Harmonic reducer

Abstract

The utility model discloses a harmonic reducer which comprises an outer ring with inner teeth, a needle pin with a circular section, a flexible bearing, a wave generator and an inner ring with outer teeth. The outer ring, the flexible bearing, the wave generator and the inner ring are concentric with one another and rotate along a central axis; the needle pin and the outer ring are fixed in relative positions, and the needle pin can roll and rotate; the flexible bearing is installed between the wave generator and the inner ring and is driven by the wave generator to deform, so that the needle pin is meshed with the inner ring, the outer ring and the inner ring are driven to rotate mutually, and the tooth-shaped geometrical shape of the inner ring is determined by the outlines of the outer ring and the needle pin through enveloping after relative movement. According to the harmonic reducer, meshing of the inner tooth form and the outer tooth form is transmitted through the needle pin, the structure is simple, torque is large, and the harmonic reducer is more suitable for application scenes with small transmission ratios.

Description

Technical Field

[0001] This utility model relates to a harmonic reducer. Background Technology

[0002] Harmonic reducers are a type of reducer with a small tooth difference that utilizes the deformation of a flexible gear. Due to their advantages such as high load capacity, large transmission ratio, small size, light weight, smooth transmission, and high transmission accuracy, harmonic reducers are widely used in industries such as electronics, aerospace, and robotics.

[0003] Existing harmonic reducers include a wave generator, a flexible gear, and a rigid gear. The flexible gear and the rigid gear are directly driven by the meshing of internal and external teeth, and their torque is easily limited. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to overcome the above-mentioned defects of the prior art and provide a harmonic reducer whose torque is not easily limited.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A harmonic reducer includes an outer ring with internal teeth, a pin with a circular cross-section, a flexible bearing, a wave generator, and an inner ring with external teeth. The outer ring, flexible bearing, wave generator, and inner ring are concentric and rotate along a central axis. The pin can roll. The flexible bearing is installed between the wave generator and the inner ring and is driven to deform by the wave generator, causing the pin and inner ring to mesh, which in turn drives the outer ring and inner ring to rotate relative to each other. The tooth geometry of the inner ring is determined by the contours of the outer ring and the pin after relative motion.

[0007] Even better, the pin is fixed in position relative to the outer ring.

[0008] Compared with the prior art, the advantages of this utility model are: the harmonic reducer structure of this utility model uses pins to transmit the meshing of internal and external teeth, which is simpler in structure, has greater torque, and is more suitable for applications with small transmission ratios. Attached Figure Description

[0009] Figure 1 This is an exploded schematic diagram of the harmonic reducer according to an embodiment of this utility model.

[0010] Figure 2 This is a cross-sectional schematic diagram of the harmonic reducer according to an embodiment of the present invention.

[0011] Figure 3 This is a schematic diagram of the outer ring cross-section of the harmonic reducer according to an embodiment of this utility model.

[0012] Figure 4 This is a schematic diagram of the inner ring cross-section of the harmonic reducer according to an embodiment of this utility model (before deformation).

[0013] Figure 5 This is a schematic diagram of the inner ring cross-section (after deformation) of the harmonic reducer according to an embodiment of this utility model.

[0014] Figure 6 This is a schematic diagram showing the outline shape formed by the outer ring and pin of the harmonic reducer according to an embodiment of the present invention.

[0015] Figure 7 This is a schematic diagram of an inner ring tooth profile formed by the outer ring and pin of the harmonic reducer according to an embodiment of the present invention. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] like Figure 1-7 As shown, a harmonic reducer includes an outer ring 11 with internal teeth, a pin 12, a flexible bearing 13, a wave generator 14, and an inner ring 15 with external teeth.

[0018] The outer ring 11, flexible bearing 13, wave generator 14 and inner ring 15 are concentric and rotate along the central axis.

[0019] The pin 12 has a circular cross-sectional profile and can roll and rotate.

[0020] The tooth geometry of the inner ring 15 is determined by the envelope of the outer ring 11 and the pin 12 after relative motion, see... Figure 7 As shown, pin profile 16 and outer ring profile 17 are... Figure 6 As shown.

[0021] The flexible bearing 13 is installed between the wave generator 14 and the inner ring 15. It is driven to deform by the wave generator 14, so that the pin 12 and the inner ring 15 mesh, which drives the outer ring 11 and the inner ring 15 to rotate relative to each other.

[0022] The pin 12 and the outer ring 11 are fixed in relative position.

[0023] Because the internal and external tooth meshing of the aforementioned harmonic reducer is transmitted through pin 12, its torque is greater.

Claims

1. A harmonic reducer characterized by: A harmonic reducer, comprising an outer ring with inner teeth, a needle pin with circular cross section, a flexible bearing, a wave generator and an inner ring with outer teeth; the outer ring, the flexible bearing, the wave generator and the inner ring are concentric with each other and rotate along a central axis; the needle pin can roll and rotate; the flexible bearing is installed between the wave generator and the inner ring, and is driven to deform by the wave generator, so that the needle pin and the inner ring are engaged, the outer ring and the inner ring are driven to rotate relative to each other, and the tooth profile geometry of the inner ring is determined by the profiles of the outer ring and the needle pin after enveloping through relative movement.

2. The harmonic reducer of claim 1, wherein: The relative position of the needle pin and the outer ring is fixed.

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