Harmonic reducer with bearing and rigid wheel integrated

Abstract

The utility model discloses a bearing and rigid wheel integrated harmonic reducer which comprises an input shaft and a reducer body, a wave generator is arranged on the input shaft, and a flexible bearing is sleeved outside the wave generator. The speed reducer body comprises a bearing outer ring, a rigid gear, a cup-shaped flexible gear and a bearing inner ring, the rigid gear and the bearing outer ring are an integrated component, the cup-shaped flexible gear is connected with inner teeth of the rigid gear in a meshed mode, the bearing inner ring is fixedly connected with the cup-shaped flexible gear, and a rolling body is arranged between the bearing inner ring and the bearing outer ring. A rolling body is arranged between a bearing inner ring and a bearing outer ring and is arranged on the outer side of a cup-shaped flexible gear cylinder body, so that the axial length and the outer diameter are effectively shortened, the bearing inner ring and a cup-shaped flexible gear are fixedly connected to form an output shaft, a wave generator and an input shaft are integrated, and rigid gear inner teeth are meshed with cup-shaped flexible gear outer teeth, so that the axial length and the outer diameter are effectively reduced. The integral rigidity is effectively improved, and the transmission mechanism belongs to the technical field of robot transmission.

Description

Technical Field

[0001] This utility model belongs to the field of robot transmission technology, and more specifically relates to a harmonic reducer that integrates a bearing and a rigid wheel. Background Technology

[0002] Harmonic reducers have advantages such as high load capacity, large transmission ratio, small size, smooth transmission, and high transmission accuracy, and are therefore widely used in industries such as electronics, aerospace, and robotics. However, existing harmonic reducers have large outer diameters and occupy a large overall space, resulting in a large overall size and complex structure, which cannot meet the requirements for miniaturization of joint modules. Utility Model Content

[0003] The main objective of this invention is to provide a harmonic reducer that integrates a bearing and a rigid wheel, which has a small volume ratio, simple structure, stable operation, and high precision.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A harmonic reducer integrating a bearing and a rigid wheel includes an input shaft and a reducer body. A wave generator is mounted on the input shaft, and a flexible bearing is sleeved around the wave generator. The reducer body includes a bearing outer ring, a rigid wheel that is an integral component with the bearing outer ring, a cup-shaped flexible wheel that meshes with the internal teeth of the rigid wheel, and a bearing inner ring that is fixedly connected to the cup-shaped flexible wheel. A rolling element is provided between the bearing inner ring and the bearing outer ring. The rolling element is located on the outer side of the cup-shaped flexible wheel. A support bearing is provided inside the cup-shaped flexible wheel on the side near the wave generator.

[0006] According to a first aspect of the present invention, it further includes a bearing support assembly, the bearing support assembly including a bearing housing that mates with the outer circle of the support bearing, and both the support bearing and the bearing housing are disposed at the bottom of the cup-shaped flexible wheel.

[0007] According to a first aspect of the present invention, the inner ring of the bearing is fixedly connected to the cup-shaped flexible wheel and the bearing housing by screws.

[0008] According to a first aspect of the present invention, the flexible bearing, the supporting bearing, and the bearing housing are all disposed within the cup-shaped flexible wheel.

[0009] According to a first aspect of the present invention, the inner ring of the support bearing mates with the input shaft, and the outer ring of the support bearing mates with the inner hole of the bearing housing.

[0010] According to a first aspect of the present invention, the support bearing and the outer ring of the bearing are coaxially arranged.

[0011] According to a first aspect of the present invention, the outer surface of the bearing inner ring is provided with an inner groove for mounting the rolling elements.

[0012] According to a first aspect of the present invention, the rolling element is one of a spherical, cylindrical, or conical shape.

[0013] According to a first aspect of the present invention, a connecting component is further included, the connecting component comprising at least one group of screws fixed to the outer end face of the inner ring of the bearing.

[0014] According to a first aspect of the present invention, the screw assembly includes a plurality of axial screws arranged circumferentially around the input shaft.

[0015] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0016] This invention integrates the outer ring of the bearing with the rigid wheel, and sets a rolling element between the inner ring and the outer ring of the bearing. The rolling element is positioned on the outside of the cup-shaped flexible wheel cylinder, thereby effectively shortening the axial length and outer diameter. The inner ring of the bearing and the cup-shaped flexible wheel are fixedly connected to form an output shaft, the wave generator is integrated with the input shaft, and the inner teeth of the rigid wheel mesh with the outer teeth of the cup-shaped flexible wheel, effectively improving the overall rigidity. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0018] Appendix Figure 1 This is a cross-sectional view of one embodiment of the present invention;

[0019] Appendix Figure 2 This is a front view of one embodiment of the present invention;

[0020] Appendix Figure 3 This is a rear view of one embodiment of the present invention. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements, an indirect connection, or an interaction between two elements.

[0026] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0027] See attached document Figure 1 To be continued Figure 3 As shown, a harmonic reducer integrating a bearing and a rigid wheel includes an input shaft 1, a wave generator 11 mounted on the input shaft 1, a flexible bearing 5 sleeved outside the wave generator 11, a reducer body 2, a bearing support assembly 3, and a connecting assembly.

[0028] In one embodiment of the present invention, the reducer body 2 includes a bearing outer ring 21 disposed at one end of the input shaft 1, a rigid wheel 25 which is an integral component with the bearing outer ring 21, a cup-shaped flexible wheel 22 which is meshed with the internal teeth of the rigid wheel 25, and a bearing inner ring 23 which is fixedly connected to the cup-shaped flexible wheel 22. A rolling element 24 is provided between the bearing inner ring 23 and the bearing outer ring 21, and the rolling element 24 is disposed on the outer side of the cylinder of the cup-shaped flexible wheel 22.

[0029] In one embodiment of this utility model, the outer side of the bearing inner ring 23 is provided with an inner groove for mounting the rolling element 24. The rolling element 24 is one of spherical, cylindrical or conical, preferably cylindrical.

[0030] In one embodiment of the present invention, the bearing support assembly 3 includes a support bearing 31 that cooperates with the input shaft 1 and a bearing seat 32 that cooperates with the outer circle of the support bearing 31. The support bearing 31 is disposed inside the cup-shaped flexible wheel 22 near one end of the wave generator 11. The cup-shaped flexible wheel 22, the bearing seat 32 and the support bearing 31 are arranged sequentially along the axial direction of the input shaft 1.

[0031] In one embodiment of this utility model, the connecting assembly includes a screw group fixed to the outer end face of the inner ring 23 of the bearing. The screw group includes a plurality of axial screws 41 arranged in a circle with the input shaft 1 as the center. The axial screws 41 can be used to fix the inner ring 23 of the bearing, the cup-shaped flexible wheel 22 and the bearing seat 32 into a whole, thereby effectively improving the overall rigidity.

[0032] In one embodiment of this utility model, the flexible bearing 5, the support bearing 31, and the bearing seat 32 are all disposed inside the cup-shaped flexible wheel 22. During installation, the inner ring of the support bearing 31 mates with the input shaft 1, and the outer ring of the support bearing 31 mates with the inner hole of the bearing seat 32.

[0033] In one embodiment of this utility model, the support bearing 31 and the bearing outer ring 21 are coaxially arranged. The internal teeth of the rigid wheel 25, which is an integral component with the bearing outer ring 21, mesh with the external teeth of the cup-shaped flexible wheel 22. The support bearing 31 is a deep groove ball bearing, which is not only convenient to use and easy to maintain, but also has a long service life and reliability. It can also withstand large radial and axial loads, and has high speed capability, low friction loss and high efficiency.

[0034] In one embodiment of this utility model, the cup-shaped flexible wheel 22, the bearing seat 32, and the bearing support assembly 3 are all disposed in the mounting cavity of the reducer body 2, thereby effectively controlling the size of the harmonic reducer that integrates the bearing and the rigid wheel, and meeting the requirements for miniaturization of the joint module.

[0035] In one embodiment of this utility model, a motor assembly may be provided at the other end of the input shaft 1, which includes a drive source and a motor housing with one end abutting against the outer ring 21 of the bearing. The power source is the power input of this joint structure, including a motor stator and a motor rotor. The motor stator is sleeved on the outside of the input shaft 1, and the motor rotor is sleeved on the outside of the motor stator through a permanent magnet.

[0036] In one embodiment of this utility model, an encoder assembly can be set on the side of the motor assembly away from the reducer to measure displacement and rotational speed. Specifically, it includes an input encoder, an output encoder, and a drive board arranged sequentially along the input shaft 1, so that angular displacement or linear displacement can be converted into electrical signals to accurately test the angular displacement and rotational position of the motor.

[0037] Therefore, this utility model provides a harmonic reducer that integrates a bearing and a rigid wheel. By setting the wave generator 11 on the input shaft 1, the wave generator 11 and the input shaft 1 are integrated. The inner ring 23 of the bearing and the cup-shaped flexible wheel 22 are fixedly connected to form the output shaft. The internal teeth of the rigid wheel 25 mesh with the external teeth of the cup-shaped flexible wheel 22, thereby effectively improving the overall rigidity. Furthermore, by setting the outer ring 21 of the bearing to be integrated with the rigid wheel 25, and by setting a rolling element 24 between the inner ring 23 and the outer ring 21 of the bearing, and by setting the rolling element 24 on the outside of the cylinder of the cup-shaped flexible wheel 22, the axial length and outer diameter are effectively shortened.

[0038] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A harmonic reducer integrating a bearing and a rigid wheel, comprising an input shaft (1) and a reducer body (2), characterized in that, The input shaft (1) is provided with a wave generator (11), the wave generator (11) is externally provided with a flexible bearing (5), the reducer body (2) comprises a bearing outer ring (21), a rigid wheel (25) which is an integrated component with the bearing outer ring (21), a cup-shaped flexible wheel (22) which is in meshing connection with the inner teeth of the rigid wheel (25), and a bearing inner ring (23) which is fixedly connected with the cup-shaped flexible wheel (22), a rolling body (24) is arranged between the bearing inner ring (23) and the bearing outer ring (21), the rolling body (24) is arranged on the outer side of the barrel of the cup-shaped flexible wheel (22), and the cup-shaped flexible wheel (22) is internally provided with a support bearing (31) on the side close to the wave generator (11).

2. The integrated bearing and rigid gear harmonic reducer of claim 1, wherein: Further comprising a bearing support assembly (3), the bearing support assembly (3) comprises a bearing seat (32) which is matched with the outer circle of the support bearing (31), and the support bearing (31) and the bearing seat (32) are both arranged at the bottom of the cup-shaped flexible wheel (22).

3. The integrated bearing and rigid gear harmonic reducer of claim 2, wherein: The bearing inner ring (23) is fixedly connected with the cup-shaped flexible wheel (22) and the bearing seat (32) through screws.

4. The integrated bearing and rigid gear harmonic reducer of claim 2, wherein: The flexible bearing (5), the support bearing (31) and the bearing seat (32) are all arranged in the cup-shaped flexible wheel (22).

5. The integrated bearing and rigid gear harmonic reducer of claim 4, wherein: The inner ring of the support bearing (31) is matched with the input shaft (1), and the outer ring of the support bearing (31) is matched with the inner hole of the bearing seat (32).

6. The integrated bearing and rigid gear harmonic reducer of claim 5, wherein: The support bearing (31) is coaxially arranged with the bearing outer ring (21).

7. The integrated bearing and rigid gear harmonic drive of claim 1, wherein: The bearing inner ring (23) is externally provided with an inner channel for mounting the rolling body (24).

8. The integrated bearing and rigid gear harmonic reducer of claim 7, wherein: The rolling body (24) is one of a spherical type, a cylindrical type or a conical type.

9. The integrated bearing and rigid gear harmonic drive of claim 1, wherein: Further comprising a connecting assembly, the connecting assembly comprises at least one screw group which is fixedly connected to the outer end surface of the bearing inner ring (23).

10. The integrated bearing and rigid gear harmonic reducer of claim 9, wherein: The screw group comprises a plurality of axial screws (41) which are arranged in a circle and take the input shaft (1) as the center.

Images