Compact high-torque harmonic speed reducer

Abstract

The utility model relates to the technical field of harmonic speed reducers, and discloses a compact high-torque harmonic speed reducer which comprises a shell, a rigid gear, a flexible gear and a wave generator. Wherein the shell comprises a first flange and a second flange, a containing groove is formed between the first flange and the second flange, the rigid gear is clamped in the containing groove, the flexible gear is rotationally connected with the shell, the wave generator is arranged in the flexible gear, and outer teeth of the flexible gear are partially meshed with inner teeth of the rigid gear under the action of the wave generator. According to the utility model, the rigid wheel can be fixed more conveniently, and the torque of the speed reducer is increased under the condition that the external size is not changed.

Description

Technical Field

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

[0002] Harmonic reducers mainly consist of three basic components: a wave generator, a flexible gear, and a rigid gear. They are precision speed reduction and transmission devices widely used in fields requiring high-precision positioning control. They utilize the controllable elastic deformation wave generated by the flexible gear to induce relative misalignment rotation between the teeth of the rigid and flexible gears, thereby transmitting power. Harmonic reducers are widely used in various fields due to their advantages such as large transmission ratio, small backlash, high load-bearing capacity, and high transmission accuracy. In servo systems with high positioning requirements, the superior performance of harmonic reducers is particularly evident.

[0003] Compared to traditional speed reducers, harmonic reducers have the advantages of smaller size and lighter weight. With the development of science and technology, the industrial automation field increasingly demands smaller and lighter equipment, which places new requirements on transmission equipment: transmitting as much torque as possible within a limited space while maintaining accuracy. To solve these problems, a new type of harmonic reducer is needed. Utility Model Content

[0004] The purpose of this invention is to provide a compact high-torque harmonic reducer that can transmit greater torque while ensuring minimal change in reducer size.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A compact high-torque harmonic reducer includes a housing, a rigid wheel, a flexible wheel, and a wave generator. The flexible wheel is rotatably connected to the housing, and the wave generator is disposed inside the flexible wheel. The external teeth of the flexible wheel partially mesh with the internal teeth of the rigid wheel under the action of the wave generator. The housing includes a first flange and a second flange with a central through-hole. The first flange and the second flange abut against each other. At the abutment point, the first flange and / or the second flange are recessed outward from the sidewall of the through-hole to form an annular receiving groove. The rigid wheel is engaged in the receiving groove. A first locking member is provided between the first flange, the second flange, and the rigid wheel to lock the first flange, the second flange, and the rigid wheel.

[0007] As a further feature of this utility model, the first locking member includes a first screw and a second screw. The first flange, the second flange, and the rigid wheel are coaxially provided with a first through hole, and the second flange and the rigid wheel are coaxially provided with a second through hole. The first screw is coaxially disposed in the first through hole. The first screw is threadedly connected to the first flange and the second flange. The second screw is coaxially disposed in the second through hole and is threadedly connected to the second flange and the rigid wheel.

[0008] As a further feature of this invention, a first bearing is provided between the second flange and the flexure wheel, the second flange is fixedly connected to the outer ring of the first bearing, and the flexure wheel is fixedly connected to the inner ring of the first bearing.

[0009] As a further feature of this utility model, a first limiting block and a second limiting block are respectively provided on the inner and outer sides of the connection between the flexible wheel and the first bearing. A third through hole is coaxially provided for the first limiting block, the second limiting block, the flexible wheel and the inner ring of the first bearing. A fourth through hole is coaxially provided for the second limiting block, the flexible wheel and the inner ring of the first bearing. A second locking member is provided in the third through hole and a positioning member is provided in the fourth through hole.

[0010] As a further feature of this invention, the second locking member includes an internal hexagon screw, the inner wall of the third through hole is provided with a thread that matches the internal hexagon screw, and the positioning member includes a cylindrical pin.

[0011] As a further feature of this invention, the first bearing includes a crossed roller bearing.

[0012] As a further feature of this invention, an annular sealing groove is provided on the outer side wall of the inner ring of the first bearing along the bearing axis, and a first sealing ring is provided in the sealing groove. An annular sealing groove is provided on the outer side of the first flange along the flange axis, and a second sealing ring is provided in the sealing groove.

[0013] As a further feature of this invention, a flexible bearing is provided between the flexible wheel and the wave generator.

[0014] As a further feature of this invention, a cover plate is fixedly provided on one side of the wave generator, and the cover plate is used to be fixedly connected to an external power input shaft.

[0015] The beneficial effects of this utility model are:

[0016] This invention achieves increased torque transmission by selecting a larger rigid wheel and flexible wheel, even with minimal changes in the external dimensions of the harmonic reducer. Furthermore, it adapts the internal structure of the reducer by using an embedded installation method for the rigid wheel, allowing for the installation of a larger rigid wheel with minimal dimensional changes. Additionally, a cylindrical pin is placed between the flexible wheel, the second limiting block, and the first bearing, enabling the flexible wheel to transmit even greater torque. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this embodiment.

[0019] In the diagram, 1. Rigid wheel, 2. Flexible wheel, 3. Wave generator, 4. First flange, 5. Second flange, 6. Receiving groove, 71. First screw, 72. Second screw, 73. First through hole, 74. Second through hole, 8. First bearing, 91. First limiting block, 92. Second limiting block, 93. Third through hole, 94. Fourth through hole, 95. Second locking element, 96. Positioning element, 101. First sealing ring, 102. Second sealing ring, 11. Flexible bearing, 12. Cover plate. Detailed Implementation

[0020] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0021] A compact high-torque harmonic reducer, reference Figure 1 The device includes a housing, a rigid wheel 1, a flexible wheel 2, and a wave generator 3. In this embodiment, the rigid wheel 1 is fixedly connected to the housing, the flexible wheel 2 is rotatably connected to the housing, and the wave generator 3 is disposed inside the flexible wheel 2. A flexible bearing 11 is disposed between the wave generator 3 and the flexible wheel 2. Under the action of the wave generator 3, a portion of the internal teeth of the flexible wheel 2 and the rigid wheel 1 mesh, and the flexible wheel 2 rotates on the rigid wheel 1 through the action of the wave generator 3.

[0022] Compared with standard harmonic reducer products, in this embodiment, the size of the housing is not significantly changed, but the models of rigid wheel 1 and flexible wheel 2 are both larger, thus enabling the output of greater torque.

[0023] To accommodate a larger model of rigid wheel 1, in this embodiment, the housing includes a first flange 4 and a second flange 5 with a through hole in the center. The first flange 4 is a flange that connects to an external motor and can be directly connected to an external motor. The second flange 5 is a transition flange for rigid wheel 1. The first flange 4 and the second flange 5 abut against each other. In the part where the two flanges abut against each other, a portion is recessed outward from the side wall of the through hole to form an annular receiving groove 6 for installing rigid wheel 1, so that rigid wheel 1 can be embedded and snapped between the two flanges.

[0024] In this embodiment, the receiving groove 6 is provided on one side wall of the first flange 4, while the second flange 5 remains intact. This way, only one flange needs to be provided with a groove, which is convenient for processing. The shape and size of the receiving groove 6 should match the size of the rigid wheel 1 so that the rigid wheel 1 can be properly inserted.

[0025] In this embodiment, a larger model of rigid wheel 1 and flexible wheel 2 needs to be selected. Therefore, an embedded structure such as the accommodating groove 6 is adopted, which enables the installation of a larger model of rigid wheel 1 without significant changes in the shape of the reducer. The embedded structure makes the internal structure more compact.

[0026] Furthermore, the use of two separable flanges to install the rigid wheel 1 makes the assembly of the reducer more convenient. Due to the separable structure, the rigid wheel 1 can be easily inserted into the groove, and then the two flanges and the rigid wheel 1 can be fixed to complete the assembly, which is very convenient.

[0027] In another embodiment, the sidewalls of both flanges can be provided with a portion of grooves. When the first flange 4 and the second flange 5 abut together, the two grooves join together to form a receiving groove 6 for placing the rigid wheel 1.

[0028] In this embodiment, in order to further fix the first flange 4, the second flange 5 and the rigid wheel 1 together and increase the stability of the reducer during operation, a first locking element is provided between the first flange 4, the second flange 5 and the rigid wheel 1;

[0029] The first locking element includes a first screw 71 and a second screw 72. A first through hole 73 is coaxially provided on the first flange 4, the second flange 5 and the rigid wheel 1. A second through hole 74 is coaxially provided on the second flange 5 and the rigid wheel 1. The first screw 71 is coaxially provided in the first through hole 73 and is threadedly connected to the first flange 4 and the second flange 5. The second screw 72 is coaxially provided in the second through hole 74 and is threadedly connected to the second flange 5 and the rigid wheel 1.

[0030] Specifically, the first screw 71 and the second screw 72 are internal hex screws for easy installation.

[0031] With the above setup, the rigid wheel 1 is first fixed to the second flange 5 by the second screw 72, and then the first flange 4 and the second flange 5 are fixed by the first screw 71. The connection between the two screws ensures that the connection strength between the first flange 4, the second flange 5 and the rigid wheel 1 meets the requirements and has good stability.

[0032] In addition, multiple sets of the first screw 71 and the second screw 72 can be provided. The specific number needs to be matched and designed according to the strength requirements.

[0033] In this embodiment, a first bearing 8 is provided between the flexible wheel 2 and the second flange 5. The outer ring of the first bearing 8 is connected to the second flange 5, and the inner ring of the first bearing 8 is connected to the flexible wheel 2. At the same time, the rotation of the flexible wheel 2 can drive the inner ring of the first bearing 8 to rotate, connecting the power output shaft to the inner ring of the first bearing 8, thereby outputting power.

[0034] In this embodiment, since a larger model of flexible wheel 2 is used, a larger torque needs to be transmitted. In order to ensure transmission accuracy, a first limiting block 91 and a second limiting block 92 are respectively provided on the inner and outer sides of the flexible wheel 2. The first limiting block 91, the second limiting block 92, the flexible wheel 2 and the inner ring of the first bearing 8 are coaxially provided with a third through hole 93. The second limiting block 92, the flexible wheel 2 and the inner ring of the first bearing 8 are coaxially provided with a fourth through hole 94. A second locking member 95 is provided in the third through hole 93 and a positioning member 96 is provided in the fourth through hole 94.

[0035] Specifically, the second locking element 95 includes an internal hexagon screw, the inner wall of the third through hole 93 is provided with threads that match the internal hexagon screw, and the positioning element 96 includes a cylindrical pin.

[0036] The first limiting block 91, the second limiting block 92, the flexible wheel 2, and the first bearing 8 are fixed together by the internal hex screws of the second locking member 95. Since the flexible wheel 2 is enlarged and needs to transmit greater torque, the limiting block and the cylindrical pin are added, which can improve the assembly accuracy of the reducer and thus improve the transmission accuracy.

[0037] In this embodiment, the first bearing 8 is a crossed roller bearing, which is more suitable for the transmission conditions of the reducer. In addition, since the inner ring of the first bearing 8 needs to be connected to the external transmission mechanism, the first flange 4 needs to be connected to an external motor. An annular sealing groove is provided on the outer side wall of the inner ring of the first bearing 8 along the bearing axis, and a first sealing ring 101 is provided in the sealing groove. An annular sealing groove is provided on the outer side of the first flange 4 along the flange axis, and a second sealing ring 102 is provided in the sealing groove, so that the reducer has good sealing performance and can adapt to relatively harsh working conditions.

[0038] In this embodiment, a cover plate 12 is provided on one side of the wave generator 3. When installing and using it, the user can pass screws through the through holes of the crossed roller bearings, connect the cover plate 12 to the motor shaft through the through holes, and then fix the motor to the flange. It is simple to use, easy to operate, and saves installation costs.

[0039] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A compact high-torque harmonic reducer, characterized in that: The device includes a housing, a rigid wheel (1), a flexible wheel (2), and a wave generator (3); wherein the flexible wheel (2) is rotatably connected to the housing, the wave generator (3) is disposed inside the flexible wheel (2), and the external teeth of the flexible wheel (2) and the internal teeth of the rigid wheel (1) partially mesh under the action of the wave generator (3); the housing includes a first flange (4) and a second flange (5) with a through hole in the center, the first flange (4) and the second flange (5) abut against each other, and the first flange (4) and / or the second flange (5) are recessed outward from the side wall of the through hole at the abutment point to form an annular receiving groove (6), the rigid wheel (1) is locked in the receiving groove (6), and a first locking member is provided between the first flange (4), the second flange (5) and the rigid wheel (1), the first locking member being used to lock the first flange (4), the second flange (5) and the rigid wheel (1).

2. The compact high-torque harmonic reducer according to claim 1, characterized in that: The first locking component includes a first screw (71) and a second screw (72). A first through hole (73) is coaxially provided on the first flange (4), the second flange (5) and the rigid wheel (1). A second through hole (74) is coaxially provided on the second flange (5) and the rigid wheel (1). The first screw (71) is coaxially provided in the first through hole (73). The first screw (71) is threadedly connected to the first flange (4) and the second flange (5). The second screw (72) is coaxially provided in the second through hole (74). The second screw (72) is threadedly connected to the second flange (5) and the rigid wheel (1).

3. A compact high-torque harmonic reducer according to claim 1, characterized in that: A first bearing (8) is provided between the second flange (5) and the flexible wheel (2). The outer ring of the second flange (5) is fixedly connected to the first bearing (8), and the flexible wheel (2) is fixedly connected to the inner ring of the first bearing (8).

4. A compact high-torque harmonic reducer according to claim 3, characterized in that: The flexible wheel (2) and the first bearing (8) are respectively provided with a first limiting block (91) and a second limiting block (92) on the inner and outer sides. The inner rings of the first limiting block (91), the second limiting block (92), the flexible wheel (2) and the first bearing (8) are coaxially provided with a third through hole (93). The inner rings of the second limiting block (92), the flexible wheel (2) and the first bearing (8) are coaxially provided with a fourth through hole (94). The third through hole (93) is provided with a second locking member (95), and the fourth through hole (94) is provided with a positioning member (96).

5. A compact high-torque harmonic reducer according to claim 4, characterized in that: The second locking member (95) includes an internal hexagon screw, the inner wall of the third through hole (93) is provided with a thread that matches the internal hexagon screw, and the positioning member (96) includes a cylindrical pin.

6. A compact high-torque harmonic reducer according to claim 4, characterized in that: The first bearing (8) includes a crossed roller bearing.

7. A compact high-torque harmonic reducer according to claim 6, characterized in that: An annular sealing groove is provided on the outer side wall of the inner ring of the first bearing (8) along the bearing axis, and a first sealing ring (101) is provided in the sealing groove. An annular sealing groove is provided on the outer side of the first flange (4) along the flange axis, and a second sealing ring (102) is provided in the sealing groove.

8. A compact high-torque harmonic reducer according to claim 1, characterized in that: A flexible bearing (11) is provided between the flexible wheel (2) and the wave generator (3).

9. A compact high-torque harmonic reducer according to claim 1, characterized in that: A cover plate (12) is fixedly installed on one side of the wave generator (3), and the cover plate (12) is used to be fixedly connected to the external power input shaft.

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