Harmonic reducer structure

Abstract

The utility model relates to the technical field of harmonic reducer structures, in particular to a harmonic reducer structure which comprises a wave generator, a flexible gear and a rigid gear, and the rigid gear is connected and matched with an output assembly. The flexible gear comprises a straight cylinder part, a connecting part and a stress releasing part, the straight cylinder part is perpendicular to the connecting part, a port is formed in one end of the stress releasing part and connected with a port of the straight cylinder part, the stress releasing part extends in the axial direction of the straight cylinder part to form an axial annular concave part, and the other end of the stress releasing part extends towards the circumferential side of the straight cylinder part and then is smoothly connected with the connecting part. The connecting part forms an annular connecting surface, and an odd number of uniformly spaced connecting ports are formed in the connecting surface; the speed reducer structure further comprises a sealing piece used for being connected with the fixed flexible gear. According to the harmonic reducer, the structure of the flexible gear is improved, the structure close to the flexible gear is adjusted, the size of the harmonic reducer structure can be integrally reduced, meanwhile, the mechanical performance of the harmonic reducer can be guaranteed, and therefore the harmonic reducer can be conveniently used in a bionic robot and automation equipment.

Description

Technical Field

[0001] This utility model relates to the technical field of harmonic reducer structure, specifically to a harmonic reducer structure. Background Technology

[0002] A harmonic reducer is a gear reducer designed based on the principle of harmonic drive. This reducer boasts advantages such as a large reduction ratio, small size, high precision, and high transmission efficiency. Harmonic reducers are widely used in robotics, aerospace, and precision machine tool manufacturing.

[0003] The flex wheel is a core component of a harmonic reducer, and it comes in two types based on its shape: cup-shaped and cap-shaped. The cap-shaped flex wheel has a thin-walled cylindrical body with varying numbers of external teeth on the outer circumference of its front end. The middle section is a thin-walled cylindrical structure, and the bottom is a disc-shaped flange. Typically, the outer side of the flange is thicker, while the inner side connecting to the thin-walled cylinder is thinner. The thickness difference between the two parts of the flange is significant and abrupt. The thin-walled section of the flange and the thin-walled cylinder transition smoothly with rounded corners. This thin-walled structure helps absorb the deformation stress of the flex wheel. However, the significant thickness difference between the flange and the thin-walled structure not only increases the manufacturing difficulty of the flex wheel and raises the cost of the harmonic reducer, but also reduces its load-bearing capacity. Under high output torque, the thin-walled structure may be at risk of breakage.

[0004] It is evident that current harmonic reducers still have room for improvement and should be optimized to enhance their overall strength, meet mechanical performance requirements, and avoid excessive size. Therefore, a more reasonable technical solution is needed to address the existing technical problems. Utility Model Content

[0005] To overcome at least one of the defects mentioned above, this utility model proposes a harmonic reducer structure. By improving the flexible wheel structure and the adjacent mating structure, the overall mechanical performance of the harmonic reducer is improved and the overall size of the harmonic reducer is reduced.

[0006] To achieve the above objectives, the harmonic reducer structure disclosed in this utility model can adopt the following technical solution:

[0007] A harmonic reducer structure includes a wave generator, a flexible wheel, and a rigid wheel, wherein the rigid wheel is connected to an output assembly; the flexible wheel includes a straight cylindrical section, a stress relief section, and a connecting section, wherein the straight cylindrical section and the connecting section are perpendicular to each other, one end of the stress relief section forms a port that connects to the port of the straight cylindrical section, and extends along the axial direction of the straight cylindrical section to form an axial annular recess, the other end of the stress relief section extends to the periphery of the straight cylindrical section and then smoothly connects to the connecting section, the connecting section forms an annular connecting surface, and an odd number of evenly spaced connecting ports are provided on the connecting surface; the reducer structure also includes a sealing member for connecting and fixing the flexible wheel.

[0008] In the aforementioned harmonic reducer structure, the connecting part of the flexure is fixed. The straight cylindrical part of the flexure, in conjunction with the wave generator, transmits torque to the rigid wheel. During the rotation of the wave generator, the rigid wheel rotates synchronously, ultimately transmitting torque to the output flange. A sealing element encloses the lower part of the flexure, thereby protecting it.

[0009] Furthermore, the closure structure can adopt various schemes, and its structure is not limited to a single one. Here, we optimize and propose one feasible option: the closure includes an upper connector and a lower connector. The upper connector fits against the upper surface of the connecting part of the flexible wheel, and the lower connector fits against the lower surface of the connecting part of the flexible wheel. The lower connector extends towards the wave generator and closes the stress relief part. The closure also includes a fastener, which passes through the upper connector, the flexible wheel, and the lower connector in sequence. When the above scheme is adopted, the upper connector and the lower connector clamp and fix the connecting part.

[0010] Furthermore, the upper and lower connectors can be configured in various forms, and their structures are not limited to a single one. Here, we optimize and propose one feasible option: the upper connector includes a retaining ring, and the lower connector includes a cover plate; or, the upper connector includes an upper housing, and the lower connector includes a lower housing. When adopting the above scheme, the cover plate can extend towards the camshaft of the wave generator and form an inwardly bent structure to cover and seal the flexible wheel; the lower housing can extend laterally to cooperate with the camshaft, similarly achieving the effect of sealing the flexible wheel.

[0011] Furthermore, in some solutions, the external output structure of the rigid wheel can be configured in various forms, and its structure is not limited to a single one. Here, we optimize and propose one feasible option: a crossed roller bearing structure is formed between the rigid wheel and the upper connecting member, and the inner ring of the crossed roller bearing structure is integrally formed with the rigid wheel. When adopting the above solution, a roller groove structure is formed on the outer wall of the rigid wheel, thereby avoiding the need to set a separate inner ring of the crossed roller bearing and reducing the radial or axial dimensions of the reducer structure.

[0012] Furthermore, when a bearing structure is formed between the rigid wheel and the connecting member, the structure can be optimized: a rotational gap is formed between the rigid wheel and the upper connecting member, and an oil seal is installed at the gap. With the above solution, the oil seal adjusts the gap between the rigid wheel and the connecting member, thereby preventing external impurities from entering the bearing.

[0013] Furthermore, the output component can adopt various configuration schemes, and its structure is not limited to a single one. Here, we optimize and propose one feasible option: the output component includes a chuck that cooperates with and rotates synchronously with the rigid wheel, and the chuck engages with the upper end face of the rigid wheel. When adopting the above scheme, the chuck can be separately set from the rigid wheel and connected by snap-fitting, fastening, or the chuck and the rigid wheel can be integrally formed.

[0014] Furthermore, the structure of the chuck can be optimized. One feasible option is proposed here: the chuck also cooperates with a sprocket, with a limiting hole formed on the sprocket. Several limiting inner edges are formed within the limiting hole, and the chuck has a limiting outer edge. When the chuck rotates with the sprocket, the limiting outer edge reciprocates between adjacent limiting inner edges. With this scheme, the limiting outer edge and limiting inner edge form a mutually blocking structure, limiting the rotation range of the chuck. Therefore, it can be applied to limiting disc structures.

[0015] Furthermore, the wave generator can adopt various structures, and its structure is not limited to one. Here, we optimize and propose one feasible option: the wave generator includes a camshaft, and a flexible bearing is provided between the camshaft and the flex wheel.

[0016] Furthermore, the wave generator is connected to the input shaft and is driven by the input shaft to rotate synchronously.

[0017] Furthermore, in some embodiments, a rotor bearing is provided between the input shaft and the enclosure.

[0018] Compared with the prior art, some of the beneficial effects of the technical solution disclosed in this utility model include:

[0019] This invention improves the structure of the flexible wheel and adjusts the structure adjacent to the flexible wheel, thereby reducing the overall size of the harmonic reducer structure and increasing the load of the harmonic reducer, making it suitable for use in bionic robots and automated equipment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the harmonic reducer in Example 1.

[0022] Figure 2 This is an exploded view of the harmonic reducer in Example 1.

[0023] Figure 3 This is a schematic diagram of the harmonic reducer without the sprocket in Example 1.

[0024] Figure 4 This is a cross-sectional view and a magnified view of a portion of the structure of the harmonic reducer in Example 1.

[0025] Figure 5 This is a schematic diagram of the harmonic reducer in Example 2.

[0026] Figure 6 This is an exploded view of the harmonic reducer in Example 2.

[0027] Figure 7 This is a cross-sectional view and a magnified view of a portion of the structure of the harmonic reducer in Example 2.

[0028] Figure 8 This is a schematic diagram of the flexible wheel.

[0029] In the above attached figures, the meanings of each label are as follows:

[0030] 1. Sprocket; 101. Inner limit edge; 2. Chuck; 201. Outer limit edge; 3. Rigid wheel; 4. Retaining ring; 5. Flexible wheel; 501. Straight cylinder section; 502. Connecting section; 503. Stress relief section; 504. Connecting port; 6. Cover plate; 7. Flexible bearing; 8. Wave generator; 9. Upper housing; 10. Lower housing; 11. Oil seal; 13. Input shaft; 14. Rotor bearing. Detailed Implementation

[0031] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates this embodiment.

[0032] In view of the problems of low load-bearing capacity of existing harmonic reducers and large overall size of high load-bearing capacity harmonic reducers, the following embodiments are optimized and overcome the defects of existing technologies.

[0033] Example 1

[0034] like Figures 1-4 , Figure 8 As shown, this embodiment provides a harmonic reducer structure, including a wave generator, a flexible wheel 5, and a rigid wheel 3. The rigid wheel 3 is connected to and cooperates with an output component. The flexible wheel 5 includes a straight cylindrical portion 501, a stress relief portion, and a connecting portion 502. The straight cylindrical portion 501 and the connecting portion 502 are perpendicular to each other. One end of the stress relief portion forms a port that connects to the port of the straight cylindrical portion 501 and extends along the axial direction of the straight cylindrical portion 501 to form an axial annular recess. The other end of the stress relief portion extends to the periphery of the straight cylindrical portion 501 and then smoothly connects to the connecting portion 502. The connecting portion 502 forms an annular connecting surface, and an odd number of evenly spaced connecting ports 504 are provided on the connecting surface. The reducer structure also includes a sealing member for connecting and fixing the flexible wheel 5.

[0035] The harmonic reducer structure disclosed in this embodiment has a fixed connecting part 502 for the flexure 5. The straight cylindrical part 501 of the flexure 5, in conjunction with the wave generator, transmits torque to the rigid wheel 3. During the rotation of the wave generator, the rigid wheel 3 rotates synchronously, ultimately transmitting torque to the output flange. The sealing member encloses the lower part of the flexure 5, thereby protecting the flexure 5.

[0036] The closure structure can adopt various schemes, and its structure is not limited to one. This embodiment optimizes and adopts one feasible option: the closure includes an upper connector and a lower connector. The upper connector is attached to the upper surface of the connecting portion 502 of the flexible wheel 5, and the lower connector is attached to the lower surface of the connecting portion 502 of the flexible wheel 5. The lower connector extends towards the wave generator and closes the stress relief portion. The closure also includes a fastener, which passes through the upper connector, the flexible wheel 5, and the lower connector in sequence. When the above scheme is adopted, the upper connector and the lower connector clamp and fix the connecting portion 502.

[0037] The upper and lower connectors can be configured in various forms, and their structures are not limited to a single one. This embodiment optimizes and adopts one feasible option: the upper connector includes a retaining ring 4, and the lower connector includes a cover. When the above solution is adopted, the cover plate 6 can extend toward the camshaft of the wave generator and form an inwardly bent structure to cover and close the flexible wheel 5.

[0038] The output component can adopt various configuration schemes, and its structure is not limited to a single one. This embodiment optimizes and adopts one feasible option: the output component includes a chuck 2 that cooperates with and rotates synchronously with the rigid wheel 3. The chuck 2 is engaged with the upper end face of the rigid wheel 3. When adopting the above scheme, the chuck 2 can be set separately from the rigid wheel 3 and connected by snap-fit, fastening, etc., or the chuck 2 and the rigid wheel 3 can be integrally formed.

[0039] The structure of the chuck 2 can be constructed in various forms. This embodiment adopts one feasible option: the chuck 2 also cooperates with the sprocket 1, and a limiting hole is formed on the sprocket 1. Several limiting inner edges 101 are formed in the limiting hole, and a limiting outer edge 201 is formed on the chuck 2. When the chuck 2 rotates with the rigid wheel 3, the limiting outer edge 201 reciprocates between adjacent limiting inner edges 101. When the above scheme is adopted, the limiting outer edge 201 and the limiting inner edge 101 form a mutually blocking structure, and the rotation range of the chuck 2 is limited. Therefore, it can be applied to a limiting disc structure.

[0040] The wave generator can adopt a variety of structures, and its structure is not limited to one. This embodiment optimizes and adopts one of the feasible options: the wave generator includes a camshaft, and a flexible bearing 7 is provided between the camshaft and the flexible wheel 5.

[0041] Preferably, the inner ring of the flexible bearing 7 is correspondingly fitted with the cover plate 6, and the bending structure of the cover plate 6 provides support and limitation for the flexible bearing 7.

[0042] In this embodiment, the wave generator is connected to the input shaft 13 and is driven by the input shaft 13 to rotate synchronously.

[0043] Example 2

[0044] like Figures 5-7 As shown, this embodiment discloses a harmonic reducer structure. Unlike embodiment 1, the sealing component has been adjusted in this embodiment.

[0045] The upper and lower connectors can be configured in various forms, and their structures are not limited to a single one. This embodiment optimizes and adopts one feasible option: the upper connector includes an upper housing 9, and the lower connector includes a lower housing 10. When the above scheme is adopted, the lower housing 10 can extend laterally to cooperate with the camshaft, which also serves to enclose the flexible wheel 5.

[0046] Preferably, the upper housing 9 and the lower housing 10 clamp the connecting part 502 of the flexible wheel 5 and secure it with connecting screws.

[0047] In this embodiment, a rotor bearing 14 is provided between the input shaft 13 and the enclosure. Specifically, the rotor bearing 14 is a ball bearing.

[0048] Furthermore, this embodiment also adjusts the structure at the wave generator, adopting a different scheme from Embodiment 1:

[0049] The wave generator can adopt a variety of structures, and its structure is not limited to one. This embodiment optimizes and adopts one of the feasible options: the wave generator includes a camshaft, and a flexible bearing 7 is provided between the camshaft and the flexible wheel 5.

[0050] Preferably, the input shaft 13 is interference-fitted with the camshaft of the wave generator to form an axial limit on the camshaft.

[0051] In this embodiment, the external output structure of the rigid wheel 3 can be configured in various forms, and its structure is not limited to one. This embodiment optimizes and adopts one feasible option: a cross roller bearing structure is formed between the rigid wheel 3 and the upper connecting member. The inner ring of the cross roller bearing structure is integrally formed with the rigid wheel 3, thereby avoiding the need to set the inner ring of the cross roller bearing separately and reducing the radial dimension of the reducer structure.

[0052] Preferably, the upper connector can be integrally formed with the outer ring of the crossed roller bearing, or, in some embodiments, the outer ring of the crossed roller bearing is used as the upper connector.

[0053] When a bearing structure is formed between the rigid wheel 3 and the connecting member, the structure can be further optimized: a rotational gap is formed between the rigid wheel 3 and the upper connecting member, and an oil seal 11 is installed at the gap. With the above solution, the oil seal 11 adjusts the gap between the rigid wheel 3 and the connecting member, thereby preventing external impurities from entering the bearing.

[0054] The above are the embodiments listed in this example. However, this example is not limited to the optional embodiments described above. Those skilled in the art can arbitrarily combine the above methods to obtain other various embodiments. Anyone can derive other various forms of embodiments under the guidance of this example. The above specific embodiments should not be construed as limiting the scope of protection of this example. The scope of protection of this example should be defined in the claims.

Claims

1. A harmonic reducer structure, characterized in that: The reducer includes a wave generator (8), a flexible wheel (5), and a rigid wheel (3), wherein the rigid wheel (3) is connected to the output assembly; the flexible wheel (5) includes a straight cylindrical part (501), a connecting part (502), and a stress relief part (503), wherein the straight cylindrical part (501) and the connecting part (502) are perpendicular to each other, one end of the stress relief part forms a port that connects to the port of the straight cylindrical part (501), and extends along the axial direction of the straight cylindrical part (501) to form an axial annular recess, and the other end of the stress relief part (503) extends to the periphery of the straight cylindrical part (501) and then smoothly connects to the connecting part (502), wherein the connecting part (502) forms an annular connecting surface, and an odd number of evenly spaced connecting ports (504) are provided on the connecting surface; the reducer structure also includes a sealing member for connecting and fixing the flexible wheel (5).

2. The harmonic reducer structure according to claim 1, characterized in that: The closure includes an upper connector and a lower connector. The upper connector is attached to the upper surface of the connecting part (502) of the flexible wheel (5), and the lower connector is attached to the lower surface of the connecting part (502) of the flexible wheel (5). The closure also includes a fastener, which passes through the upper connector, the flexible wheel (5) and the lower connector in sequence.

3. The harmonic reducer structure according to claim 2, characterized in that: The upper connector includes a retaining ring (4), and the lower connector includes a cover plate (6); or, the upper connector includes an upper housing (9), and the lower connector includes a lower housing (10).

4. The harmonic reducer structure according to claim 2, characterized in that: The rigid wheel (3) and the upper connecting member form a cross roller bearing structure, and the inner ring of the cross roller bearing structure is integrally formed with the rigid wheel (3).

5. The harmonic reducer structure according to claim 2, characterized in that: A rotational gap is formed between the rigid wheel (3) and the upper connecting member, and an oil seal (11) is provided at the gap.

6. The harmonic reducer structure according to any one of claims 1 to 5, characterized in that: The output component includes a chuck (2) that cooperates with and rotates synchronously with the rigid wheel (3), and the chuck (2) is engaged with the upper end face of the rigid wheel (3).

7. The harmonic reducer structure according to claim 6, characterized in that: The chuck (2) also cooperates with the sprocket (1). A limiting hole is formed on the sprocket (1), and a plurality of limiting inner edges (101) are formed in the limiting hole. A limiting outer edge (201) is formed on the chuck (2). When the chuck (2) rotates with the rigid wheel (3), the limiting outer edge (201) moves back and forth between adjacent limiting inner edges (101).

8. The harmonic reducer structure according to claim 1, characterized in that: The wave generator includes a camshaft, and a flexible bearing (7) is provided between the camshaft and the flexible wheel (5).

9. The harmonic reducer structure according to claim 1 or 8, characterized in that: The wave generator is connected to the input shaft (13) and is driven to rotate synchronously by the input shaft (13).

10. The harmonic reducer structure according to claim 9, characterized in that: A rotor bearing (14) is provided between the input shaft (13) and the enclosure.

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