High-torque ring flexible gear roller type harmonic reducer

Abstract

The utility model relates to the technical field of harmonic reducers, in particular to a high-torque ring flexible gear roller type harmonic reducer which comprises a wave generator, a flexible gear and a rigid gear, the wave generator is mounted in an inner cavity of the flexible gear, the high-torque ring flexible gear roller type harmonic reducer further comprises a crossed roller bearing, the flexible gear comprises a connecting flange, the connecting flange is of an annular structure, and the rigid gear is mounted in the connecting flange. A flexible gear ring is coaxially arranged at one end of the connecting flange, outer teeth are arranged on the peripheral face of the flexible gear ring and extend from one end of the flexible gear ring to the other end of the flexible gear ring, the rigid gear is of an annular structure, and inner teeth are arranged on an inner ring of the rigid gear. By increasing the meshing area of the flexible gear and the rigid gear, abrasion of meshing teeth of the flexible gear and the rigid gear is reduced, deformation is reduced, the service life of the speed reducer is prolonged, and the meshing strength between the flexible gear and the rigid gear and the bearing capacity of the speed reducer are improved on the premise that the product size is not changed.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and in particular to a high-torque ring flexible roller type harmonic reducer. Background Technology

[0002] Harmonic reducers are widely used in industries such as electronics, aerospace, and robotics due to their advantages of high load capacity, large transmission ratio, small size, light weight, smooth transmission, and high transmission accuracy. However, existing harmonic reducers use conventional ball bearings at the input end. Because the tooth width of the flexible gears is narrow, the contact area is small, leading to easy wear. Furthermore, the axial clearance after wear makes the ball bearings prone to deformation under radial and axial forces, resulting in easy damage. This reduces the stiffness of the harmonic reducer's input end and prevents it from withstanding excessive axial impact forces, thus reducing the reducer's load capacity and service life. Utility Model Content

[0003] The technical problem this utility model aims to solve is as follows: Existing harmonic reducers use general ball bearings at the input end. Due to the narrow tooth width of the flexible gears, the contact area is small, leading to easy wear and axial clearance. This causes the ball bearings to deform easily under radial and axial forces, resulting in easy damage. Consequently, the input stiffness of the harmonic reducer decreases, and it cannot withstand excessive axial impact forces, thus reducing the load and service life of the harmonic reducer. Therefore, this invention provides a high-torque ring-type flexible roller harmonic reducer.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a high-torque ring-type harmonic reducer with flexible rollers, including a wave generator, a flexible gear, and a rigid gear. The wave generator is installed in the inner cavity of the flexible gear. It also includes a crossed roller bearing. The flexible gear includes a connecting flange, which is annular in structure. A flexible gear ring is coaxially arranged at one end of the connecting flange. External teeth are provided on the outer circumferential surface of the flexible gear ring, extending from one end to the other. The rigid gear is annular in structure, with internal teeth provided on its inner ring. The external teeth mesh with the internal teeth. The connecting flange is fixedly connected to the outer ring of the crossed roller bearing, and the inner ring of the crossed roller bearing is fixedly connected to the rigid gear. Compared with the prior art, this solution increases the meshing area between the flexible and rigid gears, reducing wear on the meshing teeth, decreasing deformation, and improving the service life of the reducer. Simultaneously, without changing the product volume, it improves the meshing strength between the flexible and rigid gears, thereby increasing the load-bearing capacity of the reducer.

[0005] In order to realize the connection between the connecting flange and the flexible gear ring, preferably some embodiments, the connecting flange is uniformly provided with a plurality of needle holes along the axial direction, the needle holes penetrate through the two end faces of the connecting flange, the needle holes are long waist type along the radial direction of the connecting flange, the flexible gear ring is provided with a plurality of needles matched with the needle holes, the needles are arranged along the axial direction of the flexible gear ring, and one end of the needle is arranged in the needle hole.

[0006] In order to realize the fixed connection between the connecting flange and the outer ring of the cross roller bearing, preferably some embodiments, the connecting flange and the outer ring of the cross roller bearing are fixedly connected with each other through screws.

[0007] Preferably, some embodiments of the wave generator include a cam, an input shaft is arranged on the cam, and a ball flexible bearing is arranged between the cam and the inner wall of the flexible gear ring.

[0008] Preferably, some embodiments of the inner ring of the cross roller bearing are integrally formed with the rigid gear.

[0009] The utility model discloses a high torque ring flexible gear roller type harmonic reducer, when using, through increasing the mutual meshing area of flexible gear and rigid gear, the mutual meshing tooth wear of flexible gear and rigid gear is reduced, the deformation is reduced, the service life of reducer is improved, simultaneously, under the premise of not changing product volume, the meshing strength between flexible gear and rigid gear is improved, the carrying capacity of reducer is improved, avoid the existing harmonic reducer at the input end and adopt general ball flexible bearing, because the tooth width of flexible gear is narrow, lead to the contact bearing area with it is small, is easy to wear, and after wearing, there is axial clearance, makes the ball flexible bearing easy to deform after bearing radial and axial force, leads to the flexible bearing easy to damage, makes harmonic reducer input end rigidity decline and can not bear the excessive axial impact force, reduces the load and service life of harmonic reducer. ACCURACY OF DRAWINGS

[0010] The utility model is further described below in combination with the drawings and examples.

[0011] Figure 1 It is the front view of the utility model;

[0012] Figure 2 It is Figure 2 The local enlarged view of A in it;

[0013] Figure 3 It is the rear view of the utility model;

[0014] Figure 4 It is Figure 3 The local enlarged view of B in it;

[0015] Figure 5 is a half-split structure schematic view of the utility model;

[0016] Figure 6 is Figure 5 is a partial enlarged view of C in the middle;

[0017] Figure 7 is a three-dimensional structure schematic view of the flexible gear in the utility model Figure 1 ;

[0018] Figure 8 is a three-dimensional structure schematic view of the flexible gear in the utility model Figure 2 .

[0019] In the figure: 1, wave generator, 2, flexible gear, 3, rigid gear, 4, cross roller bearing, 5, connecting flange, 6, flexible gear ring, 7, external tooth, 8, internal tooth, 9, needle hole, 10, needle, 11, cam, 12, ball flexible bearing. DETAILED DESCRIPTION

[0020] The utility model is described below in further detail in conjunction with the embodiments:

[0021] The utility model is not limited to the following specific embodiments, and the skilled person in the art can implement the utility model using other various specific embodiments according to the content disclosed in the utility model, or any design structure and idea using the utility model, simple changes or alterations, all fall within the protection scope of the utility model. It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict.

[0022] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0023] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, the term "installation", "connection", "connection" should be broad sense understanding, for example, can be fixed connection, can be detachable connection, or integrally connected;Can be mechanical connection, can be electrical connection;Can be directly connected, can be indirectly connected through the intermediate medium, can be two elements inside the communication.For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood through specific circumstances.

[0024] As Figures 1-8 The utility model discloses a high torque circle flexible wheel roller type harmonic reducer, including wave generator 1, flexible gear 2, rigid gear 3 and cross roller bearing 4, wave generator 1 is installed in the inner chamber of flexible gear 2, and flexible gear 2 includes connecting flange 5, and connecting flange 5 is annular structure, and the one end of connecting flange 5 is provided with flexible gear ring 6 coaxially, and the outer periphery of flexible gear ring 6 is provided with outer tooth 7, and outer tooth 7 extends from one end of flexible gear ring 6 to the other end of flexible gear ring 6, and rigid gear 3 is annular structure, and the inner ring of rigid gear 3 is provided with inner tooth 8, and outer tooth 7 and inner tooth 8 are engaged with each other, and connecting flange 5 is fixedly connected with the outer ring of cross roller bearing 4, and the inner ring of cross roller bearing 4 is fixedly connected with rigid gear 3.

[0025] Connecting flange 5 is provided with several needle holes 9 along its axial direction, and several needle holes 9 penetrate the end faces on both sides of connecting flange 5 in the axial direction, and the needle hole 9 is long waist type along the radial direction of connecting flange 5, and the flexible gear ring 6 is provided with the needle 10 matched with the needle hole 9, and the needle 10 is provided along the axial direction of the flexible gear ring 6, and one end of the needle 10 is slidably arranged in the needle hole 9.

[0026] Connecting flange 5 and the outer ring of cross roller bearing 4 are fixedly connected by screws.

[0027] Wave generator 1 includes cam 10, and the input shaft is arranged on the cam 10, and the ball flexible bearing 12 is arranged between the cam 10 and the inner peripheral wall of the flexible gear ring 6.

[0028] The inner ring of cross roller bearing 4 is integrally formed with rigid gear 3.

[0029] The high torque circle flexible wheel roller type harmonic reducer in the above uses, through the outer tooth 7 on the outer periphery of the flexible gear ring 6 extends from one end to the other end along the axial direction of the flexible gear ring 6, that is, the outer periphery of the flexible gear ring 6 is all provided with the outer tooth 7, at the same time, the inner ring of the rigid gear 3 is provided with the inner tooth 8 matched with the outer tooth 7, and the width of the outer tooth 7 and the inner tooth 8 is equal, which increases the meshing area of the outer tooth 7 and the inner tooth 8, and improves the meshing strength of the flexible gear 2 and the rigid gear 3, that is, reduces the wear of the meshing surface, reduces the deformation, and improves the carrying capacity of the reducer.

[0030] The above ideal embodiment of the present application is an inspiration, and through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A high torque ring flexspline roller type harmonic reducer comprising a wave generator (1), a flexspline (2) and a rigid gear (3), the wave generator (1) being mounted in the inner cavity of the flexspline (2), characterized in that: Also include cross roller bearing (4), the flexible gear (2) includes connecting flange (5), the connecting flange (5) is annular structure, one end of the connecting flange (5) is coaxially provided with flexible gear ring (6), the outer circumferential surface of the flexible gear ring (6) is provided with external gear (7), the external gear (7) is extended from one end of the flexible gear ring (6) to the other end of the flexible gear ring (6), the rigid gear (3) is annular structure, the inner ring of the rigid gear (3) is provided with internal gear (8), the external gear (7) and the internal gear (8) are engaged with each other, the connecting flange (5) and the outer ring of the cross roller bearing (4) are fixedly connected, the inner ring of the cross roller bearing (4) and the rigid gear (3) are fixedly connected.

2. The high torque ring flexspline roller harmonic gear of claim 1 wherein: The connecting flange (5) is uniformly provided with a plurality of needle holes (9) along the axial direction thereof, a plurality of the needle holes (9) penetrate the two end faces of the connecting flange (5), the needle holes (9) are long waist type along the radial direction of the connecting flange (5), the flexible gear ring (6) is provided with needle rollers (10) matched with the needle holes (9), the needle rollers (10) are arranged along the axial direction of the flexible gear ring (6), one end of the needle rollers (10) is slidingly arranged in the needle holes (9).

3. The high torque ring flexspline roller harmonic gear of claim 1 wherein: The connecting flange (5) and the outer ring of the cross roller bearing (4) are fixedly connected by screws.

4. The high torque ring flexspline roller harmonic gear of claim 1 wherein: The wave generator (1) includes a cam (11), the cam (11) is provided with an input shaft, and the cam (11) and the inner circumferential wall of the flexible gear ring (6) are provided with a ball flexible bearing (12).

5. The high torque ring flexspline roller harmonic gear of claim 1 wherein: The inner ring of the cross roller bearing (4) and the rigid gear (3) are integrally formed.

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