A high-torque dual-rigid-wheel structure harmonic reducer

Abstract

This utility model discloses a high-torque dual-rigid-wheel harmonic reducer, relating to the field of reducer technology. It includes a reducer housing, a gear transmission structure, and a harmonic reduction structure. The reducer housing comprises a bottom shell and a side shell, with the side shell mounted on the open side of the bottom shell. The gear transmission structure includes a small bevel gear and a large bevel gear. The small bevel gear is inserted outside the bottom shell and rotatably connected to it, while the large bevel gear is installed inside the bottom shell and the side shell. This high-torque dual-rigid-wheel harmonic reducer, through the arrangement of the small and large bevel gears in the gear transmission structure, enables the reduction structure to meet the transmission connection requirements of two perpendicular structures. Furthermore, the dual-rigid-wheel structure not only improves the overall structural rigidity and enhances the resistance to deformation but also effectively improves the transmission ratio and structural stability. This allows the reducer to be suitable for high-load, high-precision applications while effectively reducing vibration and noise.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and more specifically, to a high-torque double rigid wheel structure 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 the controllable elastic deformation wave generated by the flexible gear to cause relative tooth misalignment between the rigid and flexible gears, thereby transmitting 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.

[0003] Most harmonic reducers on the market are single-stage structures with speed ratios generally below 200, and the input and output are coaxial. This requires that the structures at both ends of the reducer be coaxially set during installation, which places high demands on their use. Moreover, for speed ratios above 200, 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-torque dual rigid wheel structure harmonic reducer.

[0005] To achieve the above objectives, this utility model provides a high-torque dual-rigid-wheel harmonic reducer, comprising:

[0006] The reducer housing includes a bottom housing 1 and a side housing 9 installed on the opening side of the bottom housing 1;

[0007] The gear transmission structure includes a small bevel gear 15 inserted on the outside of the bottom shell 1 and rotatably connected to the bottom shell 1, and a large bevel gear 4 horizontally installed in the bottom shell 1 and the side shell 9, wherein the large bevel gear 4 meshes with the small bevel gear 15;

[0008] The harmonic deceleration structure includes an output shaft 12 rotatably mounted inside the bottom shell 1 and the side shell 9, a flexible wheel 5 sleeved on the outside of the large bevel gear 4, two flexible bearings 6 mounted between the flexible wheel 5 and the large bevel gear 4, and an output rigid wheel 7 mounted on the outside of the output shaft 12. The large bevel gear 4 is rotatably connected to the output shaft 12. A first internal gear ring meshing with the flexible wheel 5 is provided on the inner side of the bottom shell 1, and a second internal gear ring meshing with the flexible wheel 5 is provided on the inner side of the output rigid wheel 7.

[0009] Furthermore, the large bevel gear includes a coaxially arranged annular bevel teeth and a cam structure. The outer wall of the cam structure is elliptical, and the inner wall of the cam structure is circular. The inner diameter of the annular bevel teeth is smaller than the inner diameter of the cam structure.

[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, and the outer wall dimensions of the first shaft segment, the second shaft segment, the third shaft segment, the fourth shaft segment, and the fifth shaft segment increase sequentially.

[0011] Furthermore, two third bearings are installed side by side between the cam structure and the third shaft segment. The outer ring of the third bearing near the bottom shell abuts against the annular bevel tooth, and the inner ring of the third bearing near the side shell abuts against the fourth shaft segment.

[0012] Furthermore, a first bearing rotatably connected to the bottom shell is installed on the outer side of the first shaft segment, and the side of the first bearing facing away from the bottom shell abuts against the second shaft segment. A first limiting stop is provided on the inner side of the bottom shell to prevent the first bearing from disengaging from the output shaft.

[0013] Furthermore, a bearing retainer ring is installed on the outer side of the second shaft segment, abutting against the inner ring of the first bearing, and the other side of the bearing retainer ring abuts against the inner ring of the third bearing of the bottom shell.

[0014] Furthermore, a gear retaining ring is installed on the side of the cam structure away from the annular bevel teeth. The gear retaining ring abuts against the inner ring of the flexible bearing near the side housing and the outer ring of the third bearing near the fourth shaft segment. Several first screws that are threadedly connected to the cam structure are horizontally inserted inside the gear retaining ring.

[0015] Furthermore, a second bearing is installed on the side of the side housing opposite to the output rigid wheel. A second limiting stop is provided on the inner side of the side housing to prevent the second bearing from disengaging from the output rigid wheel, and a third limiting stop is provided on the outer side of the output rigid wheel to prevent the second bearing from disengaging from the side housing.

[0016] Furthermore, a number of pins facing the axis of the output rigid wheel are inserted through the outer side of the output rigid wheel, and the pins are inserted into the fifth shaft segment. The installation position of the pins corresponds to the installation position of the second bearing.

[0017] Furthermore, the bottom shell and the side shell are respectively provided with a male stop and a female stop on opposite sides, and a number of second screws are horizontally inserted on the side shell away from the bottom shell, and the second screws are threadedly connected to the bottom shell.

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

[0019] 1. The high-torque double rigid wheel structure harmonic reducer in this utility model, through the setting of small bevel gear and large bevel gear in the gear transmission structure, enables the reduction structure to meet the transmission connection requirements of two vertical structures. Moreover, the setting of the double rigid wheel structure not only improves the rigidity of the overall structure and enhances the resistance to deformation, but also effectively improves the transmission ratio and structural stability. It can make the reducer suitable for high-load and high-precision applications while effectively reducing vibration and noise.

[0020] 2. The high-torque double rigid wheel structure harmonic reducer of this utility model has a compact internal structure and small size, making it suitable for various confined spaces. In addition, the reducer is easy to install and has a simple structure, which helps to reduce the difficulty of inspection and maintenance and reduce maintenance costs. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the high-torque double rigid wheel structure harmonic reducer in the embodiment of this utility model;

[0022] Figure 2 This is a top cross-sectional view of the high-torque double rigid wheel structure 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-torque double rigid wheel structure harmonic reducer in this utility model embodiment;

[0024] Figure 4 This is a schematic diagram of the side housing structure of the high-torque double rigid wheel structure harmonic reducer in this embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Bottom shell; 2-First bearing; 3-Bearing retaining ring; 4-Large bevel gear; 5-Flexible gear; 6-Flexible bearing; 7-Output rigid gear; 8-Gear retaining ring; 9-Side shell; 10-Second bearing; 11-Pin; 12-Output shaft; 13-Third bearing; 14-First screw; 15-Small bevel gear; 16-Second screw. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] Please see Figure 1-4 As shown in the figure, this utility model embodiment provides a high-torque dual rigid wheel structure harmonic reducer, including a reducer housing, a gear transmission structure, and a harmonic reduction structure.

[0030] The reducer housing includes a bottom housing 1 and a side housing 9, with the side housing 9 installed on the open side of the bottom housing 1; the gear transmission structure includes a small bevel gear 15 and a large bevel gear 4, with the small bevel gear 15 inserted on the outside of the bottom housing and rotatably connected to the bottom housing 1, and the large bevel gear 4 horizontally installed inside the bottom housing 1 and the side housing 9, meshing with the small bevel gear 15.

[0031] The harmonic deceleration structure includes an output shaft 12, a flexible wheel 5, a flexible bearing 6, and an output rigid wheel 7. The output shaft 12 is rotatably mounted inside the bottom shell 1 and the side shell 9. The flexible wheel 5 is sleeved on the outside of the large bevel gear 4. Two flexible bearings 6 are installed between the flexible wheel 5 and the large bevel gear 4. The output rigid wheel 7 is installed on the outside of the output shaft 12 and meshes with the outer wall of the flexible wheel 5. The flexible wheel 5 is cylindrical. The large bevel gear 4 is rotatably connected to the output shaft 12. A first internal gear ring that meshes with the flexible wheel 5 is provided on the inner side of the bottom shell 1. A second internal gear ring that meshes with the flexible wheel 5 is provided on the inner side of the output rigid wheel 7.

[0032] As a further description of the above scheme, the small bevel gear 15 includes an input shaft and a bevel gear structure. The small bevel gear 15 can be connected to an external drive device through the input shaft, while the bevel gear structure meshes with the large bevel gear 4. When the small bevel gear 15 rotates, it can drive the large bevel gear 4 to rotate. In this way, when the large bevel gear 4 rotates, the flexible bearing 6, the flexible wheel 5 and the bottom shell 1 work together to drive the flexible wheel 5 to rotate. Thus, the flexible wheel 5 and the output rigid wheel 7 are driven to rotate by the transmission meshing, thereby achieving high-speed and high-precision power transmission while maintaining the overall rigidity of the reducer.

[0033] Please see Figure 2-3As shown, the large bevel gear 4 includes a coaxially arranged annular bevel tooth and a cam structure. The outer wall of the cam structure is elliptical, and the inner wall of the cam structure is circular. The inner diameter of the annular bevel tooth is smaller than the inner diameter of the cam structure. The circular inner wall of the cam structure facilitates the installation of the large bevel gear 4, while the elliptical outer wall of the cam structure enables it to function as a wave generator in the harmonic deceleration structure.

[0034] Please see Figure 2 As shown, the output shaft 12 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, and the outer wall dimensions of the first shaft segment, the second shaft segment, the third shaft segment, the fourth shaft segment, and the fifth shaft segment increase sequentially; this facilitates the installation of different structures on different shaft segments of the output shaft 12, and the large-diameter shaft segment helps to limit the structure installed on adjacent small-diameter shaft segments.

[0035] Please see Figure 2 As shown, two third bearings 13 are installed side by side between the cam structure and the third shaft section. The outer ring of the third bearing 13 near the bottom housing 1 abuts against the ring bevel gear, and the inner ring of the third bearing 13 near the side housing 9 abuts against the fourth shaft section. This facilitates the rotational connection between the output shaft 12 and the large bevel gear 4 using the third bearings 13. The fourth shaft section on the output shaft 12 can cooperate with the ring bevel gear 4 to restrict the movement of the two third bearings 13 on the third shaft section.

[0036] Please see Figure 2 As shown, a first bearing 2 is mounted on the outer side of the first shaft section and is rotatably connected to the bottom shell 1. The side of the first bearing 2 away from the bottom shell 1 abuts against the second shaft section. A first limiting stop is provided on the inner side of the bottom shell 1 to restrict the first bearing 2 from disengaging from the output shaft 12. This allows the first bearing 2 to be used to restrict the movement of the first shaft section on the output shaft 12, thereby maintaining the stability of the first shaft section. The second shaft section can cooperate with the first limiting stop on the bottom shell 1 to restrict the movement of the first bearing 2.

[0037] Please see Figure 2 As shown, a bearing retainer 3 is installed on the outer side of the second shaft section, which abuts against the inner ring of the first bearing 2. The other side of the bearing retainer 3 abuts against the inner ring of the third bearing 13 of the bottom shell 1. The bearing retainer 3 not only restricts the movement of the inner ring of the first bearing 2, but also prevents the third bearing 13 from disengaging from the third shaft section of the output shaft 12 by abutting against the inner ring of the third bearing 13.

[0038] Please see Figure 2As shown, a gear retaining ring 8 is installed on the side of the cam structure away from the annular bevel gear. The gear retaining ring 8 abuts against the inner ring of the flexible bearing 6 near the side housing 9 and the outer ring of the third bearing 13 near the fourth shaft section. Several first screws 14 that are threaded to the cam structure are horizontally inserted in the gear retaining ring 8. The gear retaining ring 8 can be installed and fixed to the cam structure of the large bevel gear 4 by the first screws 14, so as to restrict the movement of the third bearing 13 and the flexible bearing 6 towards the side housing 9 by using the gear retaining ring 8.

[0039] Please see Figure 2 As shown, a second bearing 10 is installed on the side opposite to the output rigid wheel 7 of the side housing 9. A second limiting stop is provided on the inner side of the side housing 9 to prevent the second bearing 10 from disengaging from the output rigid wheel 7, and a third limiting stop is provided on the outer side of the output rigid wheel 7 to prevent the second bearing 10 from disengaging from the side housing 9. This allows the second bearing 10 to be installed stably by utilizing the combined action of the second limiting stop on the side housing 9 and the third limiting stop on the output rigid wheel 7.

[0040] Please see Figure 2 As shown, several pins 11 are inserted through the outer side of the output rigid wheel 7, facing the axis of the output rigid wheel 7, and the pins 11 are inserted into the fifth shaft section. The installation position of the pins 11 corresponds to the installation position of the second bearing 10. This allows the pins 11 inserted in the output rigid wheel 7 and the output shaft 12 to restrict the relative rotation of the output rigid wheel 7 and the output shaft 12, so that the output shaft 12 rotates with the output rigid wheel 7. The second bearing 10 installed on the output rigid wheel 7 can prevent the pins 11 from disengaging from the output rigid wheel 7.

[0041] Please see Figure 1-4 As shown, the bottom shell 1 and the side shell 9 are respectively provided with a male and female stop bevel on opposite sides. Several second screws 16 are horizontally inserted on the side shell 9 away from the bottom shell 1. The second screws 16 are threadedly connected to the bottom shell 1. The male and female stop bevels facilitate the accurate positioning of the bottom shell 1 and the side shell 9, and the second screws 16 can keep the bottom shell 1 and the side shell 9 firmly installed.

[0042] The working process of the high-torque dual-rigid-wheel structure harmonic reducer described above is as follows:

[0043] When installing this high-torque dual-rigid-wheel harmonic reducer, the output rigid wheel 7 is first fitted onto the fifth shaft section of the output shaft 12, and the relative rotation between the output rigid wheel 7 and the output shaft 12 is restricted by inserting a pin 11 into the output rigid wheel 7. Then, the large bevel gear 4 is installed onto the third shaft section of the output shaft 12 using two third bearings 13, and the movement of the third bearing 13 is restricted by the cooperation between the bearing retaining ring 3 installed on the second shaft section of the output shaft 12 and the fourth shaft section. Next, two flexible bearings 6 are installed on the cam structure of the large bevel gear 4, and the gear retaining ring 8 is installed onto the large bevel gear 4 using the first screw 14, so that the movement of the flexible bearing 6 can be restricted by the combined action of the gear retaining ring 8 and the annular bevel teeth on the large bevel gear 4.

[0044] Next, the flexible gear 5 needs to be fitted onto the outside of the flexible bearing 6. Then, the output shaft 12 is placed inside the bottom housing 1 by installing the first bearing 2 on the first shaft section of the output shaft 12, so that the output shaft 12 can be installed on the bottom housing 1. During this process, while ensuring that the large bevel gear 4 and the small bevel gear 15 are meshed, the flexible gear 5 needs to mesh with the first internal gear ring on the bottom housing 1 and the second internal gear ring on the output rigid wheel 7 respectively. Then, the second bearing 10 needs to be installed on the output rigid wheel 7 so that the second bearing 10 supports the side housing 9. Finally, the assembly of the reducer can be completed by simply inserting the second screw 16 threaded to the bottom housing 1 on the side of the side housing 9 away from the bottom housing 1.

[0045] When using this high-torque dual-rigid-wheel harmonic reducer, the external drive device first needs to be installed and connected to the small bevel gear 15 so that the small bevel gear 15 drives the large bevel gear 4 to rotate as the external drive device operates. This causes the cam structure on the large bevel gear 4 to cooperate with the flexible bearing 6, the flexible wheel 5, and the first internal gear ring on the bottom shell 1 to form a harmonic reduction system, which drives the flexible wheel 5 to rotate. During this process, the flexible wheel 5 can drive the output rigid wheel 7 to rotate through the meshing action with the second internal gear ring on the output rigid wheel 7, thereby achieving the effect of driving the output shaft 12 to rotate.

[0046] 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-torque double-gearing structure harmonic reducer, characterized by, include: The reducer housing includes a bottom housing (1) and a side housing (9) installed on the opening side of the bottom housing (1). The gear transmission structure includes a small bevel gear (15) inserted on the outside of the bottom shell (1) and rotatably connected to the bottom shell (1) and a large bevel gear (4) horizontally installed in the bottom shell (1) and the side shell (9), wherein the large bevel gear (4) meshes with the small bevel gear (15); The harmonic deceleration structure includes an output shaft (12) rotatably mounted in the bottom shell (1) and the side shell (9), a flexible wheel (5) sleeved on the outside of the large bevel gear (4), two flexible bearings (6) mounted between the flexible wheel (5) and the large bevel gear (4), and an output rigid wheel (7) mounted on the outside of the output shaft (12). The large bevel gear (4) is rotatably connected to the output shaft (12). The inner side of the bottom shell (1) is provided with a first internal gear ring that meshes with the flexible wheel (5), and the inner side of the output rigid wheel (7) is provided with a second internal gear ring that meshes with the flexible wheel (5).

2. The high-torque dual-rigid-wheel harmonic reducer according to claim 1, characterized in that, The large bevel gear (4) includes a ring bevel tooth and a cam structure arranged coaxially. The outer wall of the cam structure is elliptical, and the inner wall of the cam structure is circular. The inner diameter of the ring bevel tooth is smaller than the inner diameter of the cam structure.

3. The high-torque dual-rigid-wheel structure harmonic reducer according to claim 2, characterized in that, The output shaft (12) 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, and the outer wall dimensions of the first shaft segment, the second shaft segment, the third shaft segment, the fourth shaft segment and the fifth shaft segment increase sequentially.

4. The high-torque dual-rigid-wheel structure harmonic reducer according to claim 3, characterized in that, Two third bearings (13) are installed side by side between the cam structure and the third shaft segment. The outer ring of the third bearing (13) near the bottom shell (1) abuts against the annular bevel tooth, and the inner ring of the third bearing (13) near the side shell (9) abuts against the fourth shaft segment.

5. The high-torque dual-rigid-wheel harmonic reducer according to claim 4, characterized in that, A first bearing (2) is mounted on the outer side of the first shaft segment and is rotatably connected to the bottom shell (1). The side of the first bearing (2) away from the bottom shell (1) abuts against the second shaft segment. A first limiting stop is provided on the inner side of the bottom shell (1) to prevent the first bearing (2) from disengaging from the output shaft (12).

6. The high-torque dual-rigid-wheel harmonic reducer according to claim 5, characterized in that, The outer side of the second shaft section is fitted with a bearing retainer (3) that abuts against the inner ring of the first bearing (2), and the other side of the bearing retainer (3) abuts against the inner ring of the third bearing (13) of the bottom shell (1).

7. The high-torque dual-rigid-wheel structure harmonic reducer according to claim 5, characterized in that, A gear retaining ring (8) is installed on the side of the cam structure away from the annular bevel teeth. The gear retaining ring (8) abuts against the inner ring of the flexible bearing (6) near the side housing (9) and the outer ring of the third bearing (13) near the fourth shaft section. Several first screws (14) that are threadedly connected to the cam structure are horizontally inserted in the gear retaining ring (8).

8. The high-torque dual-rigid-wheel structure harmonic reducer according to claim 1, characterized in that, A second bearing (10) is installed on the side opposite to the output rigid wheel (7). A second limiting stop is provided on the inner side of the side housing (9) to prevent the second bearing (10) from disengaging from the output rigid wheel (7). A third limiting stop is provided on the outer side of the output rigid wheel (7) to prevent the second bearing (10) from disengaging from the side housing (9).

9. The high-torque dual-rigid-wheel structure harmonic reducer according to claim 8, characterized in that, The output rigid wheel (7) is provided with a number of pins (11) facing the axis of the output rigid wheel (7), and the pins (11) are inserted into the fifth shaft segment. The installation position of the pins (11) corresponds to the installation position of the second bearing (10).

10. The high-torque dual-rigid-wheel harmonic reducer according to claim 1, characterized in that, The bottom shell (1) and the side shell (9) are respectively provided with a vented vent and a vented vent on opposite sides. Several second screws (16) are horizontally inserted on the side of the side shell (9) away from the bottom shell (1). The second screws (16) are threadedly connected to the bottom shell (1).

Images