A novel cup-shaped ultrathin harmonic reducer for robots

Abstract

This utility model discloses a novel cup-shaped ultra-thin harmonic reducer for robots, relating to the field of reducer technology. The harmonic reducer includes a crossed roller bearing, a flexure, a rigid wheel, and a wave generator. The outer ring of the crossed roller bearing is fixedly connected to the rigid wheel, and the flexure is fixedly connected to the inner ring of the crossed roller bearing. The beneficial effects of this utility model are as follows: The harmonic reducer includes a crossed roller bearing, a flexure, a rigid wheel, and a wave generator; the outer ring of the crossed roller bearing is fixedly connected to the rigid wheel, and the flexure is fixedly connected to the inner ring of the crossed roller bearing. This direct connection between the crossed roller bearing, rigid wheel, and flexure in the harmonic reducer can significantly shorten the axial length of the reducer, reduce the structural dimensions of the reducer, and lighten the weight of the reducer. The use of a double positioning structure of a rigid wheel positioning groove and a bearing bush hole improves the installation accuracy of the reducer. The interference fit between the wave generator and the flexible bearing reduces rotation and ensures transmission backlash.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, specifically a novel cup-shaped ultra-thin harmonic speed reducer for robots. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing technologies, robotics is constantly evolving towards higher precision, lighter weight, and more compact designs. In robot joint transmission systems, the reducer, as a core transmission component, directly affects the robot's motion accuracy, load capacity, and dynamic response characteristics. Traditional planetary reducers and cycloidal pinwheel reducers, due to their large size, heavy weight, and limited transmission accuracy, are no longer sufficient to meet the high demands of modern robots for their transmission systems.

[0003] Harmonic reducers, as a new type of precision reduction device, are gradually becoming the preferred transmission solution for robot joints due to their advantages such as small size, light weight, high transmission accuracy, and low backlash. Their working principle involves using a wave generator to induce controllable elastic deformation in a flexible wheel, thereby achieving meshing transmission with a rigid wheel. However, existing harmonic reducers typically have an axial length exceeding 50mm, making them unsuitable for the increasingly compact design requirements of robot joints. Especially in applications with strict space requirements, such as SCARA robots and collaborative robots, excessively large axial dimensions severely restrict structural optimization. Furthermore, existing harmonic reducers often employ a split-type connection structure, which easily leads to accumulated tolerances during assembly, resulting in coaxiality deviations in the transmission system (seriously affecting transmission accuracy and stability). Additionally, their open structure requires regular lubrication, leading to high maintenance costs.

[0004] Therefore, there is an urgent need to develop a new type of harmonic reducer with ultra-thin, high precision, and high reliability characteristics to meet the increasingly demanding technical requirements of the robotics industry for transmission systems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a novel cup-shaped ultra-thin harmonic reducer for robots. This harmonic reducer directly connects to a rigid wheel and a flexible wheel structure via a cross roller bearing, which significantly shortens the axial length of the reducer, reduces its structural dimensions, and lightens its weight. Furthermore, this harmonic reducer improves installation accuracy, eliminates micro-deformation caused by assembly stress, and has the advantage of low backlash in rotational transmission.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: the novel cup-shaped ultra-thin harmonic reducer for robots includes a crossed roller bearing, a flexible wheel, a rigid wheel, and a wave generator;

[0007] The outer ring of the crossed roller bearing is fixedly connected to the rigid wheel, and the flexible wheel is fixedly connected to the inner ring of the crossed roller bearing. The flexible wheel is located inside the rigid wheel, and the teeth of the flexible wheel and the teeth of the rigid wheel partially mesh.

[0008] The wave generator is located inside the flexible wheel, and the outer edge of the cross-section of the wave generator is elliptical. The outer edge of the wave generator is used to squeeze the inner wall of the flexible wheel.

[0009] The wave generator is used to connect to the input shaft, and the flexible wheel is used to connect to the output shaft.

[0010] Furthermore, it also includes a flexible bearing, wherein the inner ring of the flexible bearing is fixedly sleeved outside the wave generator, and the outer ring of the flexible bearing is in contact with the inner wall of the flexible wheel.

[0011] Furthermore, the rigid wheel is connected to the outer ring of the crossed roller bearing by a first fastening screw.

[0012] Furthermore, the flexible wheel is connected to the inner ring of the crossed roller bearing by a second fastening screw.

[0013] Furthermore, both the first and second fastening screws are internal hexagon head screws.

[0014] Furthermore, both the first and second fastening screws are coated with fastening adhesive.

[0015] Furthermore, the outer ring of the crossed roller bearing is provided with a plurality of positioning holes, which are located at the edge of the outer ring of the bearing.

[0016] Furthermore, the outer ring of the rigid wheel is provided with a positioning groove.

[0017] Furthermore, the end of the flexible wheel is also provided with an O-ring seal.

[0018] Furthermore, the outer ring of the crossed roller bearing is also provided with a sealing cap, which is an annular end cap located between the inner and outer rings of the crossed roller bearing. The crossed roller bearing is filled with lubricating grease.

[0019] Compared with the prior art, the beneficial effects of this novel cup-shaped ultrathin harmonic reducer for robots are as follows:

[0020] The harmonic reducer includes a crossed roller bearing, a flexible wheel, a rigid wheel, and a wave generator. The outer ring of the crossed roller bearing is fixedly connected to the rigid wheel, and the flexible wheel is fixedly connected to the inner ring of the crossed roller bearing. The direct connection between the crossed roller bearing, the rigid wheel, and the flexible wheel in the harmonic reducer can greatly shorten the axial length of the reducer, reduce the structural size of the reducer, and reduce the weight of the reducer.

[0021] This harmonic reducer employs a dual positioning structure of a rigid wheel positioning groove and a bearing bush hole, which improves the reducer's installation accuracy and significantly enhances its coaxiality. The reducer uses a composite connection method of internal hexagonal screws and adhesive fasteners to eliminate micro-deformation caused by assembly stress. The interference fit between the reducer's wave generator and the flexible bearing reduces rotation and ensures transmission backlash. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view of the overall structure of a novel cup-shaped ultra-thin harmonic reducer for robots according to an embodiment of this utility model.

[0023] Figure 2 This is a left view of a novel cup-shaped ultra-thin harmonic reducer for robots according to an embodiment of this utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1- Crossed roller bearing; 11- Locating bore;

[0026] 2-Flexible wheel;

[0027] 3-Rigid wheel; 4-Flexible bearing; 5-O-ring seal; 6-Wave generator; 61-Input mounting hole; 7.-First fastening screw; 8-Second fastening screw. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] refer to Figure 1 and Figure 2 The novel robot uses a cup-shaped ultra-thin harmonic reducer, which includes a crossed roller bearing 1, a flexible wheel 2, a rigid wheel 3, and a wave generator 6.

[0035] The crossed roller bearing is an ultra-thin type with a non-standard design. The outer ring of the crossed roller bearing 1 is fixedly connected to the rigid wheel 3, and the flexible wheel 2 is fixedly connected to the inner ring of the crossed roller bearing 1. The flexible wheel 2 is located inside the rigid wheel 3, and the teeth of the flexible wheel 2 and the rigid wheel 3 partially mesh. The wave generator 6 is located inside the flexible wheel 2. The outer edge of the cross-section of the wave generator 6 is elliptical, and the outer edge of the wave generator 6 is used to press against the inner wall of the flexible wheel 2. The wave generator 6 is used to connect to the input shaft, and the flexible wheel 2 is used to connect to the output shaft. The wave generator 6 has an elliptical protrusion structure, and the input shaft is used to drive the wave generator 6 to rotate, thereby driving the flexible wheel 2 to deform within the rigid wheel 3.

[0036] The structure of the cross roller bearing 1 of the harmonic reducer is directly connected to the rigid wheel 3 and the flexible wheel 2, which can greatly shorten the axial length of the reducer, reduce the structural size of the reducer, and reduce the weight of the reducer.

[0037] The harmonic reducer also includes a flexible bearing 4, the inner ring of which is fixedly sleeved around the wave generator 6, and the outer ring of which contacts the inner wall of the flexure 2. The flexible bearing 4 is used to reduce wear between the flexure 2 and the wave generator 6. The wave generator 6 of the reducer is connected to the inner ring of the flexible bearing 4 via an interference fit, which reduces rotation and ensures transmission backlash.

[0038] In a preferred embodiment, the rigid wheel 3 is connected to the outer ring of the crossed roller bearing 1 via a first fastening screw 7. The flexible wheel 2 is connected to the inner ring of the crossed roller bearing 1 via a second fastening screw 8. Both the first fastening screw 7 and the second fastening screw 8 are hexagon head screws. The hexagon head screws can be fully embedded in the crossed roller bearing 1, thus saving installation space.

[0039] Both the first fastening screw 7 and the second fastening screw 8 are coated with fastening adhesive.

[0040] Furthermore, the outer ring of the crossed roller bearing 1 is also provided with a plurality of positioning holes 11, which are located on the edge of the outer ring of the bearing; the positioning holes 11 ensure convenient installation by the user. The outer ring of the rigid wheel 3 is provided with a positioning groove. Providing a positioning groove on the outer shape of the rigid wheel 3 can further increase the installation accuracy.

[0041] Furthermore, the flexible wheel 2 is also provided with an O-ring seal 5 at its end. A sealing cover is also provided on the outer surface of the crossed roller bearing 1. The sealing cover is an annular end cap located between the inner and outer rings of the crossed roller bearing 1, and the crossed roller bearing 1 is filled with lubricating grease. This sealing design eliminates the need for grease during use, reducing maintenance costs and enabling it to withstand harsh working conditions.

[0042] The installation process of the new type of cup-shaped ultra-thin harmonic reducer for robots is as follows: First, the wave generator 6 and the flexible bearing 4 are press-fitted using tooling; then, the flexible wheel 2 and the crossed roller bearing 1 are connected with the second fastening screw 8; then, the rigid wheel 3 is fitted over the flexible wheel 2, so that the outer ring of the rigid wheel 3 is positioned and fitted with the stop of the crossed roller bearing 1, and connected by the first fastening screw 7; then, the press-fitted wave generator 6 is inserted into the flexible wheel 2, and the meshing state of the teeth of the rigid wheel 3 and the flexible wheel 2 is adjusted.

[0043] The working process of this novel cup-shaped ultra-thin harmonic reducer for robots is as follows: In use, the wave generator 6 is connected to the input shaft, and the flexible wheel 2 is connected to the output shaft. The input shaft drives the wave generator 6 to rotate. The wave generator 6 drives the flexible wheel 2 to deform through the flexible bearing 4. During the deformation process, the meshing state between the flexible wheel 2 and the rigid wheel 3 changes, causing the flexible wheel 2 to rotate slowly. The rotation of the flexible wheel 2 drives the output rotation, thereby achieving the purpose of speed reduction.

[0044] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A novel cup-shaped ultrathin harmonic reducer for robots, characterized in that, Includes crossed roller bearings, flexible wheels, rigid wheels, and wave generators; The outer ring of the crossed roller bearing is fixedly connected to the rigid wheel, and the flexible wheel is fixedly connected to the inner ring of the crossed roller bearing. The flexible wheel is located inside the rigid wheel, and the teeth of the flexible wheel and the teeth of the rigid wheel partially mesh. The wave generator is located inside the flexible wheel, and the outer edge of the cross-section of the wave generator is elliptical. The outer edge of the wave generator is used to squeeze the inner wall of the flexible wheel. The wave generator is used to connect to the input shaft, and the flexible wheel is used to connect to the output shaft.

2. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 1, characterized in that, It also includes a flexible bearing, the inner ring of which is fixedly sleeved on the outside of the wave generator and connected to the wave generator by an interference fit, and the outer ring of the flexible bearing is in contact with the inner wall of the flexible wheel.

3. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 1, characterized in that, The rigid wheel is connected to the outer ring of the crossed roller bearing by a first fastening screw.

4. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 3, characterized in that, The flexible wheel is connected to the inner ring of the crossed roller bearing by a second fastening screw.

5. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 4, characterized in that, Both the first and second fastening screws are internal hexagon head screws.

6. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 4, characterized in that, Both the first and second fastening screws are coated with fastening adhesive.

7. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 1, characterized in that, The outer ring of the crossed roller bearing is also provided with multiple positioning holes, which are located at the edge of the outer ring of the bearing.

8. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 1, characterized in that, The outer ring of the rigid wheel is provided with a positioning groove.

9. The novel cup-shaped ultra-thin harmonic reducer for robots according to claim 1, characterized in that, The flexible wheel end is also provided with an O-ring seal.

10. The novel cup-shaped ultrathin harmonic reducer for robots according to claim 9, characterized in that, The outer ring of the crossed roller bearing is also provided with a sealing cap, which is an annular end cap located between the inner and outer rings of the crossed roller bearing. The crossed roller bearing is filled with lubricating grease.

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