A high-ratio double rigid wheel hollow series harmonic reducer

Abstract

This utility model relates to the field of harmonic reducer technology, and discloses a high-ratio double-rigid-wheel hollow series harmonic reducer, including a rigid wheel connecting flange, a first rigid wheel fixedly connected to the rigid wheel connecting flange, and a hollow shaft rotatably connected to the rigid wheel connecting flange. The hollow shaft is coaxially arranged with the first rigid wheel, and a flexible bearing is fixed on the hollow shaft. The hollow shaft and the flexible bearing form a wave generator, and a flexible wheel is arranged outside the wave generator. Under the action of the wave generator, the flexible wheel partially meshes with the first and second rigid wheels. This utility model can provide higher output torque by setting a double-rigid-wheel structure, and the structure is compact.

Description

Technical Field

[0001] This utility model relates to the technical field of harmonic reducers: in particular, it relates to a high-ratio double rigid wheel hollow series harmonic reducer. Background Technology

[0002] Harmonic reducers consist of a rigid wheel, a flexible wheel, and a wave generator. They utilize the deformed wave generated by the wave generator, which is transmitted to the flexible wheel, causing it to produce a controllable elastic deformation wave. This wave causes the internal teeth of the rigid wheel and the flexible wheel to misalign, transmitting power and motion. They are used to reduce speed, transmit power, and increase torque, and are widely used in modern machinery. Their characteristics include a large transmission ratio, high load-bearing capacity, high transmission accuracy, high working efficiency, stable speed, small size, and light weight.

[0003] Currently, most harmonic reducers on the market use a single rigid wheel structure, and it is difficult to achieve a large speed ratio transmission within the same volume. In some applications with high torque, high precision, limited space, and a need for a large speed ratio transmission, the conventional harmonic structure can no longer meet the requirements. Utility Model Content

[0004] The purpose of this utility model is to provide a high-ratio double rigid wheel hollow series harmonic reducer. This structure has the advantages of hollow design and can realize the conversion of different speed ratios. At the same time, it has the advantages of small size, light weight, high precision and easy installation.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A high-ratio dual-rigid-wheel hollow series harmonic reducer includes a rigid-wheel connecting flange, a first rigid wheel fixedly connected to the rigid-wheel connecting flange, a hollow shaft rotatably connected to the rigid-wheel connecting flange, the hollow shaft being coaxially arranged with the first rigid wheel, a motor flange rotatably connected to the hollow shaft, a second rigid wheel fixedly connected to the motor flange, the second rigid wheel being coaxially arranged with the hollow shaft, a flexible bearing fixedly mounted on the hollow shaft, the hollow shaft and the flexible bearing forming a wave generator, a flexible wheel disposed outside the wave generator, the flexible wheel partially meshing with the first and second rigid wheels under the action of the wave generator; a limiting component for limiting the movement of the flexible bearing is provided on the hollow shaft.

[0007] As a further feature of this invention, the flexible wheel is provided with a first external tooth and a second external tooth with different numbers of teeth along the axial direction. The first external tooth meshes with the first rigid wheel, and the second external tooth meshes with the second rigid wheel.

[0008] As a further feature of this invention, the flexible bearing is provided in two parts, namely a first bearing and a second bearing. The first bearing is located in the area corresponding to the first external tooth on the inner side of the flexible wheel, and the second bearing is located in the area corresponding to the second external tooth on the inner side of the flexible wheel.

[0009] As a further feature of this utility model, the limiting component includes a first limiting block and a second limiting block. The first limiting block is fixedly disposed on the side of the hollow shaft located on the first bearing, and the first limiting block abuts against the inner ring sidewall of the first bearing. The second limiting block is fixedly disposed on the side of the hollow shaft located on the second bearing, and the second limiting block abuts against the inner ring sidewall of the second bearing.

[0010] As a further feature of this invention, the limiting component also includes a bushing, which is disposed on the hollow shaft between the first bearing and the second bearing, wherein the inner ring sidewall of the first bearing and the inner ring sidewall of the second bearing both abut against the bushing.

[0011] As a further feature of this invention, a third bearing is coaxially fixedly connected to the outer side of the second rigid wheel. The inner ring of the third bearing is fixedly connected to the second rigid wheel, and the outer ring of the third bearing is fixedly connected to the first rigid wheel. The third bearing includes a crossed roller bearing.

[0012] As a further feature of this invention, a first skeleton oil seal is provided after the outer ring of the third bearing and the second rigid wheel.

[0013] As a further feature of this invention, a second skeleton oil seal is provided between the motor flange and the hollow shaft, and a third skeleton oil seal is provided between the rigid wheel connecting flange and the hollow shaft.

[0014] As a further feature of this invention, a fourth bearing, including a deep groove ball bearing, is provided between the rigid wheel connecting flange and the hollow shaft, and between the motor flange and the hollow shaft. The beneficial effects of this invention are:

[0015] In this invention, the power input is connected to the hollow shaft to drive the hollow shaft to rotate. The hollow shaft drives the flexible wheel to rotate through the flexible bearing. When the flexible wheel rotates, it drives the first rigid wheel to rotate. Through the double rigid wheel structure, the high-speed, low-torque power input of the hollow shaft is transformed into the low-speed, high-torque power output of the first rigid wheel. Compared with other planetary mechanism reducers, the double rigid wheel structure makes the overall structure of the reducer more compact. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a cross-sectional structural diagram of this embodiment.

[0018] Figure 2 yes Figure 1 Schematic diagram of part C in the middle.

[0019] In the diagram, 1. Rigid wheel connecting flange, 2. First rigid wheel, 3. Hollow shaft, 4. Motor flange, 5. Second steel wheel, 6. Flexible wheel, 7. Flexible bearing, 8. First limiting block, 9. Second limiting block, 10. Bushing, 11. Crossed roller bearing, 12. First skeleton oil seal, 13. Second skeleton oil seal, 14. Third skeleton oil seal, 15. Deep groove ball bearing. Detailed Implementation

[0020] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0021] A high-ratio double-rigid-wheel hollow series harmonic reducer, referring to Figures 1 and 2, includes a rigid wheel adapter flange and a motor flange 4. The rigid wheel adapter flange is used to connect the first rigid wheel 2 and the external load for power output. The motor flange 4 is used to fix the overall reducer. The first rigid wheel 2 is fixedly connected to the rigid wheel adapter flange, and the second rigid wheel is fixedly connected to the motor flange 4. In addition, a third bearing is fixedly connected to the outer side of the second rigid wheel, and the outer ring of the third bearing is fixedly connected to the first rigid wheel 2. Thus, the external structure of the reducer is formed by the rigid wheel adapter flange, the motor flange 4, and the third bearing. In this embodiment, the third bearing is a crossed roller bearing 11. The second rigid wheel is combined with the crossed roller bearing 11. At the same time, the double-rigid-wheel structure is adopted, which not only saves installation space and has a compact structure, but also transmits greater torque.

[0022] In another embodiment, the third bearing can be any other bearing that can achieve the same technical effect.

[0023] Both the rigid wheel adapter flange and the motor flange 4 are connected to the hollow shaft 3 via deep groove ball bearings 15. The hollow structure of the hollow shaft 3 allows wires, cables, air pipes, hydraulic pipes, optical fibers, or coolant pipes to pass directly through the center of the reducer, facilitating the installation of these conduits. The deep groove ball bearings 15 also reduce noise when the hollow shaft 3 rotates. The hollow shaft 3 is used to connect the power input device, which drives the hollow shaft 3 to rotate. A flexible bearing 7 is fixedly installed on the hollow shaft 3. The hollow shaft 3 and the flexible bearing 7 form a wave generator. A flexible wheel 6 is installed outside the wave generator. Under the action of the wave generator, the flexible wheel 6 meshes with the first rigid wheel 2 and the second rigid wheel respectively.

[0024] In this embodiment, the outer teeth of the flexible wheel 6 are configured with two different numbers of first and second outer teeth. The first outer teeth mesh with the first rigid wheel 2, and the second outer teeth mesh with the second rigid wheel. By adjusting the number of teeth in the two sets of outer teeth, the required speed ratio range from 30 to 40,000 can be achieved. At the same time, the flexible wheel 6 has a slot in the middle, which allows the number of teeth at both ends of the flexible wheel 6 to be different, realizing two-stage harmonic transmission.

[0025] Specifically, the first-stage harmonic drive structure at end A of the reducer includes three key components: a hollow shaft 3, a flexible wheel 6 located at end A, and a second rigid wheel. The output end is the flexible wheel 6, with the output rotation direction opposite to the input rotation direction. Furthermore, this structure integrates the second rigid wheel with the crossed roller bearing 11. The rigid wheel is no longer a traditional splined rigid wheel merely serving a transmission function; instead, it functions as a separate first-stage transmission structure, saving space and enhancing the rated load to achieve the first-stage harmonic drive.

[0026] The second-stage harmonic drive structure is located at end B of the reducer and includes three key components: a hollow shaft 3, a flexible wheel 6 located at end B, and a first rigid wheel 2. The output end is the first rigid wheel 2, and the output rotation direction is the same as the input rotation direction.

[0027] The same hollow shaft 3 causes the parts of the flexible wheel 6 located at ends A and B to deform simultaneously. By utilizing the difference in the number of teeth at ends A and B of the flexible wheel 6, a tooth difference is formed, thereby generating two first and second stages with different speed ratios.

[0028] A high-ratio reduction is achieved using a two-stage harmonic deceleration system, with both harmonics driven by the same hollow shaft. Compared to similar two-stage harmonic structures, this structure is significantly smaller, easier to install, and saves space and cost.

[0029] This structure utilizes O-rings and oil seals at both the output and input ends to achieve overall sealing, enabling the product to meet the IP65 protection rating. Furthermore, the product uses grease lubrication, achieving lifetime maintenance-free operation.

[0030] In order to enable the machining of two different numbers of teeth, the first external tooth and the second external tooth, on the flexible wheel 6, an annular groove is coaxially formed on the outer wall of the flexible wheel 6.

[0031] The power input device is connected to the hollow shaft 3 and drives the hollow shaft 3 to rotate. The hollow shaft 3 drives the flexible wheel 6 to rotate through the flexible bearing 7. When the flexible wheel 6 rotates, it drives the first rigid wheel 2 and the rigid wheel connecting flange 1 to rotate. Through the double rigid wheel structure, the high speed and low torque power input of the hollow shaft 3 is transformed into the low speed and high torque power output of the first rigid wheel 2 and the rigid wheel connecting flange 1. Compared with other planetary mechanism reducers, the double rigid wheel structure adopted in this embodiment makes the overall structure of the reducer more compact.

[0032] In addition, to better support the flexible wheel 6, two flexible bearings 7 are provided, including a first bearing and a second bearing respectively. The wave generator is connected to the flexible wheel 6 through the first bearing and makes the flexible wheel 6 partially mesh with the first rigid wheel 2. The wave generator is connected to the flexible wheel 6 through the second bearing and makes the flexible wheel 6 partially mesh with the second rigid wheel.

[0033] The two bearings enable the flexible wheel 6 to mesh with the first rigid wheel 2 and the second rigid wheel respectively, resulting in better support and improved meshing between the flexible wheel 6 and the two rigid wheels.

[0034] To ensure better stability of the first and second bearings, a limiting component is provided on the hollow shaft 3. The limiting component includes a first limiting block 8 and a second limiting block 9. The first limiting block 8 is fixedly provided on one side of the hollow shaft 3 located on the first bearing. The first limiting block 8 abuts against the inner ring sidewall of the first bearing. The second limiting block 9 is provided on one side of the hollow shaft 3 located on the second bearing. The second limiting block 9 abuts against the inner ring sidewall of the second bearing.

[0035] In addition, a bushing 10 is provided between the first bearing and the second bearing. The inner ring sidewalls of the first bearing and the second bearing abut against the bushing 10. Through the action of the bushing 10 and the two limiting blocks, the first bearing and the second bearing can be well limited and fixed on the cam generator, making the two bearings work more stably. In addition, the bushing 10 can also separate the two bearings to avoid direct contact and wear between the two bearings.

[0036] To ensure the reducer's sealing performance, a first oil seal 12 is installed between the outer ring of the third bearing and the second rigid wheel, a second oil seal 13 is installed between the motor flange 4 and the hollow shaft 3, and a third oil seal 14 is installed between the rigid wheel connecting flange 1 and the hollow shaft 3. The multiple sets of oil seals work together to achieve a good sealing effect for the reducer.

[0037] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements 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 high-ratio double-rigid-wheel hollow series harmonic reducer, characterized in that: The device includes a rigid wheel connecting flange (1), a first rigid wheel (2) fixedly connected to the rigid wheel connecting flange (1), a hollow shaft (3) rotatably connected to the rigid wheel connecting flange (1), the hollow shaft (3) being coaxially arranged with the first rigid wheel (2), a motor flange (4) rotatably connected to the hollow shaft (3), a second rigid wheel fixedly connected to the motor flange (4), the second rigid wheel being coaxially arranged with the hollow shaft (3), a flexible bearing (7) fixedly mounted on the hollow shaft (3), the hollow shaft (3) and the flexible bearing (7) forming a wave generator, a flexible wheel (6) being provided outside the wave generator, the flexible wheel (6) partially meshing with the first rigid wheel (2) and the second rigid wheel under the action of the wave generator; and a limiting component for limiting the flexible bearing (7) being provided on the hollow shaft (3).

2. A large-ratio double-geared hollow series harmonic speed reducer according to claim 1, characterized in that: The flexible wheel (6) is provided with a first external tooth and a second external tooth with different numbers of teeth along the axial direction. The first external tooth meshes with the first rigid wheel (2), and the second external tooth meshes with the second rigid wheel.

3. A large-ratio double-geared hollow series harmonic gear according to claim 2, characterized in that: Two flexible bearings (7) are provided, including a first bearing and a second bearing. The first bearing is located in the area corresponding to the first external tooth inside the flexible wheel (6), and the second bearing is located in the area corresponding to the second external tooth inside the flexible wheel (6).

4. A large-ratio double-geared hollow series harmonic speed reducer according to claim 3, characterized in that: The limiting component includes a first limiting block (8) and a second limiting block (9). The first limiting block (8) is fixedly disposed on one side of the hollow shaft (3) located on the first bearing, and the first limiting block (8) abuts against the inner ring sidewall of the first bearing. The second limiting block (9) is fixedly disposed on one side of the hollow shaft (3) located on the second bearing, and the second limiting block (9) abuts against the inner ring sidewall of the second bearing.

5. A large-ratio double-geared hollow series harmonic speed reducer according to claim 4, characterized in that: The limiting component also includes a bushing (10), which is disposed on the hollow shaft (3) between the first bearing and the second bearing. The inner ring sidewall of the first bearing and the inner ring sidewall of the second bearing both abut against the bushing (10).

6. A large-ratio double-geared hollow series harmonic speed reducer according to claim 1, characterized in that: A third bearing is coaxially fixedly connected to the outer side of the second rigid wheel. The inner ring of the third bearing is fixedly connected to the second rigid wheel, and the outer ring of the third bearing is fixedly connected to the first rigid wheel (2). The third bearing includes a crossed roller bearing (11).

7. A large-ratio double-geared hollow series harmonic speed reducer according to claim 6, characterized in that: The outer ring of the third bearing is provided with a first skeleton oil seal (12) after the second rigid wheel.

8. A large-ratio double-geared hollow series harmonic speed reducer according to claim 1, characterized in that: A second skeleton oil seal (13) is provided between the motor flange (4) and the hollow shaft (3), and a third skeleton oil seal (14) is provided between the rigid wheel connecting flange (1) and the hollow shaft (3).

9. A large-ratio double-geared hollow series harmonic gear according to claim 1, characterized in that: A fourth bearing is provided between the rigid wheel connecting flange (1) and the hollow shaft (3), and between the motor flange (4) and the hollow shaft (3). The fourth bearing includes a deep groove ball bearing (15).

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