A harmonic reducer integrating a rigid wheel and a bearing

Abstract

A harmonic reducer integrating a rigid wheel and an output bearing includes a wave generator, a rigid wheel, and a flexible wheel. The rigid wheel has a bearing raceway, serving as either the inner or outer ring of the output bearing. When the rigid wheel acts as the inner ring of the output bearing, the outer ring of the output bearing is connected to one end of the flexible wheel. When the rigid wheel acts as the outer ring of the output bearing, the inner ring of the output bearing is connected to one end of the flexible wheel. Because the harmonic reducer integrates the rigid wheel and the output bearing, and the rigid wheel is machined from the inner or outer ring of the bearing, it eliminates the need for a separate rigid wheel compared to existing harmonic reducers. Therefore, the structure of the harmonic reducer is simplified, its size is smaller, resulting in lighter weight, higher torque density, and wider application range.

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 wheel, and a rigid wheel. The rigid wheel and the crossed roller bearing are arranged in series axially as the rotational support of the whole machine. Therefore, its axial length is relatively large.

[0004] With the application of harmonic reducers in humanoid robot joints, there is a demand to develop harmonic reducers with higher torque density, higher integration, and more compact structure. Summary of the Invention

[0005] 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 with the rigid wheel and bearing integrated, so as to make it smaller in size.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0007] A harmonic reducer integrating a rigid wheel and a bearing includes a wave generator, a rigid wheel, and a flexible wheel. The rigid wheel has a bearing raceway, which serves as the inner or outer ring of the output bearing.

[0008] When the rigid wheel is used as the inner ring of the output end bearing, the outer ring of the output end bearing is connected to one end of the flexible wheel.

[0009] When the flex wheel is cup-shaped, the bottom of the cup-shaped flex wheel is connected to the outer ring of the output end bearing through a connector.

[0010] When the flexible wheel is top-hat shaped, the bottom of the top-hat shaped flexible wheel is connected to the outer ring of the output end bearing.

[0011] When the rigid wheel serves as the outer ring of the output end bearing, the inner ring of the output end bearing is connected to one end of the flexible wheel.

[0012] Compared with the prior art, the advantages of this utility model are as follows: Since the harmonic reducer adopts the rigid wheel and bearing as one unit, and the rigid wheel has bearing raceway, which serves as the inner or outer ring of the output end bearing, it reduces the number of separate rigid wheels compared with the existing harmonic reducers. Therefore, the structure of the harmonic reducer is more compact. Attached Figure Description

[0013] Figure 1This is a schematic diagram of the structure of a cup-shaped harmonic reducer in which the rigid wheel and the inner ring of the output end bearing are integrated, according to an embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of the structure of a hat-shaped harmonic reducer in which the rigid wheel and the inner ring of the output end bearing are integrated, according to an embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram of the structure of a harmonic reducer in which the rigid wheel and the outer ring of the output bearing are integrated, 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 As shown, a harmonic reducer integrating a rigid wheel and a bearing includes a wave generator 1, a rigid wheel, and a flexible wheel 4. The rigid wheel has a bearing raceway 21, which serves as the inner ring of the output bearing 2.

[0018] The flexible wheel 4 is a cup-shaped flexible wheel, and its bottom 41 is connected to the connector 6 and fixed by screws 7.

[0019] The outer ring 3 of the output end bearing is connected to the connecting piece 6 by connecting screws 5, thereby fixing the flexible wheel 4 to the outer ring 3 of the output end bearing.

[0020] like Figure 2 As shown, a harmonic reducer integrating a rigid wheel and a bearing includes a wave generator 1, a rigid wheel, and a flexible wheel 4. The rigid wheel has a bearing raceway, which serves as the inner ring 2 of the output bearing.

[0021] The flexible wheel 4 is a top hat-shaped flexible wheel.

[0022] The outer ring 3 of the output end bearing is connected to the bottom 42 of the flexible wheel 4 by a connecting screw 5.

[0023] like Figure 3 As shown, a harmonic reducer integrating a rigid wheel and a bearing includes a wave generator 1, a rigid wheel, and a flexible wheel 4. The rigid wheel has a bearing raceway 31, which serves as the outer ring 3 of the output bearing.

[0024] The flexible wheel 4 is a cup-shaped flexible wheel. When the rigid wheel is used as the outer ring of the output end bearing, the inner ring 2 of the output end bearing is connected to the bottom 42 of the flexible wheel.

[0025] Similarly, when the flexible wheel 4 is a top hat-shaped flexible wheel, and the rigid wheel serves as the outer ring of the output end bearing, the inner ring 2 of the output end bearing is also connected to the bottom of the flexible wheel.

[0026] The working principle between wave generator 1, rigid wheel, and flexible wheel 4 is the same as that of existing harmonic reducers.

Claims

1. A harmonic reducer integrating a rigid wheel and a bearing, characterized in that: It includes a wave generator, a rigid wheel, and a flexible wheel. The rigid wheel has a bearing raceway, which serves as the inner or outer ring of the output bearing.

2. The harmonic reducer with an integrated rigid wheel and bearing as described in claim 1, characterized in that: When the rigid wheel is used as the inner ring of the output end bearing, the outer ring of the output end bearing is connected to one end of the flexible wheel.

3. The harmonic reducer with the rigid wheel and bearing integrated as described in claim 1, characterized in that: When the flex wheel is cup-shaped, the bottom of the cup-shaped flex wheel is connected to the outer ring of the output end bearing through a connector.

4. The harmonic reducer with the rigid wheel and bearing integrated as described in claim 1, characterized in that: When the flexible wheel is top-hat shaped, the bottom of the top-hat shaped flexible wheel is connected to the outer ring of the output end bearing.

5. The harmonic reducer with an integrated rigid wheel and bearing as described in claim 1, characterized in that: When the rigid wheel serves as the outer ring of the output end bearing, the inner ring of the output end bearing is connected to one end of the flexible wheel.

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