.

[0006] The utility model discloses a lightweight small size edition harmonic wave speed reducer, including cross bearing, steel wheel, rigid wheel inner tooth, flexible wheel, flexible wheel outer tooth, cam, flexible bearing, steel wheel bolt, flexible wheel bolt, skeleton oil seal, first sealing washer, second sealing washer, cross bearing outer ring, cross bearing inner ring and cross ball bearing, and cross bearing is as the main framework of speed reducer, is located the middle part of speed reducer, and cross bearing is composed of cross bearing outer ring, cross bearing inner ring and cross ball bearing, and the periphery of cross bearing outer ring is equipped with first mounting hole, and first mounting hole is set on the cross bearing outer ring end face, and the inboard of cross bearing outer ring is equipped with cross bearing inner ring, and the right side end face on cross bearing inner ring is equipped with second mounting hole, and the middle gap of cross bearing outer ring and cross bearing outer ring is equipped with cross ball bearing, and the inboard of cross bearing outer ring and cross bearing inner ring is equipped with skeleton oil seal, and the right side of cross bearing is equipped with steel wheel, and steel wheel is fixedly connected through steel wheel bolt with cross bearing, and steel wheel bolt is embedded in the steel wheel, and the inner wall of steel wheel inner ring is equipped with rigid wheel inner tooth, and the left end of cross bearing is equipped with flexible wheel, and flexible wheel is fixedly connected through flexible wheel bolt with cross bearing, and flexible wheel bolt is embedded in the flexible wheel, and the right end outer surface of flexible wheel is equipped with flexible wheel outer tooth, and rigid wheel inner tooth is engaged with flexible wheel outer tooth, and the middle of flexible wheel is equipped with flexible bearing, and the outer ring of flexible bearing is slidably connected with flexible wheel, and the inside of flexible bearing is equipped with cam, and cam is fixedly connected with the inner ring of flexible bearing, and the middle of cross bearing outer ring and flexible wheel is equipped with first sealing washer, and the middle of cross bearing inner ring and rigid wheel is equipped with second sealing washer.

[0007] Further, the skeleton oil seal is different in structure from the existing cross bearing, and the skeleton oil seal can be embedded into the cross bearing.

[0008] Further, the maximum outer diameter size of the flexible wheel is limited by the maximum outer diameter size of the cross bearing.

[0009] Further, the size of the steel wheel is smaller than that of the existing one.

[0010] Further, the radial size and the axial size of the skeleton oil seal are reduced.

[0011] Further, the flexible wheel is made of flexible material.

[0012] Compared with the prior art, the utility model provides a lightweight small size edition harmonic wave speed reducer, and has the following beneficial effects: 1, through the cooperation of cam and flexible bearing, and the difference in tooth number between flexible wheel and rigid wheel, efficient speed reduction effect is realized, and the structure is compact and lightweight.

[0013] 2, the cross ball bearing in the cross bearing is used to convert sliding friction into rolling friction, effectively reducing the wear between mechanical parts and improving the service life of the system.

[0014] 3. Since fixed engagement differences are generated each rotation, this design can provide precise transmission ratio, thus ensuring the movement of the output end more stable and accurate. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic view of the utility model.

[0016] Figure 2 It is a three-dimensional structure schematic view of the utility model cross bearing, steel wheel and flexible wheel.

[0017] Figure 3 It is the first kind of explosion drawing of the utility model.

[0018] Figure 4 It is the second kind of explosion drawing of the utility model.

[0019] Figure 5 It is a three-dimensional sectional view of the utility model cross bearing outer ring, cross bearing inner ring and cross ball.

[0020] Figure 6 It is a three-dimensional sectional view of the utility model flexible wheel bolt, skeleton oil seal and first sealing ring.

[0021] Figure 7 It is a three-dimensional sectional view of the utility model steel wheel and rigid wheel inner tooth.

[0022] Figure 8 It is a three-dimensional sectional view of the utility model flexible wheel and flexible wheel outer tooth.

[0023] In the figure, 1, cross bearing, 2, steel wheel, 201, rigid wheel inner tooth, 3, flexible wheel, 301, flexible wheel outer tooth, 4, cam, 5, flexible bearing, 6, steel wheel bolt, 7, flexible wheel bolt, 8, skeleton oil seal, 9, first sealing ring, 10, second sealing ring, 101, cross bearing outer ring, 102, cross bearing inner ring, 103, cross ball, 1011, first mounting hole, 1021, second mounting hole. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0025] Embodiment 1: a lightweight small size version harmonic reducer, please refer to Figures 1-8, including cross bearing 1, steel wheel 2, rigid wheel inner tooth 201, flexible wheel 3, flexible wheel outer tooth 301, cam 4, flexible bearing 5, steel wheel bolt 6, flexible wheel bolt 7, skeleton oil seal 8, first sealing ring 9, second sealing ring 10, cross bearing outer ring 101, cross bearing inner ring 102 and cross ball 103, the cross bearing 1 as the main structure of the reducer is located in the middle of the reducer, the cross bearing 1 is composed of cross bearing outer ring 101, cross bearing inner ring 102 and cross ball 103, the first installation hole 1011 is provided on the end face of the cross bearing outer ring 101, the cross bearing inner ring 102 is provided on the inner side of the cross bearing outer ring 101, the second installation hole 1021 is provided on the right side end face of the cross bearing inner ring 102, the cross ball 103 is provided in the middle of the cross bearing outer ring 101 and the cross bearing outer ring 101, the skeleton oil seal 8 is provided between the cross bearing outer ring 101 and the cross bearing inner ring 102, the steel wheel 2 is installed on the right side of the cross bearing 1, the steel wheel 2 is fixedly connected with the cross bearing 1 through the steel wheel bolt 6, the steel wheel bolt 6 is embedded in the steel wheel 2, the rigid wheel inner tooth 201 is provided on the inner wall of the steel wheel 2, the flexible wheel 3 is provided on the left end of the cross bearing 1, the flexible wheel 3 is fixedly connected with the cross bearing 1 through the flexible wheel bolt 7, the flexible wheel bolt 7 penetrates the flexible wheel 3, the flexible wheel outer tooth 301 is provided on the right end surface of the flexible wheel 3, the rigid wheel inner tooth 201 is engaged with the flexible wheel outer tooth 301, the flexible bearing 5 is provided in the middle of the flexible wheel 3, the flexible bearing 5 is slidably connected with the flexible wheel 3, the cam 4 is provided in the flexible bearing 5, the cam 4 is fixedly connected with the inner ring of the flexible bearing 5, the first sealing ring 9 is provided between the cross bearing outer ring 101 and the flexible wheel 3, the second sealing ring 10 is provided between the cross bearing inner ring 102 and the rigid wheel, the skeleton oil seal 8 is different from the existing cross bearing 1 in structure, the skeleton oil seal 8 can be embedded in the cross bearing 1, which greatly reduces the radial size of the whole cross bearing, at the same time, the weight of the whole cross bearing 1 is reduced by 25% compared with the commonly used cross bearing on the market, the maximum outer diameter size of the flexible wheel 3 is limited by the maximum outer diameter size of the cross bearing 1, that is, the size of the flexible wheel 3 will also be greatly reduced, the processing required materials are saved, and the weight of the whole machine is reduced, the size of the steel wheel 2 is smaller than the existing one, and while ensuring the axial size, the material of the installation position is as small as possible, which can save the processing required materials and reduce the weight of the whole machine, the radial size and axial size of the skeleton oil seal 8 are reduced, which ensures the sealing of the whole machine and makes the whole machine more compact, the flexible wheel 3 is made of flexible material, which is convenient for deformation in working state.

[0026] The cam 4 is the input end of the speed reducer, and rotates at high speed under the driving of the external power source in work. Since the cam 4 is elliptical and is not easy to deform, the flexible bearing 5 installed on the cam 4 becomes elliptical. The flexible bearing 5 deforms under the action of external force, so that the whole outer ring of the flexible bearing 5 deforms proportionally with the cam 4. Since the ellipse has a long axis and a short axis, the flexible bearing 5 also has a long week and a short week. Similarly, the flexspline 3 outside the flexible bearing 5 is also expanded into the shape of the cam 4, forming a long axis and a short axis. The teeth on the long axis of the flexspline 3 mesh with the teeth on the rigid wheel. The teeth on the short axis of the flexspline 3 do not contact any object. At the same time, the teeth on the flexspline 3 are two less than the teeth on the rigid wheel, so that there is a meshing difference when rotating and meshing. Taking the flexspline 3 with one hundred teeth as an example, the rigid wheel has one hundred and two teeth. When the cam 4 rotates one revolution, all the teeth on the flexspline 3 will mesh with the rigid wheel once, but only one hundred teeth on the rigid wheel are meshed. Since the rigid wheel has one hundred and two teeth, it means that two teeth have not been meshed. After one revolution, the meshing difference between the flexspline 3 and the rigid wheel is two teeth. The rigid wheel and the rigid wheel will be deflected. At this time, the flexspline 3 or the rigid wheel is fixed, and the unfixed rigid wheel or flexspline 3 will slowly rotate. In this way, the input end is the cam 4, and the output end is the rigid wheel or the flexspline 3, so as to achieve the effect of speed reduction. The cross bearing 1 is the mounting frame of the rigid wheel and the flexspline 3. The cross bearing outer ring 101 and the cross bearing inner ring 102 can rotate, and the cross rolling ball 103 in the middle can convert sliding friction into rolling friction, reducing resistance. The skeleton oil seal 8 is used to prevent the lubricating grease from overflowing.

[0027] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A lightweight small size version harmonic reducer characterized by: The application relates to a cross bearing (1), a steel wheel (2), a rigid wheel inner tooth (201), a flexible wheel (3), a flexible wheel outer tooth (301), a cam (4), a flexible bearing (5), a steel wheel bolt (6), a flexible wheel bolt (7), a skeleton oil seal (8), a first sealing ring (9), a second sealing ring (10), a cross bearing outer ring (101), a cross bearing inner ring (102) and cross rolling balls (103), the cross bearing (1) is the main framework of a speed reducer and is located in the middle of the speed reducer, the cross bearing (1) is composed of the cross bearing outer ring (101), the cross bearing inner ring (102) and the cross rolling balls (103), a first mounting hole (1011) is arranged on the end face of the cross bearing outer ring (101) in a penetrating mode, the cross bearing inner ring (102) is arranged on the inner side of the cross bearing outer ring (101), a second mounting hole (1021) is arranged on the right end face of the cross bearing inner ring (102), the cross rolling balls (103) are arranged in the middle of the joint gap between the cross bearing outer ring (101) and the cross bearing outer ring (101), the skeleton oil seal (8) is arranged between the cross bearing outer ring (101) and the cross bearing inner ring (102), the steel wheel (2) is arranged on the right side of the cross bearing (1), the steel wheel (2) is fixedly connected with the cross bearing (1) through the steel wheel bolt (6), the steel wheel bolt (6) is embedded in the steel wheel (2) in a penetrating mode, the rigid wheel inner tooth (201) is arranged on the inner wall of the inner ring of the steel wheel (2), the flexible wheel (3) is arranged on the left end of the cross bearing (1), the flexible wheel (3) is fixedly connected with the cross bearing (1) through the flexible wheel bolt (7), the flexible wheel bolt (7) penetrates the flexible wheel (3), the flexible wheel outer tooth (301) is arranged on the right end outer surface of the flexible wheel (3), the rigid wheel inner tooth (201) is engaged with the flexible wheel outer tooth (301), the flexible bearing (5) is arranged in the middle of the flexible wheel (3), the outer ring of the flexible bearing (5) is slidably connected with the flexible wheel (3), the cam (4) is arranged in the inner part of the flexible bearing (5), the cam (4) is fixedly connected with the inner ring of the flexible bearing (5), the first sealing ring (9) is arranged between the cross bearing outer ring (101) and the flexible wheel (3), and the second sealing ring (10) is arranged between the cross bearing inner ring (102) and the rigid wheel.

2. A lightweight small size version harmonic reducer according to claim 1, characterized in that: The skeleton oil seal (8) can be embedded into the cross bearing (1).

3. A lightweight small size version harmonic reducer according to claim 2, characterized in that: The maximum outer diameter size of the flexible wheel (3) is limited by the maximum outer diameter size of the cross bearing (1).

4. A lightweight small size version harmonic reducer according to claim 3, characterized in that: The flexible wheel (3) is made of flexible material.

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