Harmonic reducer with double flexible gears

Abstract

The double-flexible-gear harmonic reducer comprises a cross bearing, a rigid gear, a flexible gear and a wave generator, the outer ring of the rigid gear is in interference fit with the inner ring of the cross bearing, the inner ring of the rigid gear and the outer ring of the flexible gear conduct differential tooth meshing movement, and the wave generator is located on the inner ring of the flexible gear and conducts oval contour movement. A concave part is arranged in the middle of an outer ring of the cross bearing and connected with the output end, the number of the flexible gears and the number of the wave generators are respectively two, and the two wave generators respectively and independently transmit motion characteristics to the two corresponding flexible gears. According to the harmonic reducer, due to the design of the double flexible gears, more uniform force distribution can be provided, loads can be distributed between the two flexible gears, the transmission precision can be improved, meanwhile, better support and rigidity are provided, and the overall operation stability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a reducer technology especially relates to a double flexible gear harmonic wave reducer. BACKGROUND

[0002] The harmonic wave reducer is a kind of gear transmission device using wave generator, flexible gear, flexible bearing and rigid gear etc. component composition.It is through wave generator assembly upper flexible bearing, makes flexible gear produce controllable elastic deformation, and rigid gear is engaged to transmit movement and power.The flexible gear and rigid gear of harmonic wave reducer are usually designed as the cylindrical cup structure of one end opening, in some high rigidity rotation joints, the structure can not provide enough support, in certain compact mechanical design, single opening structure also exists the problem of not being convenient for cooperating with other components, thus a double flexible gear harmonic wave reducer that is convenient for clamping installation and good in rigidity is required. SUMMARY

[0003] The utility model aims at providing a double flexible gear harmonic wave reducer that is convenient for clamping installation and good in rigidity.

[0004] Technical scheme: in order to realize the above-mentioned purpose, a double flexible gear harmonic wave reducer of the utility model, including cross bearing, rigid wheel, flexible gear, wave generator, wherein, the outer ring of rigid wheel and the inner ring of cross bearing are shrink fit, the inner ring of rigid wheel and the outer ring of flexible gear carry out differential tooth engagement movement, wave generator is located in the inner ring of flexible gear and carries out oval contour movement, the outer ring of cross bearing is equipped with recess in the middle, the recess is connected with output end, the flexible gear, wave generator each is equipped with two groups, and two groups of wave generators respectively independently transmit motion characteristics to corresponding two flexible gears.

[0005] Wherein, the inner ring of two groups of wave generators is sleeved on the outer ring of input shaft by shrink fit, and the input shaft is connected with power input end.

[0006] Wherein, the middle part of input shaft is equipped with key groove connected with power input end.

[0007] Wherein, the outer ring of two groups of wave generators is connected with flexible bearing respectively, and the outer rings of two flexible bearings are contacted with the inner holes of two flexible gears respectively.

[0008] Wherein, the inner ring of flexible bearing is fixedly connected with the outer ring of wave generator.

[0009] Wherein, the outer ends of two flexible gears are fixed in the left and right two outer sides of cross bearing respectively.

[0010] Wherein, the roller in the middle of cross bearing is the cylinder with taper modification.

[0011] Beneficial effects: The double-flexspline harmonic reducer has the following advantages: 1, the double-flexspline harmonic reducer is clamped and installed through the cross bearing H-shaped outer ring, and can provide more stable and reliable support; 2, the double-flexspline design of the double-flexspline harmonic reducer can realize more uniform force distribution and load bearing, and improve the load bearing capacity and transmission efficiency of the reducer. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a three-dimensional structure schematic diagram of the double-flexspline harmonic reducer.

[0013] Figure 2 It is a sectional structure schematic diagram of the double-flexspline harmonic reducer. DETAILED DESCRIPTION

[0014] The technical scheme of the utility model will be described in detail below in combination with embodiments and drawings.

[0015] As shown in Figure 1 and 2 , the double-flexspline harmonic reducer comprises: a cross bearing 1 (an outer ring 1.1, a roller 1.2, an inner ring 1.3), a rigid wheel 2, two flexspline 3, two groups of wave generators 4, a keyed input shaft 5, two flexible bearings 6 (an outer ring 6.1, a roller 6.2, an inner ring 6.3).

[0016] The inner rings of the two groups of wave generators 4 are sleeved on the outer ring of the input shaft 5 in an interference fit mode, the outer rings of the two groups of wave generators 4 are respectively interference fitted with the inner rings 6.3 of the two flexible bearings 6, the outer rings 6.1 of the two flexible bearings 6 are respectively in contact with the inner holes of the two flexspline 3, and the outer rings of the two flexspline 3 are in differential tooth meshing movement with the rigid wheel 2. The outer ends of the two flexspline 3 are connected on both sides of the cross bearing outer ring 1.1 through screws, the outer ring of the rigid wheel 2 is interference fitted with the inner ring 1.3 of the cross bearing 1, and the outer ring 1.1 of the cross bearing 1 is used for installation and is connected with an output end to realize torque transmission of the mechanism.

[0017] The cross section of the outer ring 1.1 of the cross bearing 1 is H-shaped, the middle concave part is used as a clamping part, can provide a stable support and an installation plane, is convenient for connection with an output end, and the roller 1.2 is a cylindrical body with a taper modification.

[0018] Transmission principle: the power input end is connected with the input shaft 5 through a key groove and the like to realize torque input, the input shaft 5 drives the elliptical contour movement of the two groups of wave generators 4, the two groups of wave generators 4 respectively transmit the movement characteristics to the two flexspline 3 through the flexspline bearings 6, the flexspline 3 and the rigid wheel 2 are in differential tooth meshing to realize speed reduction and torque increase, the inner ring 1.3 of the cross bearing 1 is fixed, the outer ring 1.1 of the cross bearing 1 is connected with an output end to realize torque transmission.

[0019] The double-pulley design of the harmonic reducer described above can provide a more uniform force distribution, with the load being distributed between the two pulleys, helping to improve the accuracy of the transmission, while also providing better support and rigidity, especially under high-speed and heavy-load conditions, reducing vibrations and improving overall operational stability.

Claims

1. A dual flexspline harmonic reducer comprising a cross bearing (1), a rigid wheel (2), a flexspline (3), a wave generator (4), wherein, The outer ring of the rigid wheel (2) is in interference fit with the inner ring of the cross bearing (1), the inner ring of the rigid wheel (2) and the outer ring of the flexible wheel (3) are in differential tooth meshing movement, the wave generator (4) is located in the inner ring of the flexible wheel (3) to perform elliptical contour movement, characterized in that a recess is arranged in the middle of the outer ring of the cross bearing (1), and the recess is connected with the output end.

2. The dual-pulley harmonic reducer of claim 1, wherein, The flexible wheel (3) and the wave generator (4) are each provided with two groups, and the two groups of wave generators (4) respectively and independently transmit movement characteristics to the corresponding two flexible wheels (3).

3. The dual-pulley harmonic reducer of claim 1, wherein, The inner rings of the two groups of wave generators (4) are sleeved on the outer ring of the input shaft (5) in an interference fit manner, and the input shaft (5) is connected with the power input end.

4. The dual-pulley harmonic reducer of claim 3, wherein, The input shaft (5) is provided with a key groove in the middle and connected with the power input end.

5. The dual-crowned harmonic reducer of claim 1, wherein, The outer rings of the two groups of wave generators (4) are respectively connected with flexible bearings (6), and the outer rings of the two flexible bearings (6) are respectively in contact with the inner holes of the two flexible wheels (3).

6. The dual-pulley harmonic reducer of claim 5, wherein, The inner ring of the flexible bearing (6) is fixedly connected with the outer ring of the wave generator (4).

7. The dual-pulley harmonic reducer of claim 1, wherein, The outer ends of the two flexible wheels (3) are respectively fixed on the left and right outer sides of the cross bearing (1).

8. The dual-pulley harmonic reducer of claim 1, wherein, The rollers in the middle of the cross bearing (1) are cylindrical bodies with taper modification.

Images