A high bending moment cup-shaped harmonic reducer

Abstract

This utility model discloses a high bending moment cup-shaped harmonic reducer, relating to the field of reducer technology. It includes a housing and a transmission reduction structure. The housing comprises an upper housing and a lower housing, with the lower housing mounted on the open side of the upper housing. The transmission reduction structure includes a small bevel gear, an output shaft, a large bevel gear, and harmonic transmission components. The small bevel gear is rotatably mounted inside the upper housing, and the output shaft is rotatably mounted inside both the upper and lower housings. This high bending moment cup-shaped harmonic reducer, through the perpendicular arrangement of the small bevel gear and the output shaft axis, combined with the transmission action of the small and large bevel gears, enables the harmonic reducer to possess characteristics such as high bending moment load capacity, compact transmission structure, high speed ratio, large output torque, light weight, low noise, and high stability. Furthermore, the compact internal structure of this reducer helps reduce its size and production costs, while also making it suitable for use in confined spaces, effectively enhancing the practicality and applicability of the device.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and more specifically, to a high bending moment cup-shaped harmonic speed reducer. Background Technology

[0002] Harmonic reducers mainly consist of three basic components: a wave generator, a flexible gear, and a rigid gear. They are a new type of transmission structure within gear reducers, utilizing a flexible gear to generate a controllable elastic deformation wave, causing relative tooth misalignment between the rigid and flexible gears to transmit power and motion. Due to their advantages such as high transmission ratio, strong load-bearing capacity, high transmission accuracy, and high transmission efficiency, harmonic reducers are widely used in aerospace, energy, navigation, shipbuilding, bionic machinery, and transportation. Their superior performance is even more evident in servo systems with particularly high dynamic performance.

[0003] However, traditional harmonic reducers are single-stage structures with speed ratios generally below 200, and the input and output are coaxial. This places high demands on customers during installation. Moreover, for speed ratios above 200, and requirements for high torque and high bending moment, traditional reducers on the market cannot meet these requirements. Therefore, there is an urgent need in the market for a harmonic reducer with good stability, high bending moment, high torque, and high precision to solve these problems of traditional harmonic reducers. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a high bending moment cup-shaped structure harmonic reducer, which, based on the traditional module, optimizes the structure, reduces the volume, and increases the number of gear stages, so that the reducer has the characteristics of being lighter, having a larger speed ratio, larger torque, larger bending moment, more compact structure, better stability, and lower noise.

[0005] To achieve the above objectives, this utility model provides a high bending moment cup-shaped harmonic reducer, comprising:

[0006] The housing includes an upper housing and a lower housing mounted on the opening side of the upper housing;

[0007] The transmission reduction structure includes a small bevel gear rotatably mounted inside the upper housing, an output shaft rotatably mounted inside the upper housing and the lower housing, a large bevel gear rotatably mounted outside the output shaft and meshing with the small bevel gear, and a harmonic transmission component mounted outside the output shaft. The axis of the small bevel gear is perpendicular to the axis of the output shaft.

[0008] Furthermore, the harmonic drive component includes a flexible bearing rotatably mounted on the outside of the large bevel gear, a cup-shaped flexible wheel mounted on the outer periphery of the flexible bearing and fixedly connected to the output shaft, an internal gear ring corresponding to the position of the large bevel gear is provided on the inner side of the upper housing, and an external gear ring meshing with the internal gear ring on the outer wall of the cup-shaped flexible wheel.

[0009] Furthermore, the large bevel gear includes a bevel gear ring and a cam ring arranged coaxially. The outer wall of the cam ring is elliptical, and the inner wall of the cam ring is circular. The flexible bearing is installed on the outer periphery of the cam ring.

[0010] Furthermore, the output shaft includes a first shaft segment, a second shaft segment, a third shaft segment, a fourth shaft segment, and a fifth shaft segment arranged coaxially in sequence. A first bearing connected to the upper housing is installed on the outer periphery of the first shaft segment. A second bearing connected to the inner wall of the cam ring is installed on the outer side of the second shaft segment. The outer wall dimension of the third shaft segment is larger than that of the second shaft segment. A third bearing connected to the lower housing is installed on the outer periphery of the fifth shaft segment. The outer wall dimension of the fourth shaft segment is larger than that of the fifth shaft segment.

[0011] Furthermore, the inner side of the upper housing is provided with a first limiting stop for restricting the movement of the first bearing away from the output shaft. The outer periphery of the first shaft segment is fitted with a bushing located on the side of the first bearing away from the upper housing, and the outer diameter of the bushing is larger than the inner ring size of the second bearing.

[0012] Furthermore, the inner side of the bevel gear ring is provided with a second limiting stop for restricting the movement of the second bearing away from the cup-shaped flexible wheel, and the side of the cam ring away from the bevel gear ring is provided with a retaining ring, and a plurality of first screws that are threadedly connected to the cam ring are horizontally inserted in the retaining ring.

[0013] Furthermore, the inner side of the lower housing is provided with a third limiting stop for restricting the movement of the third bearing away from the upper housing, and the inner wall of the lower housing is provided with a mounting groove corresponding to the position of the fifth shaft segment, and a sealing ring is fitted in the mounting groove.

[0014] Furthermore, the cup-shaped flexible wheel is provided with a number of pins and a number of second screws on the side opposite to the fourth shaft segment. The pins pass horizontally through the cup-shaped flexible wheel and are inserted into the fourth shaft segment, and the second screws pass horizontally through the cup-shaped flexible wheel and are threadedly connected to the fourth shaft segment.

[0015] Furthermore, the upper housing has a male stop recess on the side near the lower housing, and the lower housing has a female stop recess on the side near the upper housing.

[0016] Furthermore, a plurality of hexagon socket screws are horizontally inserted on the side of the lower housing away from the upper housing, and a threaded groove adapted to the thread of the hexagon socket screws is provided on the side of the upper housing close to the lower housing.

[0017] Furthermore, the small bevel gear has a connection hole on the side opposite to the output shaft for connecting an external drive device.

[0018] Compared with the prior art, this utility model has the following advantages and effects:

[0019] 1. The high bending moment cup-shaped harmonic reducer of this utility model, through the vertical arrangement of the small bevel gear and the output shaft axis, combined with the transmission action of the small bevel gear and the large bevel gear, enables the harmonic reducer to have the characteristics of bearing high bending moment, compact transmission structure, high speed ratio, large output torque, light weight, low noise, and high stability. Moreover, the internal structure of the reducer is compact, which helps to reduce the size of the reducer and reduce production costs. At the same time, it makes the reducer suitable for use in confined space conditions, effectively enhancing the practicality and applicability of the device.

[0020] 2. The high bending moment cup-shaped harmonic reducer in this utility model adopts a short cylindrical cup-shaped flexible wheel structure for output, which helps to reduce energy loss and improve transmission efficiency; in addition, the reducer is modular, which simplifies installation and operation and facilitates maintenance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the high bending moment cup-shaped harmonic reducer in this embodiment of the utility model;

[0022] Figure 2 This is a cross-sectional view of the high bending moment cup-shaped harmonic reducer in this embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the large bevel gear structure of the high bending moment cup-shaped harmonic reducer in this embodiment of the utility model;

[0024] Figure 4 This is a schematic diagram of the upper housing structure of the high bending moment cup-shaped harmonic reducer in this embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the lower housing structure of the high bending moment cup-shaped harmonic reducer in this embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Upper housing; 101. Male stop groove; 102. Threaded groove; 2. First bearing; 3. Output shaft; 4. Bushing; 5. Small bevel gear; 6. Cup-shaped flexible wheel; 7. Flexible bearing; 8. Large bevel gear; 801. Bevel gear ring; 802. Cam ring; 9. First screw; 10. Second bearing; 11. Lower housing; 1101. Female stop groove; 12. Third bearing; 13. Pin; 14. Second screw; 15. Sealing ring; 16. Retaining ring; 17. Socket head cap screw. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Please see Figure 1-5 As shown in the figure, this utility model embodiment provides a high bending moment cup-shaped harmonic reducer, including a housing and a transmission reduction structure.

[0031] The housing includes an upper housing 1 and a lower housing 11, with the lower housing 11 installed on the opening side of the upper housing 1.

[0032] The transmission reduction structure includes a small bevel gear 5, an output shaft 3, a large bevel gear 8, and a harmonic transmission component. The small bevel gear 5 is rotatably mounted inside the upper housing 1, the output shaft 3 is rotatably mounted inside the upper housing 1 and the lower housing 11, the large bevel gear 8 is rotatably mounted outside the output shaft 3 and meshes with the lower bevel gear 5, and the harmonic transmission component is mounted outside the output shaft 3.

[0033] As a further description of the above solution, in use, the small bevel gear 5 is connected to an external drive device, which drives the large bevel gear 8 to rotate. This causes the large bevel gear 8 to work with the harmonic transmission component to drive the output shaft 3 to rotate, so as to keep the input and output directions perpendicular. This achieves a larger bending moment and torque capacity while making the reducer smaller and lighter overall.

[0034] Please see Figure 2 As shown, the harmonic drive component includes a flexible bearing 7 and a cup-shaped flexure 6. The flexible bearing 7 is rotatably mounted on the outside of the large bevel gear 8. The cup-shaped flexure 6 is mounted on the outer periphery of the flexible bearing 7 and is fixedly connected to the output shaft 3. An internal gear ring corresponding to the position of the large bevel gear 8 is provided on the inner side of the upper housing 1. An external gear ring meshing with the internal gear ring on the upper housing 1 is provided on the outer wall of the cup-shaped flexure 6.

[0035] Please see Figure 2-3 As shown, the large bevel gear 8 includes a bevel ring 801 and a cam ring 802 arranged coaxially. The outer wall of the cam ring 802 is elliptical, and the inner wall of the cam ring 802 is circular. A flexible bearing 7 is installed on the outer circumference of the cam ring 802. The cam ring 802 on the large bevel gear 8 can replace the wave generator in the transmission harmonic reducer.

[0036] Please see Figure 2 As shown, the output shaft 3 includes a first shaft segment, a second shaft segment, a third shaft segment, a fourth shaft segment, and a fifth shaft segment arranged coaxially in sequence. A first bearing 2 connected to the upper housing 1 is installed on the outer periphery of the first shaft segment. A second bearing 10 connected to the inner wall of the cam ring 802 is installed on the outer side of the second shaft segment. The outer wall dimension of the third shaft segment is larger than that of the second shaft segment. A third bearing 12 connected to the lower housing 11 is installed on the outer periphery of the fifth shaft segment. The outer wall dimension of the fourth shaft segment is larger than that of the fifth shaft segment.

[0037] The first bearing 2, the second bearing 10 and the third bearing 12 are used together to keep the output shaft 3 stable. In this process, the third shaft section can restrict the second bearing 10 from moving away from the lower housing 11, and the fourth shaft section can restrict the third bearing 12 from moving away from the upper housing 1.

[0038] As a preferred embodiment of the above scheme, the first bearing 2, the second bearing 10 and the third bearing 12 in this application are all deep groove ball bearings, so as to effectively reduce the movement of the output shaft 3 during operation while ensuring the stable installation of the output shaft 3.

[0039] Please see Figure 2-4 As shown, the inner side of the upper housing 1 is provided with a first limiting stop for restricting the movement of the first bearing 2 away from the output shaft 3. The outer periphery of the first shaft section is fitted with a bushing 4 located on the side of the first bearing 2 away from the upper housing 1, and the outer diameter of the bushing 4 is larger than the inner ring size of the second bearing 10. This allows the first bearing 2 to be restricted from moving by the combined action of the first limiting stop and the bushing 4, thereby maintaining the stability of the first bearing 2 during installation.

[0040] Please see Figure 2-3As shown, the inner side of the bevel ring 801 is provided with a second limiting stop for restricting the movement of the second bearing 10 away from the cup-shaped flexible wheel 6. The side of the cam ring 802 away from the bevel ring 801 is provided with a retaining ring 16. Several first screws 9 that are threadedly connected to the cam ring 802 are horizontally inserted in the retaining ring 16. This allows the movement of the second bearing 10 to be restricted by the combined action of the bushing 4, the second limiting stop, the retaining ring 16, and the third shaft section, thereby maintaining the stable installation of the second bearing 10.

[0041] As a preferred embodiment of the above solution, the first screw 9 in this application is a Phillips head countersunk screw, which allows the head of the Phillips head countersunk screw to restrict the movement of the retaining ring 16 along the axis of the output shaft 3 when the retaining ring 16 and the cam ring 802 are coaxially installed.

[0042] Please see Figure 2 and Figure 5 As shown, the inner side of the lower housing 11 is provided with a third limiting stop for restricting the movement of the third bearing 12 away from the upper housing 1. The inner wall of the lower housing 11 is provided with an installation groove corresponding to the position of the fifth shaft segment. A sealing ring 15 is fitted in the installation groove. This facilitates the use of the cooperation between the fourth shaft segment and the third limiting stop to restrict the movement of the third bearing 12, thereby maintaining the installation stability of the third bearing 12.

[0043] Please see Figure 2 As shown, a number of pins 13 and a number of second screws 14 are provided on the side of the cup-shaped flexible wheel 6 away from the fourth shaft section. The pins 13 are inserted horizontally through the cup-shaped flexible wheel 6 into the fourth shaft section, and the second screws 14 are threaded through the cup-shaped flexible wheel 6. This allows the pins 13 and the second screws 14 to work together to ensure the coaxiality of the output shaft 3 and the cup-shaped flexible wheel 6, and to keep the connection between the output shaft 3 and the cup-shaped flexible wheel 6 stable.

[0044] As a preferred embodiment of the above solution, the second screw 14 in this application is a countersunk screw, which facilitates the use of the head of the countersunk screw to restrict the movement of the cup-shaped flexible wheel 6 away from the fourth shaft segment of the output shaft 3.

[0045] Please see Figure 1-5 As shown, a male stop 101 is provided on the side of the upper shell 1 near the lower shell 11, and a female stop 1101 is provided on the side of the lower shell 11 near the upper shell 1; this facilitates the precise alignment of the upper shell 1 and the lower shell 11 by using the cooperation of the male stop 101 and the female stop 1101.

[0046] Please see Figure 1 , Figure 4 and Figure 5As shown, a plurality of hexagon socket screws 17 are horizontally inserted on the side of the lower housing 11 away from the upper housing 1, and a threaded groove 102 adapted to the thread of the hexagon socket screws 17 is provided on the side of the upper housing 1 close to the lower housing 11; this facilitates the connection and fixation of the upper housing 1 and the lower housing 11 by the hexagon socket screws 17 through the lower housing 11 and into the threaded groove 102 of the upper housing 1 during the installation of the upper housing 1 and the lower housing 11.

[0047] Please see Figure 2 As shown, the small bevel gear 5 has a connecting hole on the side opposite to the output shaft 3 for connecting an external drive device.

[0048] The working process of the high bending moment cup-shaped harmonic reducer described above is as follows:

[0049] When installing this high bending moment cup-shaped harmonic reducer, firstly, the cup-shaped flexible wheel 6 needs to be installed onto the output shaft 3 using the pin 13 and the second screw 14. Then, the large bevel gear 8 is installed onto the output shaft 3 using the second bearing 10. At the same time, the flexible bearing 7 is fitted onto the cam ring 802 of the large bevel gear 8, and the retaining ring 16 is installed onto the cam ring 802 using the first screw 9. Thus, the retaining ring 16 serves to prevent the flexible bearing 7 and the second bearing 10 from disengaging from the large bevel gear 8.

[0050] Then, sleeve 4 and first bearing 2 are sequentially fitted onto output shaft 3. Then, output shaft 3 is placed in upper housing 1, and the outer gear ring on flexible bearing 7 meshes with the inner gear ring on upper housing 1. At the same time, bevel ring 801 on large bevel gear 8 meshes with small bevel gear 5 in upper housing 1. Then, simply fit third bearing 12 onto output shaft 3 and use hex socket screws 17 to install lower housing 11 onto upper housing 1 to complete the assembly of reducer.

[0051] In use, the small bevel gear 5 is connected to an external drive system. The rotation of the small bevel gear 5 can drive the rotation of the large bevel gear 8 by meshing with the bevel gear ring 801. In turn, the large bevel gear 8, the flexible bearing 7, the cup-shaped flexure 6 and the inner and outer gear rings work together to drive the cup-shaped flexure 6 to rotate, which in turn drives the output shaft 3 to rotate. This achieves a larger bending moment and torque capacity while making the reducer smaller and lighter overall.

[0052] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A high bending moment cup-shaped harmonic reducer, characterized in that, include: The housing includes an upper housing (1) and a lower housing (11) installed on the opening side of the upper housing (1). The transmission reduction structure includes a small bevel gear (5) rotatably mounted inside the upper housing (1), an output shaft (3) rotatably mounted inside the upper housing (1) and the lower housing (11), a large bevel gear (8) rotatably mounted outside the output shaft (3) and meshing with the small bevel gear (5), and a harmonic transmission component mounted outside the output shaft (3). The axis of the small bevel gear (5) is perpendicular to the axis of the output shaft (3).

2. The high bending moment cup-shaped harmonic reducer according to claim 1, characterized in that, The harmonic drive component includes a flexible bearing (7) rotatably mounted on the outside of the large bevel gear (8), a cup-shaped flexible wheel (6) mounted on the outer periphery of the flexible bearing (7) and fixedly connected to the output shaft (3), an internal gear ring corresponding to the position of the large bevel gear (8) is provided on the inner side of the upper housing (1), and an external gear ring meshing with the internal gear ring on the upper housing (1) is provided on the outer wall of the cup-shaped flexible wheel (6).

3. The high bending moment cup-shaped harmonic reducer according to claim 2, characterized in that, The large bevel gear (8) includes a bevel ring (801) and a cam ring (802) arranged coaxially. The outer wall of the cam ring (802) is elliptical, and the inner wall of the cam ring (802) is circular. The flexible bearing (7) is installed on the outer periphery of the cam ring (802).

4. The high bending moment cup-shaped harmonic reducer according to claim 3, characterized in that, The output shaft (3) includes a first shaft segment, a second shaft segment, a third shaft segment, a fourth shaft segment and a fifth shaft segment arranged coaxially in sequence. A first bearing (2) connected to the upper housing (1) is installed on the outer periphery of the first shaft segment. A second bearing (10) connected to the inner wall of the cam ring (802) is installed on the outer side of the second shaft segment. The outer wall size of the third shaft segment is larger than that of the second shaft segment. A third bearing (12) connected to the lower housing (11) is installed on the outer periphery of the fifth shaft segment. The outer wall size of the fourth shaft segment is larger than that of the fifth shaft segment.

5. The high bending moment cup-shaped harmonic reducer according to claim 4, characterized in that, The inner side of the upper housing (1) is provided with a first limiting stop for restricting the first bearing (2) from moving away from the output shaft (3). The outer periphery of the first shaft segment is fitted with a bushing (4) located on the side of the first bearing (2) away from the upper housing (1), and the outer diameter of the bushing (4) is larger than the inner ring size of the second bearing (10).

6. The high bending moment cup-shaped harmonic reducer according to claim 4, characterized in that, The inner side of the bevel ring (801) is provided with a second limiting stop for restricting the movement of the second bearing (10) away from the cup-shaped flexible wheel (6). The side of the cam ring (802) away from the bevel ring (801) is provided with a retaining ring (16). Several first screws (9) that are threadedly connected to the cam ring (802) are horizontally inserted in the retaining ring (16).

7. The high bending moment cup-shaped harmonic reducer according to claim 4, characterized in that, The inner side of the lower housing (11) is provided with a third limiting stop for restricting the movement of the third bearing (12) away from the upper housing (1). The inner wall of the lower housing (11) is provided with an installation groove corresponding to the position of the fifth shaft segment. A sealing ring (15) is fitted in the installation groove.

8. The high bending moment cup-shaped harmonic reducer according to claim 4, characterized in that, The cup-shaped flexible wheel (6) is provided with a number of pins (13) and a number of second screws (14) on the side away from the fourth shaft section. The pins (13) pass horizontally through the cup-shaped flexible wheel (6) and are inserted into the fourth shaft section. The second screws (14) pass horizontally through the cup-shaped flexible wheel (6) and are threadedly connected to the fourth shaft section.

9. The high bending moment cup-shaped harmonic reducer according to claim 1, characterized in that, The upper shell (1) is provided with a vented sill (101) on the side near the lower shell (11), and the lower shell (11) is provided with a vented sill (1101) on the side near the upper shell (1).

10. The high bending moment cup-shaped harmonic reducer according to claim 1, characterized in that, The lower housing (11) has several hexagonal socket screws (17) horizontally inserted on the side away from the upper housing (1), and the upper housing (1) has a threaded groove (102) that is adapted to the thread of the hexagonal socket screws (17) on the side close to the lower housing (11).

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