Harmonic reducer rigid wheel capable of rapidly dissipating heat and harmonic reducer

Abstract

The utility model discloses a harmonic reducer rigid wheel capable of dissipating heat quickly and a harmonic reducer, and belongs to the technical field of harmonic reducers. The rigid wheel comprises a rigid shell which is in a circular ring shape, and a connecting hole is formed in the rigid shell; the tooth part is located on the inner wall of the rigid shell, the tooth part comprises a plurality of inner teeth, the inner teeth are evenly distributed on the inner wall of the rigid shell in the circumferential direction, a heat dissipation groove is formed in the side wall of at least one inner tooth, and the side wall comprises a first wall face and a second wall face. The technical problem that heat is easily generated in the operation process of an existing rigid wheel is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to harmonic reducer technical field, especially a kind of harmonic reducer rigid wheel and harmonic reducer of quick heat dissipation. BACKGROUND

[0002] The rigid wheel (Circular Spline) of harmonic reducer is one of its core components, and the transmission system is formed together with the flexspline (Flexspline) and wave generator (Wave Generator).

[0003] The wave generator makes the flexspline elastically deformed, and forms progressive engagement in circumferential direction with the rigid wheel, and converts the deformation of the flexspline into the rotational motion of the rigid wheel. As an external fixed component, the rigid wheel is usually connected with the equipment shell, and provides stable reaction force support.

[0004] In the working process of harmonic reducer, when the rigid wheel and the flexspline engage, the relative sliding and rolling friction between the tooth surfaces are the main heat sources, especially under high speed or high load working conditions, and overheating can cause the fatigue strength of the tooth surface to decrease, and point corrosion, peeling or plastic deformation are easily produced. Therefore, a kind of harmonic reducer rigid wheel and harmonic reducer of quick heat dissipation are proposed. CONTENT OF THE UTILITY MODEL

[0005] The main purpose of the utility model is to provide a kind of harmonic reducer rigid wheel and harmonic reducer of quick heat dissipation, to solve the technical problem that the current rigid wheel is prone to heat in the running process.

[0006] To achieve the above-mentioned purpose, the harmonic reducer rigid wheel of quick heat dissipation provided by the utility model comprises:

[0007] Rigid shell, which is annular, the rigid shell is provided with a connecting hole;

[0008] Tooth part, the tooth part is located on the inner wall of the rigid shell, the tooth part comprises a plurality of inner teeth, a plurality of the inner teeth are uniformly distributed on the inner wall of the rigid shell in circumferential direction, at least one side wall of the inner tooth is provided with a heat dissipation groove, and the side wall comprises a first wall surface and a second wall surface.

[0009] Optionally, in an embodiment of the utility model, one of the two adjacent inner teeth is provided with the heat dissipation groove.

[0010] Optionally, in an embodiment of the utility model, one of the two adjacent inner teeth is provided with the heat dissipation groove on the first wall surface, and the other is provided with the heat dissipation groove on the second wall surface.

[0011] Optionally, in an embodiment of the utility model, one of the two adjacent inner teeth is provided with the heat dissipation groove on the first wall surface, and the other is provided with the heat dissipation groove on the second wall surface.

[0012] Optionally, in an embodiment of the utility model, the inner tooth is provided with two heat dissipation grooves, and the two heat dissipation grooves are respectively located on the first wall surface and the second wall surface.

[0013] Optionally, in an embodiment of the utility model, the inner tooth is provided with two heat dissipation grooves, and the two heat dissipation grooves are respectively located on the first wall surface and the second wall surface.

[0014] Optionally, in an embodiment of the utility model, the heat dissipation groove is arranged in the middle part of the side wall.

[0015] Optionally, in an embodiment of the utility model, the heat dissipation groove is in semicircular structure and penetrates the inner tooth.

[0016] Optionally, in an embodiment of the utility model, the connecting hole is uniformly distributed along the circumference of the rigid shell.

[0017] To achieve the above object, the utility model also proposes a harmonic reducer, comprising:

[0018] The flexspline;

[0019] The wave generator is drivenly connected with the flexspline;

[0020] The rigid gear is meshingly connected with the flexspline, and the rigid gear is the rigid gear as described above.

[0021] Compared with the prior art, the utility model can at least realize the following beneficial effects. The rigid gear of the present scheme comprises a rigid shell and a tooth portion, wherein the rigid shell is the main structure of the rigid gear and is a thick-walled circular ring structure. The tooth portion is located on the inner wall of the rigid shell, and the tooth portion comprises a plurality of inner teeth that are uniformly distributed along the circumference of the inner wall of the rigid shell. When the harmonic reducer is running, the rigid gear and the flexspline are continuously meshed, which may cause heat generation at the meshing position of the rigid gear and the flexspline, and further cause problems such as pitting due to high temperature. Therefore, heat dissipation grooves are provided on the inner teeth of the rigid gear to improve the heat dissipation capacity. After the heat dissipation grooves are provided, on the one hand, the surface area of the inner teeth can be increased to improve the heat dissipation capacity, and on the other hand, the heat dissipation grooves can serve as oil storage grooves to supply oil to the meshing position of the rigid gear and the flexspline, ensuring that there is sufficient lubricating oil between the two. Furthermore, the heat dissipation grooves also provide a path for the flow of lubricating oil, improve the flowability of lubricating oil, and at the same time, speed up the flow and heat dissipation efficiency of lubricating oil, solving the technical problem of easy heat generation of the rigid gear. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] Figure 1 Figure 1 is a structural schematic diagram of a rigid wheel of a harmonic reducer of the present application according to an embodiment 1 of the present application;

[0024] Figure 2 Figure 2 is a structural schematic diagram of a rigid wheel of a harmonic reducer of the present application according to an embodiment 2 of the present application;

[0025] Figure 3 Figure 3 is a structural schematic diagram of a rigid wheel of a harmonic reducer of the present application according to an embodiment 3 of the present application;

[0026] Figure 4 Figure 4 is a structural schematic diagram of a rigid wheel of a harmonic reducer of the present application according to an embodiment 4 of the present application;

[0027] Figure 5 Figure 5 is a structural schematic diagram of a rigid wheel of a harmonic reducer of the present application according to an embodiment 5 of the present application;

[0028] Figure 6 Figure 6 is a perspective view of the rigid wheel of the harmonic reducer of the present application according to the embodiment 5 of the present application.

[0029] Explanation of reference numerals:

[0030] 100, rigid shell; 200, tooth part; 210, inner tooth; 220, tooth groove; 230, side wall;

[0031] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] 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, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0033] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications will also change accordingly.

[0034] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "fixation" can be fixed connection, or detachable connection, or integrated; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0036] Referring to Figures 1-6 The utility model provides a kind of rigid wheel of harmonic reducer of rapid heat dissipation, comprising:

[0037] Rigid shell 100 is annular, and the rigid shell 100 is provided with a connecting hole;

[0038] The tooth portion 200 is located on the inner wall of the rigid shell 100, and the tooth portion 200 comprises a plurality of inner teeth 210. The plurality of inner teeth 210 are uniformly distributed on the inner wall of the rigid shell 100 in the circumferential direction. The side wall 230 of at least one inner tooth 210 is provided with a heat dissipation groove. The side wall 230 comprises a first wall surface and a second wall surface.

[0039] The rigid wheel provided in the scheme comprises a rigid shell 100 and a tooth part 200, wherein the rigid shell 100 serves as the main structure of the rigid wheel and is a thick-walled circular ring structure. The tooth part 200 is located on the inner wall of the rigid shell 100, and the tooth part 200 comprises a plurality of inner teeth 210 which are uniformly distributed along the inner wall of the rigid shell 100 in the circumferential direction. Since the rigid wheel and the flexible wheel are continuously engaged when the harmonic reducer is running, heat will be generated at the engagement position of the rigid wheel and the flexible wheel, and then pitting and other problems caused by high temperature will occur. Therefore, a heat dissipation groove is formed on the inner tooth 210 of the rigid tooth to improve the heat dissipation capacity. After the heat dissipation groove is formed, on the one hand, the surface area of the inner tooth 210 can be increased to improve the heat dissipation capacity, and on the other hand, the heat dissipation groove can serve as an oil storage groove to supply oil to the engagement position of the rigid wheel and the flexible wheel, so that there is sufficient lubricating oil between the two, and further, the heat dissipation groove also provides a path for the flow of lubricating oil, improves the flowability of lubricating oil, and at the same time, speeds up the flow and heat dissipation efficiency of lubricating oil, solving the technical problem of easy heat generation of the rigid wheel.

[0040] In addition, since the heat dissipation groove is located on the side wall 230 of the inner tooth 210, that is, the engagement surface between the flexible wheel and the rigid wheel, the heat dissipation groove will also have a certain heat dissipation effect on the flexible wheel, avoiding deformation caused by overheating of the flexible wheel.

[0041] Embodiment 1

[0042] Referring to Figure 1 In this embodiment, not every inner tooth 210 of the rigid wheel is provided with a heat dissipation groove, and only one of the two adjacent inner teeth 210 is provided with a heat dissipation groove. That is, the inner teeth 210 are divided into heat dissipation teeth and non-heat dissipation teeth, wherein the heat dissipation teeth realize the function of heat dissipation by increasing the surface area and guiding the flow of lubricating oil; the non-heat dissipation teeth maintain the complete tooth structure and maintain the local bending stiffness. This structure can be applied to high-load intermittent working conditions.

[0043] Embodiment 2

[0044] Referring to Figure 2 This embodiment is a variation of Embodiment 1. Compared with Embodiment 1, in Embodiment 2, a heat dissipation groove is formed on each inner tooth 210, and the number of heat dissipation grooves is increased, thereby improving the heat dissipation capacity of the rigid tooth and the flowability of the lubricating oil in the rigid tooth.

[0045] In addition, the groove-shaped structure formed between the two inner teeth 210 is referred to as a tooth groove 220. In this embodiment, the tooth groove 220 with a heat dissipation groove is a heat dissipation tooth groove 220, and the tooth groove 220 without a heat dissipation groove is a non-heat dissipation tooth groove 220. The heat dissipation tooth groove 220 and the non-heat dissipation tooth groove 220 are arranged alternately.

[0046] When the harmonic reducer is working, according to the different rotation directions of the harmonic reducer, the first wall surface or the second wall surface may serve as the main working surface (the wall surface that is closer when engaged), and the main working surface is the area where heat is generated more obviously.

[0047] Alternating grooving, in a harmonic reducer requiring alternating forward and reverse rotation, can ensure that a part of the main working surface is provided with a heat dissipation groove for heat dissipation, and the structure can also destroy the vibration transmission periodicity of the tooth groove 220, thereby reducing the noise generated by the harmonic reducer during operation.

[0048] Embodiment 3

[0049] Reference Figure 3 This embodiment is a variant of Embodiment 2, and each inner tooth 210 is also provided with a heat dissipation groove, and each heat dissipation groove is provided on the same wall surface of the inner tooth 210, which can be the first wall surface or the second wall surface.

[0050] Compared with Embodiment 2, in this embodiment, each tooth groove 220 is a heat dissipation tooth groove 220, but each heat dissipation tooth groove 220 has only one heat dissipation groove.

[0051] It should be noted that when selecting the wall surface, the main working surface when the rigid wheel and the flexible wheel are engaged can be determined, and the heat dissipation groove is provided on the main working surface to ensure that the heat dissipation groove can realize the heat dissipation function in the main heat generation area, and at the same time, the lubricating oil in the heat dissipation groove can be supplied to the closely fitted surface of the rigid wheel and the flexible wheel.

[0052] In addition, the design structure of this embodiment provides a heat dissipation groove on only one wall surface of each inner tooth 210, and the wall surface on which the heat dissipation groove is not provided can act as a "rigid support barrier" for the inner tooth 210, thereby ensuring the bending strength and fatigue life of the tooth root.

[0053] This embodiment is suitable for high-speed robot joints and other working scenarios that require consideration of heat dissipation efficiency and lightweight.

[0054] Embodiment 4

[0055] Reference Figure 4 In this embodiment, two wall surfaces of each inner tooth 210 are provided with heat dissipation grooves, and the two heat dissipation grooves on each inner tooth 210 are symmetrically provided.

[0056] Compared with the foregoing embodiments, this embodiment further increases the number of heat dissipation grooves, thereby further improving the heat dissipation capacity of the rigid wheel and the flowability of the lubricating oil. Compared with single-sided grooving, double-sided symmetric grooving can avoid the imbalance phenomenon that may be caused by single-sided grooving at high speed.

[0057] This embodiment is suitable for high-temperature working conditions.

[0058] Embodiment 5

[0059] Reference Figure 5The embodiment is a variation of the embodiment 4, in which each inner tooth 210 is also provided with a heat dissipation groove on two wall surfaces, but the heat dissipation grooves on the two sides are staggered in height. In the embodiment 4, due to the symmetrical distribution, the thickness of the inner tooth 210 is reduced on both sides of the slotted portion, which leads to the decrease of the structural stiffness of the inner tooth 210 and may cause the problem of the fracture of the inner tooth 210. By staggering the height of the slotted portion, the excessive reduction of the thickness of the inner tooth 210 at the same height is avoided.

[0060] The embodiment is suitable for high-temperature and heavy-load working conditions.

[0061] Specifically, the heat dissipation groove has a semicircular structure and penetrates the inner tooth 210. The machining difficulty of the semicircular groove is relatively low, and the structure does not cause great resistance to the flow of lubricating oil, which can reduce the residence time of the lubricating oil in the heat dissipation groove and thus take away more heat.

[0062] Further, through the penetrating structure, the lubricating oil can enter through the opening formed by the penetration at the meshing position of the flexspline and the rigid wheel.

[0063] Further, in the embodiments 1-4, preferably, the heat dissipation groove is arranged in the middle portion of the side wall 230. Since the gap at the tooth root position is small and the machining is inconvenient, and the structural stiffness at the tooth top position is low, the slotted portion is preferably arranged in the middle portion of the side wall 230 of the inner tooth 210. In addition, the middle heat dissipation groove can play a role of "lubricating oil transfer" and improve the oil film coverage rate of the tooth surface.

[0064] The utility model also proposes a harmonic reducer, the harmonic reducer includes rigid wheel structure, flexspline and wave generator as described above. Since the harmonic reducer adopts all the technical schemes of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical schemes of the above-mentioned embodiments, which will not be repeated here.

[0065] The above-mentioned is only the optional embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made by the utility model specification and the attached drawings, or direct / indirect application in other related technical fields under the inventive concept of the utility model is included in the patent protection range of the utility model.

Claims

1. A rapid heat dissipation harmonic reducer rigid wheel, characterized in that, Comprising: a rigid shell in the shape of a ring, the rigid shell having a connecting hole; a tooth portion on an inner wall of the rigid shell, the tooth portion comprising a plurality of inner teeth, the plurality of inner teeth being evenly distributed along a circumferential direction of the rigid shell, a side wall of at least one of the inner teeth having a heat dissipation groove, the side wall comprising a first wall surface and a second wall surface.

2. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, One of two adjacent inner teeth has the heat dissipation groove.

3. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, One of two adjacent inner teeth has the heat dissipation groove on the first wall surface, and the other has the heat dissipation groove on the second wall surface.

4. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, Each of the inner teeth has one heat dissipation groove, the heat dissipation groove being on the first wall surface or the second wall surface of each of the inner teeth.

5. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, The inner teeth have two heat dissipation grooves, the two heat dissipation grooves being on the first wall surface and the second wall surface respectively, and the two heat dissipation grooves being symmetrically arranged.

6. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, The inner teeth have two heat dissipation grooves, the two heat dissipation grooves being on the first wall surface and the second wall surface respectively, and the two heat dissipation grooves being staggered.

7. The rapid heat dissipating harmonic reducer rigid wheel according to any one of claims 1-5, characterized in that, The heat dissipation groove is arranged in a middle portion of the side wall.

8. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, The heat dissipation groove has a semicircular structure and penetrates the inner teeth.

9. The rapidly heat dissipating harmonic reducer rigid wheel of claim 1, wherein, The connecting hole is evenly distributed along a circumferential direction of the rigid shell.

10. A harmonic reducer characterized by, Comprising: a flexible gear; a wave generator in driving connection with the flexible gear; a rigid gear in meshing connection with the flexible gear, the rigid gear being as claimed in any one of claims 6-9.

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