Harmonic reducer mechanical limiting structure

Abstract

The utility model provides a kind of harmonic reducer mechanical limiting structure, it is related to harmonic reducer mechanical limiting technical field, including: at least one limiting piece, it is detachably connected in the position of the reducer structure away from two ends, the reducer structure includes shell and output shaft, the output shaft is rotatably connected with the shell inner cavity, the limiting piece is penetrated and extends to the shell inner cavity;With the limiting groove of the limiting piece number adaptation, it is set in the outer wall of the output shaft and is corresponding with the limiting piece sliding fit.The utility model has the beneficial effects: by the transition cooperation of mounting groove and limiting block, the bearing capacity of limiting block can be effectively improved, the strength of mechanical limiting is greatly improved, so that the use effect of limiting structure is more remarkable;Limiting piece is connected with shell by screw, and adopts thread locking glue to enhance the connection stability, ensure that it does not loosen under vibration or impact environment, improve the reliability of equipment.

Description

Technical Field

[0001] This utility model relates to the field of mechanical limiting technology for harmonic reducers, and in particular to a mechanical limiting structure for harmonic reducers. Background Technology

[0002] Harmonic reducers are widely used in aerospace, energy, marine, shipbuilding, bionic machinery, and transportation due to their advantages such as large transmission ratio, high load capacity, high transmission accuracy, and high transmission efficiency. Their superiority is even more evident in servo systems with particularly high dynamic performance. In certain specific operating environments, the transmission components of a harmonic reducer are required to perform reciprocating motion within a fixed angular range. In such cases, limiting the transmission components of the harmonic reducer is necessary. Besides control through the control program, setting mechanical limits is also a crucial limiting method.

[0003] To meet the requirements of high-intensity operating environments, the mechanical limiting structure of harmonic reducers on the market is usually set outside the drive shaft as a nested structure, with a limiting groove set in conjunction with the reducer housing to limit the rotation range of the drive shaft. Since the limiting structure is directly set on the reducer housing, it can meet the strength requirements. However, because the limiting structure needs to be set with the harmonic reducer housing, and the limiting structure is usually set at the end of the output shaft of the harmonic reducer, the installation and disassembly of the limiting structure is very inconvenient after the output shaft of the harmonic reducer is connected. Therefore, there is an urgent need in the market for a harmonic reducer mechanical limiting structure that is easy to install and has high load-bearing strength to solve the technical problems of traditional harmonic reducers. Utility Model Content

[0004] In view of this, an embodiment of the present invention provides a mechanical limiting structure for a harmonic reducer.

[0005] An embodiment of this utility model provides a mechanical limiting structure for a harmonic reducer, comprising:

[0006] At least one limiting member is provided. The reducer structure includes a housing and an output shaft, the output shaft being rotatably connected to the inner cavity of the housing, and the limiting member being disposed in the inner cavity of the housing.

[0007] The same number of limiting grooves as the limiting members are provided on the outer wall of the output shaft and slide in cooperation with the limiting members. When the output shaft rotates relative to the housing by a predetermined angle, the side wall of the limiting groove on the output shaft abuts against the limiting member, thereby blocking the output shaft so that it can only rotate to the predetermined angle.

[0008] Furthermore, the limiting member includes a boss and a limiting block. The end of the limiting block facing the limiting groove is arc-shaped, and the limiting groove is also arc-shaped along the surface of the output shaft. The arc of the limiting block and the limiting groove are the same.

[0009] Furthermore, the required limiting angle value for the rotation of the output shaft is ±a, the limiting groove is at a fixed angle c between the two side walls on the output shaft, the limiting block is at a fixed angle b between the two side walls, and the included angles c and b are configured with an angle difference of 2a.

[0010] Furthermore, the outer wall of the housing is provided with a mounting groove, and the limiting member is disposed in the mounting groove and extends into the inner cavity of the housing.

[0011] Furthermore, the mounting groove is a stepped groove adapted to the boss, and the mounting groove is configured such that when the boss is placed into the mounting groove, the boss is completely hidden within the mounting groove.

[0012] Furthermore, a threaded hole is provided on the inner wall of the mounting groove, extending into the inner cavity of the housing, and a light hole is provided through the boss, the light hole being coaxial with the threaded hole.

[0013] Furthermore, a screw is provided on the boss, the screw passing through the light hole and threadedly connected to the threaded hole.

[0014] Furthermore, the screw has a fixing layer on its threaded surface, which is a thread-locking adhesive.

[0015] Furthermore, the light hole is a tapered hole, the minor diameter of the light hole is 0.1-0.2 mm larger than the diameter of the screw, and the tapered surface of the light hole fits into the end of the screw.

[0016] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows: The mechanical limiting structure of the harmonic reducer of this utility model can effectively improve the load-bearing capacity of the limiting block through the transitional fit between the mounting groove and the limiting block, greatly improving the strength of the mechanical limiting and making the use effect of the limiting structure more significant; the limiting component is connected to the housing by screws and the connection stability is enhanced by thread locking glue, ensuring that it will not loosen under vibration or impact environment, thus improving the reliability of the equipment; the boss of the limiting component is hidden in the mounting groove of the housing, maintaining the flatness of the outer wall of the housing and making the whole structure more compact; the limiting component is set in a detachable connection method at a position away from both ends of the housing, so that the output shaft end can avoid the limiting component after connection, thus eliminating the need to consider the impact of the output shaft connection on the disassembly of the limiting component, which facilitates installation and maintenance. Attached Figure Description

[0017] Figure 1 This is a front view of the present invention;

[0018] Figure 2 This is a utility model Figure 1 Sectional view at point AA;

[0019] Figure 3 This is a utility model Figure 2 Enlarged view of the structure at point B.

[0020] In the diagram: 1. Housing; 2. Output shaft; 3. Mounting groove; 4. Limiting component; 41. Boss; 411. Through hole; 42. Limiting block; 5. Screw; 6. Limiting groove; 7. Threaded hole. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of several possible embodiments of this utility model, intended to provide a basic understanding of the utility model, but not intended to identify the key or decisive elements of the utility model or to limit the scope of protection sought.

[0022] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0025] In the description of this utility model, it should be noted that the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this utility model does not involve any improvement to the internal structure and method.

[0026] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] Please refer to Figure 1-2 Example 1: An embodiment of this utility model provides a mechanical limiting structure for a harmonic reducer, including at least two limiting members 4 and a number of limiting grooves 6 adapted to them.

[0028] It should be noted that the limiting member 4 is detachably connected to a position away from both ends of the reducer structure. Since the limiting member 4 is located away from both ends of the reducer structure, the matching position of the limiting member 4 and the limiting groove 6 can make way for the connection of the output shaft 2 of the reducer structure, without affecting the disassembly of the limiting member 4 after connection.

[0029] Specifically, the reducer structure includes a housing 1 and an output shaft 2. The output shaft 2 is rotatably connected to the inner cavity of the housing 1, and the limiting member 4 penetrates and extends into the inner cavity of the housing 1.

[0030] It should be further explained that the limiting groove 6 is set on the outer wall of the output shaft 2 and slides in accordance with the limiting member 4. When the output shaft 2 rotates at a certain angle relative to the housing 1, the side wall of the limiting groove 6 abuts against the limiting member 4, thereby blocking the output shaft 2 and allowing it to rotate only to the predetermined angle.

[0031] Since the output shaft 2 and the inner wall of the housing 1 rotate in contact, the limiting groove 6 can provide an insertion space for the end of the limiting member 4 to extend into the inner cavity of the housing 1.

[0032] In specific implementation, the limiting component 4 includes a boss 41 and a limiting block 42. The end of the limiting block 42 facing the limiting groove 6 is arc-shaped, and the limiting groove 6 is arc-shaped along the surface of the output shaft. The limiting block 42 and the limiting groove 6 have the same curvature to achieve smooth engagement and limiting.

[0033] It is understandable that the required limiting angle for the rotation of the output shaft 2 is ±a. The limiting groove 6 is at a fixed angle c between the two side walls of the output shaft 2, and the limiting block 42 is at a fixed angle b between the two side walls. The angle difference between the included angle c and the included angle b is 2a, thereby ensuring that the limiting groove 6 and the limiting block 42 accurately engage at the predetermined angle.

[0034] Example 2: Please refer to Figure 3In this embodiment, the outer wall of the housing 1 is provided with a mounting groove 3, which is a stepped groove adapted to the boss 41. When the boss 41 is placed in the mounting groove 3, the boss is completely hidden in the mounting groove 3 to maintain the flatness of the outer wall of the housing 1. At the same time, the boss 41 is restricted in the mounting groove 3 to achieve precise control of the installation position of the limiting block 42. The boss 41 and the mounting groove 3 adopt a transition fit to improve the load-bearing capacity of the limiting block 42 and avoid insufficient load-bearing strength due to the simple fixing of the boss 41 by the screw 5.

[0035] Furthermore, a threaded hole 7 is provided on the inner wall of the mounting groove 3, which penetrates into the inner cavity of the housing 1. A light hole 411 is provided on the boss, and a screw 5 is provided on the boss 41. The screw 5 passes through the light hole 411 and is threadedly connected to the threaded hole 7, so as to realize a firm connection between the limiting member 4 and the housing 1.

[0036] It is understandable that the light hole 411 is coaxial with the threaded hole 7 so as to install and fix the screw 5. The light hole 411 is a tapered hole, and the minor diameter of the light hole 411 is 0.1-0.2mm larger than the diameter of the screw 5. The tapered surface of the light hole 411 fits against the end of the screw 5.

[0037] In the implementation of this scheme, the relative position between the limiting block 42 and the housing 1 of the reducer structure is determined by the limiting groove 6, while the screw 5 is only used to fix the limiting block 42.

[0038] To further enhance the secure installation of the limiting component 4, a fixing layer is provided on the threaded surface of the screw 5. The fixing layer is thread-locking adhesive to enhance the stability of the screw connection and prevent loosening. During implementation, the thread-locking adhesive is applied to the surface of the screw 5, which can solidify on the threaded mating surface to form a fixing layer and increase the bonding strength.

[0039] In the actual installation process, firstly, the boss 41 of the limiting member 4 is placed into the mounting groove 3 on the outer wall of the housing 1, ensuring that the boss 41 is completely hidden in the mounting groove 3. Then, the screw 5 is passed through the light hole 411 on the boss 41 and threadedly connected to the threaded hole 7 on the inner wall of the mounting groove 3, thereby firmly fixing the limiting member 4 to the housing 1. During the tightening of the screw 5, the thread locking adhesive will fill the thread gap between the screw 5 and the threaded hole 7, further enhancing the stability of the connection and preventing the screw from loosening under vibration or impact.

[0040] When the harmonic reducer is working, the output shaft 2 rotates in the inner cavity of the housing 1, and the limiting groove 6 moves with the rotation of the output shaft 2. When the output shaft 2 rotates to a predetermined angle, the side wall of the limiting groove 6 abuts against the limiting block 42. Since the limiting block 42 and the limiting groove 6 have the same curvature and their angle difference is 2a, the abutment between the limiting groove 6 and the limiting block 42 can accurately limit the rotation angle of the output shaft 2 and prevent it from rotating excessively.

[0041] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0042] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0043] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., 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 mechanical limiting structure for a harmonic reducer, used for mechanical limiting of the reducer structure, characterized in that, include: At least one limiting member (4), the reducer structure includes a housing (1) and an output shaft (2), the output shaft (2) is rotatably connected to the inner cavity of the housing (1), and the limiting member (4) is disposed in the inner cavity of the housing (1); The same number of limiting grooves (6) as the limiting member (4) are provided on the outer wall of the output shaft (2) and slide in cooperation with the limiting member (4). When the output shaft (2) rotates at a predetermined angle relative to the housing (1), the side wall of the limiting groove (6) located on the output shaft (2) abuts against the limiting member (4), thereby blocking the output shaft (2) so that it can only rotate to the predetermined angle.

2. The harmonic reducer mechanical limiting structure as described in claim 1, characterized in that: The limiting member (4) includes a boss (41) and a limiting block (42). The end of the limiting block (42) facing the limiting groove (6) is arc-shaped. The limiting groove (6) is also arc-shaped along the surface of the output shaft (2). The arc of the limiting block (42) and the limiting groove (6) are the same.

3. The harmonic reducer mechanical limiting structure as described in claim 2, characterized in that: The required limiting angle for the rotation of the output shaft (2) is ±a. The limiting groove (6) is at a fixed angle c between the two side walls of the output shaft (2). The limiting block (42) is at a fixed angle b between the two side walls. The included angles c and b are configured with an angle difference of 2a.

4. The harmonic reducer mechanical limiting structure as described in claim 2, characterized in that: The outer wall of the housing (1) is provided with an installation groove (3), and the limiting member (4) is disposed in the installation groove (3) and extends into the inner cavity of the housing (1).

5. The harmonic reducer mechanical limiting structure as described in claim 4, characterized in that: The mounting groove (3) is a stepped groove adapted to the boss (41). The mounting groove (3) is configured such that when the boss (41) is placed in the mounting groove (3), the boss (41) is completely hidden in the mounting groove (3).

6. The harmonic reducer mechanical limiting structure as described in claim 4, characterized in that: The inner wall of the mounting groove (3) is provided with a threaded hole (7) that penetrates into the inner cavity of the housing (1), and a light hole (411) is provided through the boss (41). The light hole (411) is coaxial with the threaded hole (7).

7. The harmonic reducer mechanical limiting structure as described in claim 6, characterized in that: The boss (41) is provided with a screw (5), which passes through the light hole (411) and is threadedly connected to the threaded hole (7).

8. The harmonic reducer mechanical limiting structure as described in claim 7, characterized in that: The screw (5) has a fixing layer on its threaded surface, which is thread-locking adhesive.

9. The harmonic reducer mechanical limiting structure as described in claim 7, characterized in that: The light hole (411) is a tapered hole, and the small diameter of the light hole (411) is 0.1-0.2 mm larger than the diameter of the screw (5). The tapered surface of the light hole (411) fits into the end of the screw (5).

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