Novel harmonic speed reducer

Abstract

The utility model provides a novel harmonic speed reducer, which relates to the technical field of speed reducers and comprises a cam shaft, a flexible bearing connected with the cam shaft, a flexible bearing connected with a flexible gear, the flexible gear is provided with outer teeth, a rigid gear is provided with inner teeth, and the flexible gear is meshed with the rigid gear. The rigid wheel is embedded on the inner ring structure; the rigid wheel is arranged in an inverted U shape, an embedded block is arranged on one side of the U-shaped interior of the rigid wheel, an embedded groove is formed in one side of the inner ring structure, and the embedded block and the embedded groove are embedded. The speed reducer has the advantages that the steel wheel and the inner ring structure are connected in an embedded mode, the steel wheel is made of metal with high strength and good abrasion resistance, and the inner ring structure is made of light-weight materials, so that the total weight of the speed reducer can be obviously reduced after the steel wheel and the inner ring structure are combined, and a plurality of connecting points can be arranged on the steel wheel and the inner ring structure. In addition, connection components such as bolts are not needed for the combination of the two, so that the two can not be loosened after the two are operated for a plurality of times.

Description

TECHNICAL FIELD

[0001] The utility model relates to a reducer technical field especially a new type harmonic wave reduction device. BACKGROUND

[0002] The harmonic wave transmission reduction device is mainly composed of a wave generator, a flexible gear, a flexible bearing and a rigid gear, the wave generator is assembled with the flexible bearing to make the flexible gear produce controllable elastic deformation, and the wave generator is engaged with the rigid gear to transmit motion and power.

[0003] The wave generator is a rod-shaped component, the wave generator is provided with a flexible bearing composed of a rolling bearing, the flexible bearing is pressed against the inner wall of the flexible gear, the flexible gear is a thin-wall gear capable of producing large elastic deformation, the inner hole diameter of the flexible gear is slightly smaller than the long axis of the wave generator, the wave generator is a component for making the flexible gear produce controllable elastic deformation, and the wave generator can be realized by a camshaft, when the wave generator is assembled into the flexible gear, the cross section of the flexible gear is forced to change from a circle into an ellipse, the teeth near the two ends of the long axis of the flexible gear are completely engaged with the teeth of the rigid gear, and the teeth near the two ends of the short axis of the flexible gear are completely disengaged from the rigid gear, and the teeth in other sections of the circumference are in a transition state of engagement and disengagement, when the wave generator continuously rotates, the deformation of the flexible gear continuously changes, the engagement state of the flexible gear and the rigid gear also continuously changes, and the engagement state changes from engagement, engagement, disengagement, disengagement and re-engagement, and the process is repeated, so that the flexible gear slowly rotates relative to the rigid gear in the opposite direction of the wave generator, during operation, the rigid gear is fixed, the wave generator is driven to rotate by the motor, the flexible gear is a driven gear, and the flexible gear outputs rotation to drive the load to move.

[0004] The harmonic wave transmission reduction device has the characteristics of compact structure, high precision and large transmission ratio, is widely used in the fields of robots, aerospace, precision instruments and the like, and can reduce the rotational inertia and improve the dynamic stability of robots or equipment instruments through weight reduction of the reduction machine. CONTENT OF THE UTILITY MODEL

[0005] The utility model overcomes the shortcomings in the prior art, provides a new type harmonic wave reduction device, the steel wheel and the inner ring structure are connected in an embedded mode, different metals can be combined by using die casting, the steel wheel is selected from a metal with high strength and good wear resistance, the inner ring structure is selected from a lightweight material, the total weight of the reduction device can be obviously reduced after the combination of the two, a plurality of connection points can be arranged on the two to ensure stable connection, and the combination of the two does not require bolts and other connecting components, so that the two will not loosen after multiple operations.

[0006] In order to solve the above technical problems, the utility model is realized by the following technical scheme:

[0007] A new harmonic reduction device, comprising a camshaft, the camshaft being connected with a flexible bearing, the flexible bearing being connected with a flexspline, the flexspline being provided with external teeth, a rigid gear being provided with internal teeth, the flexspline being connected with the rigid gear in meshing mode;

[0008] The camshaft is connected with a first connecting part and a second connecting part;

[0009] The first connecting part comprises an inner ring structure, and the rigid gear is embedded on the inner ring structure;

[0010] The second connecting part comprises an outer ring structure, and the flexspline is connected with the outer ring structure;

[0011] The rigid gear is arranged in an inverted U shape, one side of the U-shaped interior of the rigid gear is provided with an embedded block, one side of the inner ring structure is provided with an embedded groove, and the embedded block is embedded with the embedded groove.

[0012] Further, one side of the inner ring structure away from the embedded groove is provided with a matching groove and a matching convex rail, and one side of the outer ring structure away from the embedded groove is provided with an embedded convex rail and an embedded groove; the matching groove is embedded with the embedded convex rail, and the matching convex rail is embedded with the embedded groove.

[0013] Further, the inner ring structure and the outer ring structure are both connected with a bearing rail.

[0014] Further, the bearing rail comprises an inner ring and an outer ring, and the inner ring and the outer ring are provided with a plurality of rolling balls therebetween, and the inner ring and the outer ring are both provided with a rail oil passage.

[0015] Further, the outer ring structure is provided with a lubricating grease supplementing channel, the inner ring structure is provided with a pressure relief circuit, and an oil seal is further arranged above the outer ring structure, and the oil seal is arranged to abut against one side of the rigid gear.

[0016] Further, the first connecting part is further provided with a first fixed connecting part, the first fixed connecting part is connected above the rigid gear, and a first sealing ring is further arranged between the first fixed connecting part and the rigid gear.

[0017] One end of the camshaft is connected with a first bearing, and the outer ring of the first bearing is connected with the first fixed connecting part.

[0018] Further, a second fixed connecting part is arranged below the flexspline, the second fixed connecting part is provided with a limiting ring in a circumferential direction, and the outer periphery of the flexspline is arranged inside the limiting ring.

[0019] Further, a third sealing ring is arranged between the flexspline and the outer ring structure.

[0020] A second sealing ring is arranged between the flexspline and the second fixed connecting part.

[0021] The second fixed connecting piece is internally connected with a second bearing, and the second bearing is arranged at one end of the camshaft away from the first bearing;

[0022] The camshaft is further provided with a first oil seal and a second oil seal at two ends thereof.

[0023] Further, the inner ring structure and the outer ring structure are made of light-weight materials.

[0024] The flexible gear and the rigid gear are made of iron metal materials.

[0025] Compared with the prior art, the utility model has the beneficial effects that:

[0026] A novel harmonic reducer is provided, the steel gear and the inner ring structure are connected in an embedded mode, so that different metals can be combined by pressure casting, the steel gear is made of a metal with high strength and good wear resistance, the inner ring structure is made of a light-weight material, the total weight of the reducer can be obviously reduced after the combination of the two, multiple connection points can be arranged to ensure stable connection, and the combination of the two does not need bolts and other connecting members, so that the two will not be loose after multiple operations. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the utility model, together with the embodiments of the utility model, to explain the utility model, and do not constitute a limitation to the utility model, and in the drawings:

[0028] Fig. 1 is a general schematic view of the reducer of the embodiment of the utility model;

[0029] Fig. 2 is a sectional view of the reducer of the embodiment of the utility model;

[0030] Fig. 3 is an exploded schematic view of the reducer of the embodiment of the utility model;

[0031] Fig. 4 is a structure schematic view of the rigid gear and the flexible gear of the embodiment of the utility model;

[0032] Fig. 5 is a structure schematic view of the inner ring structure and the rigid gear of the embodiment of the utility model;

[0033] Fig. 6 is a schematic view of the inner ring structure of the embodiment of the utility model;

[0034] Fig. 7 is a structure schematic view of the flexible gear and the second fixed connecting piece of the embodiment of the utility model.

[0035] In the diagram: 1. Camshaft; 101. Inner shaft; 102. Outer shaft; 2. Bearing track; 201. Inner ring; 202. Outer ring; 203. Track oil passage; 3. First connecting part; 301. Inner ring structure; 3011. Inner groove; 3013. Fitting convex rail; 3014. Fitting groove; 3015. Pressure relief circuit; 302. Rigid wheel; 3021. Internal gear; 3022. Mating groove; 3023. Inner block; 3024. Mating convex rail; 303. 304. First fixed component; 305. First sealing ring; 306. First oil seal; 4. Second connecting part; 401. Outer ring structure; 4011. Lubricating grease replenishment channel; 402. Flexible wheel; 4021. External gear; 403. Second fixed component; 4031. Limiting ring; 404. Second sealing ring; 405. Third sealing ring; 406. Oil seal; 407. Flexible bearing; 408. Second bearing; 409. Second oil seal; 5. Oil plug. Detailed Implementation

[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0037] like Figs. 1 to 7 As shown, a harmonic speed reduction device includes a camshaft 1, a flexible bearing 407 connected to the camshaft 1, a flexible wheel 402 connected to the flexible bearing 407, the flexible wheel 402 having external teeth 4021, and a rigid wheel 302 having internal teeth 3021, the flexible wheel 402 and the rigid wheel 302 meshing together; the camshaft 1 includes an inner shaft 101 and an outer shaft 102, the inner shaft 101 being coaxially fitted inside the outer shaft 102; in this embodiment, the inner shaft 101 is made of a lightweight material, the outer shaft 102 is made of ferrous metal, and the lightweight material is aluminum alloy, aluminum-magnesium alloy or PEEK plastic. This design ensures the strength of the camshaft 1 while reducing its weight, allowing the camshaft 1 to withstand the strength of high-speed operation without placing too much burden on the motor driving the camshaft 1, thus enabling the speed reduction device to operate better.

[0038] Camshaft 1 connects first connecting part 3 and second connecting part 4; first connecting part 3 includes inner ring structure 301, and rigid wheel 302 is fitted on inner ring structure 301; inner ring structure 301 is made of lightweight material; rigid wheel 302 is made of iron metal material, and inner ring structure 301 can support rigid wheel 302.

[0039] The second connecting part 4 includes an outer ring structure 401, and a flexible wheel 402 is connected to the outer ring structure 401. The outer ring structure 401 is made of a lightweight material, and the flexible wheel 402 is made of iron metal. The outer ring structure 401 plays a role in fixing and reinforcing the flexible wheel 402.

[0040] The inner ring structure 301 and the outer ring structure 401 are connected with the bearing track 2, so that the rigid wheel 302, the flexible wheel 402, the inner ring structure 301 and the outer ring structure 401 can be connected with each other and combined closely, the tightness of the combination of the internal structures of the speed reducer is increased, the internal structures can still operate stably when the speed reducer operates at high speed, and the materials of the inner ring structure 301 and the outer ring structure 401 make the weight of the speed reducer smaller than that of a conventional speed reducer in which each component is made of iron, so that the speed reducer of the application operates more lightly and reduces the burden of the driving motor.

[0041] The bearing track 2 includes an inner ring 201 and an outer ring 202, the inner ring 201 and the outer ring 202 are provided with rollers, the inner ring 201 and the outer ring 202 are provided with track oil paths 203, the outer ring structure 401 is provided with a lubricating grease supplement channel 4011, the inner ring structure 301 is provided with a pressure relief circuit 3015, and the outer ring structure 401 is further provided with an oil seal 406, the oil seal 406 is arranged on the side of the rigid wheel 302, the lubricating grease supplement channel 4011 is further provided with a plug 5, when the lubricating grease is added, the plug 5 is removed, the lubricating grease is injected from the lubricating grease supplement channel 4011, and the lubricating grease can enter the first storage space between the oil seal 406 and the bearing track 2 and the second storage space between the bearing track 2 and the flexible wheel 402 through the lubricating grease supplement channel 4011, with the engagement and rotation between the flexible wheel 402 and the rigid wheel 302, the lubricating grease can penetrate between the inner teeth 3021 and the outer teeth 4021, so that the inner teeth 3021 and the outer teeth 4021 are not damaged after multiple engagements, and the operation of the flexible wheel 402 and the rigid wheel 302 is more smooth, and the lubricating grease can also play a heat conducting role, the heat generated by the high-speed operation of the flexible wheel 402 and the rigid wheel 302 can be quickly dissipated to the outside through the lubricating grease and other components, and deformation of the flexible wheel 402 and the rigid wheel 302 due to high temperature is avoided.

[0042] In the embodiment, the bearing track 2 is a cross roller bearing, and the pressure relief circuit 3015 can make the pressure generated in the cross roller bearing during high-speed operation be released, so as to reduce the pressure in the speed reducer and avoid problems of the oil path.

[0043] The rigid wheel 302 is arranged in an inverted U shape, one side of the U-shaped interior of the rigid wheel 302 is provided with an embedded block 3023, and the other side is provided with a matching groove 3022 and a matching convex rail 3024; one side of the inner ring structure 301 is provided with an embedded groove 3011, and the other side is provided with an embedded convex rail 3013 and an embedded groove 3014; the embedded block 3023 is embedded with the embedded groove 3011, the matching groove 3022 is embedded with the embedded convex rail 3013, and the matching convex rail 3024 is embedded with the embedded groove 3014; the rigid wheel 302 and the inner ring structure 301 are embedded together, so that no bolt or other fastening component is needed, the application of materials is reduced, the point of connection between the two is increased, and the connection between the two is more secure. Compared with the traditional rigid wheel 302 made of the same metal, the size and wall thickness of the rigid wheel 302 are increased due to the consideration of the strength of the rigid wheel 302. This arrangement not only reduces the weight of the rigid wheel 302, but also does not affect the use effect, and can also reduce the overall volume, making the speed reducer more compact and flexible.

[0044] The embedded block 3023 limits the movement of the rigid wheel 302 and the inner ring structure 301 in the up-down direction and the circumferential direction, so that the two are relatively stable. The matching groove 3022 and the matching convex rail 3024, the embedded convex rail 3013 and the embedded groove 3014 further strengthen the position of the rigid wheel 302 and the inner ring structure 301 in the up-down direction, and strengthen the combination of the two. When producing and processing, the thickness of the rigid wheel 302 can be made thin to reduce the weight of the rigid wheel 302. The support of the inner ring structure 301 to the inside of the rigid wheel 302 also makes the rigid wheel 302 not deformed when it is extruded in the circumferential direction, ensuring the stability of the operation of the rigid wheel 302.

[0045] The first connecting part 3 is also provided with a first fastening part 303 connected above the rigid wheel 302, and a first sealing ring 304 is further arranged between the first fastening part 303 and the rigid wheel 302; one end of the camshaft 1 is connected with a first bearing 305, and the outer ring of the first bearing 305 is connected with the first fastening part 303.

[0046] The second fastening part 403 is arranged below the flexible wheel 402, and the second fastening part 403 is provided with a limiting ring 4031 along the circumferential direction. The outer periphery of the flexible wheel 402 is arranged inside the limiting ring 4031, and the second fastening part 403 plays a role of fastening the flexible wheel 402, so that the flexible wheel 402 is more stable during operation.

[0047] A third sealing ring 405 is arranged between the flexible wheel 402 and the outer ring structure 401; a second sealing ring 404 is arranged between the flexible wheel 402 and the second fastening part 403; a second bearing 408 is connected to the inner side of the second fastening part 403, and the second bearing 408 is arranged at the end of the camshaft 1 away from the first bearing 305;

[0048] The camshaft 1 is further provided with a first oil seal 306 and a second oil seal 409 at two ends respectively, the first oil seal 306 blocks one end of the camshaft 1 close to the first fixed part 303, the second oil seal 409 blocks one end of the camshaft 1 close to the second fixed part 403, the first oil seal 306 and the second oil seal 409 make the inside of the speed reducer be closed, avoiding dust and the like from falling into the inside of the speed reducer.

[0049] Finally, it should be noted that: the above is only the preferred embodiments of the present application, and is not intended to limit the present application, although the present application is described in detail with reference to the embodiments, for those skilled in the art, it can still be modified to the technical solutions recorded in the foregoing embodiments, or equivalent replacement of some of the technical features, but any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. A novel harmonic reduction device, characterized by, The camshaft (1) is connected with a flexible bearing (407), the flexible bearing (407) is connected with a flexible gear (402), the flexible gear (402) is provided with external teeth (4021), the rigid gear (302) is provided with internal teeth (3021), and the flexible gear (402) is connected with the rigid gear (302) in meshing mode. The camshaft (1) is connected with a first connecting part (3) and a second connecting part (4). The first connecting part (3) comprises an inner ring structure (301), and the rigid gear (302) is embedded in the inner ring structure (301). The second connecting part (4) comprises an outer ring structure (401), and the flexible gear (402) is connected with the outer ring structure (401). The rigid gear (302) is arranged in an inverted U shape, one side of the U-shaped inner part of the rigid gear (302) is provided with an embedded block (3023), one side of the inner ring structure (301) is provided with an embedded groove (3011), and the embedded block (3023) is embedded with the embedded groove (3011).

2. The novel harmonic speed reduction device of claim 1, wherein, One side of the inner part of the rigid gear (302) away from the embedded block (3023) is provided with a matching groove (3022) and a matching convex rail (3024), one side of the inner ring structure (301) away from the embedded groove (3011) is provided with an embedded convex rail (3013) and an embedded groove (3014), the matching groove (3022) is embedded with the embedded convex rail (3013), and the matching convex rail (3024) is embedded with the embedded groove (3014).

3. The novel harmonic speed reduction device of claim 2, wherein, The inner ring structure (301) and the outer ring structure (401) are connected with a bearing rail (2).

4. The novel harmonic speed reduction device of claim 3, wherein, The bearing rail (2) comprises an inner ring (201) and an outer ring (202), and the inner ring (201) and the outer ring (202) are provided with balls therebetween, and the inner ring (201) and the outer ring (202) are provided with rail oil channels (203).

5. The novel harmonic speed reduction device of claim 4, wherein, The outer ring structure (401) is provided with a lubricating grease supplement channel (4011), the inner ring structure (301) is provided with a pressure relief circuit (3015), and the outer ring structure (401) is further provided with an oil seal (406) above the outer ring structure (401), and the oil seal (406) is arranged on one side of the rigid gear (302).

6. The novel harmonic speed reduction device of claim 5, wherein, The first connecting part (3) is further provided with a first fixed connecting piece (303), the first fixed connecting piece (303) is connected above the rigid gear (302), and a first sealing ring (304) is further arranged between the first fixed connecting piece (303) and the rigid gear (302). One end of the camshaft (1) is connected with a first bearing (305), and the outer ring of the first bearing (305) is connected with the first fixed connecting piece (303).

7. The novel harmonic speed reduction device of claim 6, wherein, The flexible gear (402) is provided with a second fixed connecting piece (403) below the flexible gear (402), the second fixed connecting piece (403) is provided with a limiting ring (4031) along the circumferential direction, and the outer periphery of the flexible gear (402) is arranged on the inner side of the limiting ring (4031).

8. The novel harmonic speed reduction device of claim 7, wherein, The third sealing ring (405) is arranged between the flexible gear (402) and the outer ring structure (401). The second sealing ring (404) is arranged between the flexible gear (402) and the second fixed connecting piece (403). The second fixed connecting piece (403) is connected with a second bearing (408) arranged at one end of the camshaft (1) away from the first bearing (305); The camshaft (1) is further provided with a first oil seal (306) and a second oil seal (409) respectively at two ends thereof.

9. The novel harmonic speed reduction device according to any one of claims 1 to 8, characterized in that, The inner ring structure (301) and the outer ring structure (401) are made of lightweight materials. The flexible gear (402) and the rigid gear (302) are made of iron metal materials.

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