Planetary harmonic wave integrated speed reducer

Abstract

The utility model relates to the technical field of harmonic speed reducers, in particular to a planet and harmonic integrated speed reducer which comprises a first fixing piece, a second fixing piece, a rigid gear, a flexible gear, a wave generator, a planet gear and a sun gear. Wherein the first fixing piece is fixedly connected with the rigid gear, the flexible gear is fixedly connected with the second fixing piece, the first fixing piece is rotationally connected with the second fixing piece, the wave generator is arranged in the flexible gear, external teeth of the flexible gear are partially meshed with internal teeth of the rigid gear, and a pin shaft is fixedly arranged at the eccentric position of the wave generator. And a planet gear is coaxially and rotatably arranged on the pin shaft, is meshed with the inner teeth of the rigid gear and is meshed with the sun gear. A planetary gear structure and a harmonic transmission structure are adopted, the transmission ratio of the harmonic speed reducer is increased, and the harmonic speed reducer is suitable for more scene requirements; the harmonic speed reducer wave generator serves as a planet carrier of the planetary speed reducer, one part of inner teeth on the rigid gear serves as a gear ring of the planetary speed reducer, axial space is fully utilized, and the whole machine is compact in structure.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a planetary harmonic integrated speed reducer. Background Technology

[0002] Planetary gear reducers are characterized by high precision, high rigidity, compact size, and high transmission efficiency. They are widely used in mechanical transmission and precision control in light and heavy industries such as precision CNC machine tools, glass equipment, pharmaceuticals, leather processing, and environmental protection equipment. However, the speed ratio of a single-stage planetary gear is generally 3 to 10. Larger speed ratios are usually achieved by connecting multiple planetary gear trains in series, but this results in a larger axial distance, making them unsuitable for certain space-constrained applications.

[0003] Harmonic reducers have a large transmission ratio, with a single-stage speed ratio exceeding 35. When used in series, the gradient is too large, failing to meet practical application requirements. During operation, the flexure in a harmonic reducer is prone to fatigue failure due to cyclic deformation, and the degree of failure is directly proportional to the number of deformation cycles. Starting a harmonic reducer requires a large torque to overcome the elastic deformation resistance of the flexure, leading to increased energy consumption of the power source and making equipment startup difficult. Therefore, a new type of reducer is needed to solve these problems. Utility Model Content

[0004] The purpose of this invention is to provide a planetary harmonic reducer with a compact structure and short axial distance.

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

[0006] A planetary harmonic reducer includes a first fixed component, a second fixed component, a rigid wheel, a flexible wheel, a wave generator, planetary gears, and a sun gear. The first fixed component and the rigid wheel are fixedly connected, the flexible wheel and the second fixed component are fixedly connected, and the first and second fixed components are rotatably connected. The wave generator is disposed inside the flexible wheel, and the external teeth of the flexible wheel partially mesh with the internal teeth of the rigid wheel. A pin is fixedly positioned eccentrically on the wave generator, and planetary gears are coaxially rotatably mounted on the pin. The planetary gears mesh with the internal teeth of the rigid wheel, and the planetary gears mesh with the sun gear.

[0007] As a further feature of this invention, the axis of the sun gear coincides with the axis of the rigid gear.

[0008] As a further feature of this invention, the first fixing member is configured as the outer ring of a bearing, and the second fixing member is configured as the inner ring of the same bearing.

[0009] As a further feature of this invention, the bearing includes a needle roller bearing.

[0010] As a further feature of this invention, a gasket is fitted between the planetary gear and the wave generator.

[0011] As a further feature of this invention, a second washer is fitted around the outer side of the planetary gear, and a retaining spring is engaged around the outer side of the second washer.

[0012] As a further feature of this invention, the pin is interference-fitted with the perforation on the wave generator.

[0013] As a further feature of this utility model, a gasket three is provided on the outer side of the flexible wheel, and a fixing plate is provided on the outer side of the gasket three. The fixing plate has several through holes one along the circumferential direction of the center of the flexible wheel. The second fixing member is provided with through holes two that match the through holes one. Locking members are provided in the through holes one and through holes two.

[0014] As a further feature of this invention, the locking element includes a screw.

[0015] As a further feature of this invention, a flexible bearing is provided between the flexible wheel and the wave generator.

[0016] The beneficial effects of this utility model are:

[0017] 1. In this utility model, the sun gear is connected to the input shaft for power input. When the sun gear rotates, it drives the planet gears to rotate. The planet gears revolve around the sun gear. During the revolution, the planet gears drive the wave generator to rotate through the pin shaft. The wave generator then drives the flexible wheel to rotate. The rotation of the flexible wheel drives the second fixed component to output power. The planetary gear structure + harmonic drive structure expands the transmission ratio of the harmonic reducer and adapts to more scenario requirements.

[0018] 2. Due to the use of planetary reduction gears at the input end, compared to pure harmonic reducers, the reducer lowers the starting torque at the power end, resulting in higher overall transmission efficiency and significantly reduced energy consumption. Simultaneously, the number of deformation cycles of the flexible gears in the harmonic reduction section is greatly reduced, extending the service life of the harmonic components.

[0019] 3. The harmonic reducer wave generator acts as the planet carrier of the planetary reducer, and part of the internal teeth on the rigid wheel serves as the gear ring of the planetary reducer, making full use of the axial space and resulting in a compact overall structure. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a schematic diagram of the overall structure of this embodiment.

[0022] In the diagram, 1 is the first fixing component, 2 is the second fixing component, 3 is the rigid wheel, 4 is the flexible wheel, 5 is the wave generator, 6 is the planetary gear, 7 is the sun gear, 8 is the pin, and 9 is the fixing plate. Detailed Implementation

[0023] 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.

[0024] Planetary harmonic reducer, reference Figure 1 It includes a first fixing component 1, a second fixing component 2, a rigid wheel 3, a flexible wheel 4, a wave generator 5, a planetary gear 6, and a sun gear 7;

[0025] In this embodiment, the first fixing member 1 and the second fixing member 2 are configured as the outer ring and inner ring of a bearing, so that the first fixing member 1 and the second fixing member 2 can rotate relative to each other; preferably, the bearing is a needle roller bearing.

[0026] In another embodiment, the first fixing member 1 and the second fixing member 2 can also be other structures that can rotate relative to each other, as long as it can ensure that the two fixing members can rotate relative to each other.

[0027] In this embodiment, the first fixing member 1 is fixedly connected to the rigid wheel 3, the second fixing member 2 is fixedly connected to the flexible wheel 4, the wave generator 5 is disposed inside the flexible wheel 4, and a flexible bearing is disposed between the wave generator 5 and the flexible wheel 4, forming a harmonic reducer structure.

[0028] At the eccentric position of the wave generator 5, that is, at the position away from the rotation center of the wave generator 5, a pin 8 is fixedly installed along the axis of the wave generator 5. Planetary gears 6 are rotatably connected to the pin 8. The planetary gears 6 are meshed with the sun gear 7. The sun gear 7 is used to connect the power input shaft. In addition, the planetary gears 6 also mesh with the rigid gear 3. The existing rigid gear 3 structure is directly used to replace the planet carrier, avoiding the need to add extra structures in the reducer, making the entire reducer structure more compact.

[0029] In the above structure, the sun gear 7 is connected to the input shaft for power input. When the sun gear 7 rotates, it drives the planet gear 6 to rotate. The planet gear 6 revolves around the sun gear 7. During the revolution, the planet gear 6 drives the wave generator 5 to rotate through the pin 8. The wave generator 5 then drives the flexible gear 4 to rotate. The rotation of the flexible gear 4 drives the second fixed component 2 to output power. This reducer, which adopts a planetary gear structure + harmonic drive structure, expands the transmission ratio of the harmonic reducer and adapts to more scenario requirements.

[0030] Because a planetary reducer is used at the input end, compared to a pure harmonic reducer, the reducer lowers the starting torque at the power end, resulting in higher overall transmission efficiency and significantly reduced energy consumption. Simultaneously, the deformation frequency of the flexspline 4 in the harmonic reduction section is greatly reduced, extending the service life of the harmonic components.

[0031] The harmonic reducer wave generator 5 acts as the planet carrier of the planetary reducer, and part of the internal teeth on the rigid wheel 3 serves as the gear ring of the planetary reducer, making full use of the axial space and resulting in a compact overall structure.

[0032] Furthermore, the axis of the sun gear 7 coincides with the axis of the rigid gear 3, allowing the planet gear 6 to rotate while simultaneously rotating along the inner ring of the rigid gear 3.

[0033] In the installation of pin 8, a shim is first placed between planetary gear 6 and wave generator 5 to avoid direct contact and friction between the two parts, which would reduce transmission efficiency. A second shim is also placed on the outside of the planetary reducer and is secured with a snap ring. Pin 8 and wave generator 5 are interference-fitted for easy installation.

[0034] In this embodiment, to facilitate the installation of the flexible wheel 4, a washer three is provided on the outer side of the flexible wheel 4, and a fixing plate 9 is provided on the outer side of the washer three. The fixing plate 9 has several through holes one along the circumferential direction of the center of the flexible wheel 4. The second fixing member 2 is provided with through holes two that match the through holes one. Locking members are provided in the through holes one and through holes two; the locking members include screws. Through the cooperation of the screws and the fixing plate 9, the flexible wheel 4 can be better connected to the second fixing member 2, resulting in better stability.

[0035] In another embodiment, the flexible wheel 4 can be directly connected to the second fixing member 2. In addition, the locking member can be other structures, such as a screw fixedly installed in the second through hole. After the screw passes through the first through hole, the fixing plate 9 is locked by the screw thread.

[0036] 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 planetary harmonic reducer, characterized in that: It includes a first fixing member (1), a second fixing member (2), a rigid wheel (3), a flexible wheel (4), a wave generator (5), a planetary gear (6), and a sun gear (7); wherein, the first fixing member (1) and the rigid wheel (3) are fixedly connected, the flexible wheel (4) and the second fixing member (2) are fixedly connected, the first fixing member (1) and the second fixing member (2) are rotatably connected, the wave generator (5) is disposed inside the flexible wheel (4), a pin (8) is fixedly disposed at the eccentric position of the wave generator (5), a planetary gear (6) is coaxially rotatably disposed on the pin (8), the planetary gear is located outside the wave generator, the planetary gear and the flexible wheel both mesh with the internal teeth of the rigid wheel (3), and the planetary gear (6) meshes with the sun gear (7).

2. The planetary harmonic reducer according to claim 1, characterized in that: The axis of the sun gear (7) coincides with the axis of the rigid wheel (3).

3. The planetary harmonic reducer according to claim 1, characterized in that: The first fixing member (1) is set as the outer ring of a bearing, and the second fixing member (2) is set as the inner ring of the same bearing.

4. The planetary harmonic reducer according to claim 3, characterized in that: The bearings include needle roller bearings.

5. The planetary harmonic reducer according to claim 1, characterized in that: The pin (8) is located between the planetary gear (6) and the wave generator (5) and a gasket is fitted on it.

6. The planetary harmonic reducer according to claim 1, characterized in that: The pin (8) is fitted with a second washer on the outside of the planetary gear (6), and the pin (8) is fitted with a retaining spring on the outside of the second washer.

7. The planetary harmonic reducer according to claim 1, characterized in that: The pin (8) is interference-fitted with the perforation on the wave generator (5).

8. The planetary harmonic reducer according to claim 1, characterized in that: A gasket three is provided on the outer side of the flexible wheel (4), and a fixing plate (9) is provided on the outer side of the gasket three. The fixing plate (9) has several through holes one along the circumferential direction of the center of the flexible wheel (4). The second fixing member (2) is provided with through holes two that match the through holes one. Locking members are provided in the through holes one and through holes two.

9. The planetary harmonic reducer according to claim 8, characterized in that: The locking element includes a screw.

10. The planetary harmonic reducer according to claim 1, characterized in that: A flexible bearing is provided between the flexible wheel (4) and the wave generator (5).

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