A right-angle hollow harmonic reducer

Abstract

This utility model discloses a right-angle hollow harmonic reducer, relating to the field of harmonic reducer technology. It includes an input housing, a main housing, an input shaft, and a hollow shaft. The hollow shaft is rotatably mounted within the main housing. An input bevel gear is located at the end of the input shaft, and an output bevel gear is located at the lower end of the hollow shaft. The input bevel gear meshes with the output bevel gear. The main housing is equipped with a cap-shaped harmonic reducer assembly comprising a rigid wheel, a flexible wheel, a hollow shaft, a flange, a flexible bearing, and a crossed roller bearing. The flexible wheel and the crossed roller bearing are connected to the main housing by screws, and the rigid wheel and the flange are connected by screws and the crossed roller bearing, ensuring effective meshing between the rigid wheel and the flexible wheel. The hollow shaft ensures a hollow structure. This right-angle hollow harmonic reducer can simultaneously achieve direction-changing transmission and speed reduction output. Furthermore, the reducer has the advantages of compact structure, high transmission precision, and low-noise transmission, making it particularly suitable for space-constrained automated equipment.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, specifically a right-angle hollow harmonic reducer. Background Technology

[0002] Currently, most existing engineering machinery equipment includes a transmission mechanism, which is almost entirely composed of a motor and a reducer. Furthermore, existing reducers often employ multi-stage gears or worm gear structures, resulting in problems such as low transmission efficiency, large size, and insufficient precision. Harmonic reducers, as a high-precision, high-torque, and high-reduction-ratio transmission device, are widely used in robotics, automation equipment, and precision machinery.

[0003] With the development of industrial automation technology, the requirements for equipment control precision are increasing, necessitating the addition of various sensors and other auxiliary components, thus raising issues related to wiring layout. Traditional reducers are mostly solid, making it impossible to pass wires through them, causing difficulties in wiring layout. Furthermore, traditional harmonic reducers typically use a coaxial input-output structure, but in applications with limited space or requiring directional transmission, this structure is difficult to meet installation requirements. Additionally, in equipment requiring hollow wiring (such as robotic arms), the hollow design of conventional reducers often struggles to balance sealing and ease of wiring, leading to complex wiring or reduced protection performance.

[0004] Therefore, there is an urgent need for a speed reduction device that is compact in structure, highly efficient in transmission, and has a hollow wire threading function. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a right-angle hollow harmonic reducer. This reducer utilizes both output and input bevel gears to achieve vertical direction-changing transmission while simultaneously reducing output speed. The double-hollow structure of the hollow shaft and the threading shaft of this right-angle hollow harmonic reducer meets the threading requirements of components such as cables and air pipes, ensuring a stable threading path.

[0006] The right-angle hollow harmonic reducer cleverly separates the inside and outside of the reducer with its threaded shaft. Both ends of the threaded shaft have a sealing design to ensure the reducer's airtightness and prevent external contaminants from entering.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a right-angle hollow harmonic reducer, comprising an input housing, a main housing, an input shaft, and a hollow shaft; The main housing has an output end and an end cover end at the top and bottom, respectively. An input interface is provided on the side of the main housing, and the input housing is connected to the input interface. The hollow shaft is rotatably mounted in the main housing. The input housing has an input hole, and an input shaft is rotatably mounted in the input hole. One end of the input shaft extends into the input interface, and the end of the input shaft extending into the input interface is provided with an input bevel gear. The lower end of the hollow shaft is provided with an output bevel gear, and the input bevel gear and the output bevel gear mesh with each other. The hollow shaft is provided with a hollow clearance hole that penetrates the hollow shaft axially; The main housing is equipped with a harmonic reduction assembly, which includes a rigid wheel, a flexible wheel, and crossed rollers. The flexible wheel and the crossed roller bearings are connected to the main housing by screws, and the rigid wheel is connected to the crossed roller bearings by screws. The rigid wheel and the flexible wheel are partially engaged.

[0008] Furthermore, the output end of the output terminal is also provided with an output flange, which is fixed to the rigid wheel.

[0009] Furthermore, the hollow shaft is provided with a threading shaft, and the threading shaft is provided with a threading hole in the axial direction.

[0010] Furthermore, the end cap of the main housing is also provided with a closed end cap, and the closed end cap is provided with an end cap hole.

[0011] Furthermore, one end of the threading shaft is fixedly connected to the output flange by screws, and the other end of the threading shaft extends into the end cap hole.

[0012] Furthermore, an oil seal ring is provided inside the end cap hole, and the oil seal ring is sleeved on the outside of the threading shaft.

[0013] Furthermore, the hollow shaft is fitted with a deep groove ball bearing, and the hollow shaft is rotatably mounted in the main housing via the deep groove ball bearing.

[0014] Furthermore, a wave generator block is provided on the hollow shaft, and a flexible bearing is fitted over the wave generator block, with the flexible bearing located between the wave generator block and the flexible wheel.

[0015] Furthermore, a clamping clamp is provided at the end of the input shaft away from the bevel gear.

[0016] Furthermore, the input shaft and the hollow shaft are axially perpendicular, and the input bevel gear meshes perpendicularly with the output bevel gear.

[0017] The beneficial effects of this utility model of a right-angle hollow harmonic reducer are as follows: (1) The right-angle hollow harmonic reducer includes an input housing, a main housing, an input shaft, and a hollow shaft. The hollow shaft is rotatably mounted in the main housing. An input bevel gear is provided at the end of the output shaft, and an output bevel gear is provided at the lower end of the hollow shaft. The input bevel gear and the output bevel gear mesh with each other. A cap-type harmonic reducer assembly is provided on the main housing. The cap-type harmonic reducer assembly includes a rigid wheel 41, a flexible wheel 42, an output flange 3, a flexible bearing 43, and a crossed roller bearing. The flexible wheel is sleeved outside the hollow shaft. The rotation of the input shaft can drive the rotation of the hollow shaft, which in turn drives the harmonic reducer assembly to operate, thereby achieving the purpose of speed reduction output. The right-angle hollow harmonic reducer utilizes the output bevel gear and the input bevel gear to achieve the purpose of vertical direction change transmission while also achieving the purpose of speed reduction output. At the same time, the reducer has the advantages of compact structure, high transmission precision, and low noise transmission, and it is especially suitable for automated equipment with limited space.

[0018] (2) The hollow shaft of the right-angle hollow type harmonic reducer is provided with a hollow clearance hole and a wire threading shaft in the axial direction. The double hollow structure of the hollow shaft and the wire threading shaft meets the wire threading requirements of components such as cables and air pipes, and ensures the stability of the wire threading path.

[0019] (3) The upper end of the wire shaft of the right-angle hollow harmonic reducer is fixed on the output flange, and the lower end extends into the end cover hole. The gap between the two is sealed by the oil seal ring, thus cleverly separating the inside and outside of the reducer, ensuring the sealing of the reducer and preventing external contaminants from entering. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a right-angle hollow harmonic reducer according to an embodiment of the present invention.

[0021] Figure 2 This is a cross-sectional view of a right-angle hollow harmonic reducer according to an embodiment of this utility model.

[0022] Explanation of reference numerals in the attached figures: 1-Input housing, 11-Input hole, 2-Main housing, 3-Output flange, 4-Harmonic reducer assembly, 41-Rigid wheel, 42-Flexible wheel, 43-Flexible bearing, 5-Threading shaft, 6-Input shaft, 61-Input bevel gear, 62-Clamping clamp, 63-Deep groove ball bearing, 7-Hollow shaft, 71-Output bevel gear, 8-End cover, 81-Oil seal ring. Detailed Implementation

[0023] 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.

[0024] The present invention relates to a right-angle hollow harmonic reducer, comprising an input housing 1, a main housing 2, an input shaft 6, and a hollow shaft 7.

[0025] The upper and lower ends of the main housing 2 are the output end and the end cover end, respectively. The output end is also provided with an output flange 3. The side of the main housing 2 is provided with an input interface, and the input housing 1 is connected to the input interface.

[0026] The hollow shaft 7 is rotatably mounted inside the main housing 2. The input housing 1 has an input hole 11, and the input shaft 6 is rotatably mounted inside the input hole 11. One end of the input shaft 6 extends into the input interface, and an input bevel gear 61 is located at the end of the input shaft 6 extending into the input interface. An output bevel gear 71 is located at the lower end of the hollow shaft 7. The input bevel gear 61 and the output bevel gear 71 mesh with each other. The output bevel gear 71 and the input bevel gear 61 are coated with lubricating grease during assembly. Both the output bevel gear 71 and the input bevel gear 61 are high-precision spiral bevel gears, which ensures both transmission accuracy and effective noise control.

[0027] The rotation of the input shaft 6 can drive the input bevel gear 61 to rotate synchronously, and then drive the hollow shaft 7 to rotate through the meshing relationship between the input bevel gear 61 and the output bevel gear 71.

[0028] The main housing is equipped with a cap-type harmonic reducer assembly, which includes a rigid wheel 41, a flexible wheel 42, an output flange 3, a flexible bearing 43, and a crossed roller bearing. The flexible wheel and the crossed roller bearing are connected to the main housing with screws, and the rigid wheel 41 and the output flange 3 are connected with screws and the crossed roller bearing to ensure effective meshing between the rigid wheel 41 and the flexible wheel. The hollow shaft ensures a hollow structure. A wave generator block (a wave generator block protruding from the outer wall of the hollow shaft 7) is provided on the hollow shaft 7. The wave generator block can be an elliptical cylindrical structure. The flexible bearing 43 is sleeved on the wave generator block and is located between the wave generator block and the flexible wheel 42. The rigid wheel 41 is fixedly mounted on the main housing 2, and the flexible wheel 42 is sleeved on the hollow shaft 7. The flexible wheel 42 partially meshes with the rigid wheel 41, and the output flange 3 is fixed to the rigid wheel 41. The rotation of the hollow shaft 7 causes the wave generating block shaft section to deform together with the flexible bearing 43 and the flexible wheel 42, which causes the rigid wheel 41 and the flexible wheel 42 to rotate and mesh, thereby making the harmonic deceleration assembly 4 run and driving the output flange 3 (relative to the speed of the input shaft 6) to rotate at a low speed (relative to the speed of the input shaft 6).

[0029] In a preferred embodiment, the hollow shaft 7 has a hollow clearance hole extending through it axially; a threading shaft 5 is provided inside the hollow clearance hole of the hollow shaft 7, and the threading shaft 5 has a threading hole axially. The end cap of the main housing 2 is also provided with a closed end cap 8, which has an end cap hole. One end of the threading shaft 5 is fixedly connected to the output flange 3 by screws, and the other end of the threading shaft 5 extends into the end cap hole. An oil seal ring 81 is provided inside the end cap hole, and the oil seal ring 81 is fitted over the threading shaft 5. As a preferred embodiment, the oil seal ring 81 is a low-resistance oil seal ring; ordinary oil seals have high resistance, affecting the output efficiency of the reducer.

[0030] The threading shaft 5 is used to meet the threading requirements of components such as cables and air pipes, ensuring a stable threading path. The threading shaft 5 rotates synchronously with the output flange 3 and rotates differentially relative to the hollow shaft 7. A gap exists between the outer wall of the threading shaft 5 and the inner wall of the hollow shaft 7, reducing friction between them. The threading shaft 5 effectively isolates the internal and external spaces of the reducer, ensuring its sealing, preventing external contaminants from entering, and preventing the leakage of lubricating grease from the reducer.

[0031] In a preferred embodiment, both the hollow shaft 7 and the input shaft 6 are fitted with deep groove ball bearings 63, and the hollow shaft 7 is rotatably mounted within the main housing 2 via the deep groove ball bearings 63. The input shaft 6 is rotatably mounted within the input hole 11 via the deep groove ball bearings 63. A clamping clip 62 is provided at the end of the input shaft 6 away from the bevel gear. The clamping clip 62 is an elastic clamping clip, which facilitates the connection of the input shaft 6 to the input device and is compatible with keyless motor connections.

[0032] In a preferred embodiment, the input shaft 6 and the hollow shaft 7 are axially perpendicular, and the input bevel gear 61 meshes with the output bevel gear 71. This enables vertical transmission of the right-angle hollow harmonic reducer.

[0033] The working principle of this right-angle hollow harmonic reducer is as follows: the input device is connected to the input shaft 6 via a clamping clamp 62, driving the input shaft 6 to rotate; the rotation of the input shaft 6, through the meshing relationship between the input bevel gear 61 and the output bevel gear 71, drives the hollow shaft 7 to rotate, thereby causing the output flange 3 to rotate, thus achieving the purpose of speed reduction output. Since the axis of the input shaft 6 is perpendicular to the axis of the output flange 3, this right-angle hollow harmonic reducer can achieve vertical direction-changing transmission while simultaneously reducing output speed. The reducer has the advantages of compact structure, high transmission precision, and low-noise transmission, making it particularly suitable for space-constrained automated equipment.

[0034] 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 right-angle hollow harmonic reducer, characterized in that, Includes input housing, main housing, input shaft, and hollow shaft; The main housing has an output end and an end cover end at the top and bottom, respectively. An input interface is provided on the side of the main housing, and the input housing is connected to the input interface. The hollow shaft is rotatably mounted in the main housing. The input housing has an input hole, and an input shaft is rotatably mounted in the input hole. One end of the input shaft extends into the input interface, and the end of the input shaft extending into the input interface is provided with an input bevel gear. The lower end of the hollow shaft is provided with an output bevel gear, and the input bevel gear and the output bevel gear mesh with each other. The hollow shaft is provided with a hollow clearance hole that penetrates the hollow shaft axially; The main housing is equipped with a harmonic reduction assembly, which includes a rigid wheel, a flexible wheel, and crossed rollers. The flexible wheel and the crossed roller bearings are connected to the main housing by screws, and the rigid wheel is connected to the crossed roller bearings by screws. The rigid wheel and the flexible wheel are partially engaged.

2. The right-angle hollow harmonic reducer according to claim 1, characterized in that, The output end is also provided with an output flange, which is fixed to the rigid wheel.

3. A right-angle hollow harmonic reducer according to claim 2, characterized in that, The hollow shaft is provided with a threading shaft, and the threading shaft has a threading hole in the axial direction.

4. A right-angle hollow harmonic reducer according to claim 3, characterized in that, The main housing is also provided with a closed end cap, and the closed end cap has an end cap hole.

5. A right-angle hollow harmonic reducer according to claim 4, characterized in that, One end of the threading shaft is fixedly connected to the output flange by screws, and the other end of the threading shaft extends into the end cap hole.

6. A right-angle hollow harmonic reducer according to claim 4, characterized in that, An oil seal ring is provided inside the end cap hole, and the oil seal ring is fitted over the threading shaft.

7. A right-angle hollow harmonic reducer according to claim 4, characterized in that, The hollow shaft is fitted with a deep groove ball bearing, and the hollow shaft is rotatably mounted in the main housing via the deep groove ball bearing.

8. A right-angle hollow harmonic reducer according to claim 1, characterized in that, A wave generator block is provided on the hollow shaft, and a flexible bearing is fitted over the wave generator block. The flexible bearing is located between the wave generator block and the flexible wheel.

9. A right-angle hollow harmonic reducer according to claim 1, characterized in that, The input shaft is provided with a clamping clip at the end away from the bevel gear.

10. A right-angle hollow harmonic reducer according to claim 1, characterized in that, The input shaft and the hollow shaft are axially perpendicular, and the input bevel gear meshes perpendicularly with the output bevel gear.

Images