Harmonic reducer with self-locking function

Abstract

The utility model discloses a harmonic reducer with a self-locking function, and relates to the technical field of reducers. Comprising a harmonic reducer transmission pair and a shell, the harmonic reducer transmission pair is installed in the shell, the harmonic reducer transmission pair comprises a rigid gear, a flexible gear, a wave generator and a flexible bearing, the harmonic reducer transmission pair further comprises a worm gear and worm transmission pair, the worm gear and worm transmission pair has a self-locking property and is installed in the shell, and the worm gear and worm transmission pair comprises a worm gear and a worm. The worm is in transmission fit with the turbine, the worm is rotationally connected with the shell, one end of the worm extends out of the shell to serve as the input end of the whole harmonic reducer, the turbine drives the wave generator to rotate, and the flexible gear serves as the output end of the whole harmonic reducer. According to the utility model, the harmonic reducer, the turbine and the worm are combined, the turbine and the wave generator are designed into an integrated structure, and the self-locking characteristic of the turbine and the worm is utilized, so that the self-locking function of the harmonic reducer is realized.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of speed reducer, more specifically, relate to a harmonic reducer with self locking function. BACKGROUND

[0002] Harmonic reducer is a new type of gear transmission mechanism, which is composed of three parts: rigid gear (referred to as 'rigid wheel') with internal teeth, deformable flexible gear (referred to as 'flexible wheel') with external teeth and wave generator (referred to as 'wave generator') with elliptical contour line. Because of its wide speed ratio range, stable transmission, high efficiency, high precision, large load and many other advantages, it is widely used in robotics, aerospace, medical devices and other industries. However, due to its structural characteristics, harmonic reducer does not have self locking function, and cannot brake in time when it is reversed due to excessive load and other factors, so as to avoid safety hazards, protect the motor or achieve the purpose of equipment stop. Therefore, technical personnel need to design a harmonic reducer with self locking function. SUMMARY

[0003] The utility model wants to solve the technical problem to provide a harmonic reducer with self locking function, through the combination design of harmonic reducer and turbine worm, the turbine and wave generator are designed as an integral structure, and the self locking characteristics of turbine worm are used, so as to realize the self locking function of harmonic reducer.

[0004] To solve the above technical problems, the technical scheme adopted by the utility model is: a harmonic reducer with self locking function, including harmonic reducer transmission pair, shell, the harmonic reducer transmission pair is installed in the shell, the harmonic reducer transmission pair includes rigid wheel, flexible wheel, wave generator, flexible bearing, and further includes turbine worm transmission pair, the turbine worm transmission pair has self locking property, the turbine worm transmission pair is installed in the shell, the turbine worm transmission pair includes turbine, worm, the worm is transmission matched with the turbine, the worm is rotatably connected with the shell, one end of the worm extends out of the shell and becomes the input end of the whole harmonic reducer, the turbine drives the wave generator to rotate, and the flexible wheel is the output end of the whole harmonic reducer.

[0005] Preferably, the turbine is arranged at the end of the wave generator away from the flexible wheel and is an integral coaxial structure with the wave generator.

[0006] Preferably, the rigid wheel is a rigid gear with internal teeth, the flexible wheel is a thin-walled part with external teeth, the rigid wheel and the flexible wheel have the same modulus, and the number of teeth of the rigid wheel is 2 more than that of the flexible wheel.

[0007] The beneficial effects produced by the above technical scheme are that the turbine worm transmission pair is added, the worm is the input end of the entire harmonic reducer, the worm rotates to drive the turbine to rotate, the turbine drives the wave generator to rotate, the turbine is equivalent to the input end of the harmonic reducer transmission pair, the flexspline is the output end of the harmonic reducer transmission pair and also the output end of the entire harmonic reducer. Since the turbine worm can realize self-locking through parameter design, the entire harmonic reducer also has self-locking property. When an accident occurs, the equipment can be stopped in time by braking to avoid the occurrence of safety accidents and protect the motor. BRIEF DESCRIPTION OF DRAWINGS

[0008] Fig. 1 is a structural schematic diagram of a harmonic reducer;

[0009] Fig. 2 is a transmission state schematic diagram of a turbine worm transmission pair;

[0010] Fig. 3 is a structural schematic diagram of a harmonic reducer transmission pair;

[0011] In the figure: 1, turbine worm transmission pair; 11, worm; 12, turbine; 2, harmonic reducer transmission pair; 21, wave generator; 22, rigid gear; 23, flexspline; 24, flexible bearing. DETAILED DESCRIPTION

[0012] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0013] As shown in Figs. 1-3 , the harmonic reducer in the present application includes a turbine worm transmission pair 1, a harmonic reducer transmission pair 2 and a housing (the specific structure is not shown in the figure, which is shown schematically by a dashed line box).

[0014] The worm gear transmission pair 1, as a reduction mechanism, is composed of a worm 11 and a turbine 12. The turbine 12 is the output end of the turbine worm transmission pair, and the worm 11 is the input end of the turbine worm transmission pair.

[0015] The harmonic reducer transmission pair 2 is a speed reduction and distance increasing mechanism, which is composed of a rigid gear 22, a flexible gear 23 and a wave generator 21, and a flexible bearing 24. The rigid gear 22 is a rigid gear with internal teeth, the flexible gear 23 is a thin-walled part with external teeth, and can be elastically deformed under the action of the wave generator 21, the rigid gear 22 and the flexible gear 23 have the same modulus and the number of teeth of the flexible gear is 2n more than that of the rigid gear. In operation, the rigid gear 22 is a fixed end, the flexible gear 23 is an output end, and the wave generator 21 is an input end of the harmonic reducer transmission pair. The turbine 12 and the wave generator 21 are designed as an integrated structure. It should be noted that when designing the turbine and worm parameters, the turbine and worm should have self-locking property.

[0016] In assembly, the wave generator 21 is assembled into the flexible gear 23, and the flexible gear 23 is deformed to mesh with the internal teeth of the rigid gear 22. The worm 11 and the turbine 12 are assembled by adjusting the position, and the assembly of all parts is completed.

[0017] According to the requirements, in the working process, when the harmonic reducer is overloaded or needs to realize self-locking of the mechanism due to the working requirements, the motion and power are sequentially transmitted from the flexible gear 23 to the worm 11, and the self-locking property of the turbine and worm is utilized to brake the harmonic reducer, so as to realize self-locking of the whole transmission mechanism.

[0018] The above is only the preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A harmonic reducer with self-locking function, comprising a harmonic reducer transmission pair and a housing, the harmonic reducer transmission pair being installed in the housing, the harmonic reducer transmission pair comprising a rigid gear, a flexible gear, a wave generator and a flexible bearing, characterized in that, The turbine worm transmission pair has self-locking property, is installed in the shell, and comprises a turbine and a worm.

2. The harmonic reducer with self-locking function according to claim 1, characterized in that, The turbine is arranged at one end of the wave generator away from the flexspline and is in an integral and same-rotation-axis structure with the wave generator.

3. The harmonic reducer with self-locking function according to claim 1, characterized in that, The rigid gear has inner teeth, and the flexspline is a thin-wall piece with outer teeth; the rigid gear and the flexspline have the same modulus, and the number of teeth of the rigid gear is 2 more than that of the flexspline.

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