A harmonic reducer

Abstract

The utility model discloses a harmonic reducer, including the rigid wheel and the flexible wheel of coaxial arrangement and be used for locating rigid wheel and the main bearing of flexible wheel, and the main bearing includes the bearing inner ring that is linked with rigid wheel and is located the bearing outer ring that is linked with flexible wheel at the outer periphery of bearing inner ring, and the harmonic reducer still includes the pressing plate that is linked with bearing inner ring, and the pressing plate at least partial direction bearing outer ring extends to form the cavity for accommodating the rooler bearing between bearing outer ring, bearing inner ring and the pressing plate. Compared with prior art, the utility model can avoid the contact of rooler bearing and rigid wheel and flexible wheel, avoids the destruction of rigid wheel and flexible wheel surface.

Description

Technical Field

[0001] This utility model relates to a harmonic reducer, belonging to the field of reducers. Background Technology

[0002] Harmonic reducers, as a high-precision transmission device, are widely used in robotics, precision machinery, and other fields. Their core function lies in achieving motion transmission through the elastic meshing of a flexible wheel and a rigid wheel; their coaxial positioning and support are typically ensured by a single set of main bearings.

[0003] In existing technologies, this main bearing often requires an additional independent roller bearing (such as a ball bearing) to withstand radial or axial loads. However, such roller bearings typically come into direct or indirect contact with the rigid wheel, flexure wheel, or their connecting parts. During operation, the vibrations and impacts generated by the rolling elements are directly transmitted to the rigid wheel and flexure wheel. Long-term direct contact and load transmission can easily lead to abnormal wear, pitting, or even fatigue cracks on the tooth surface of the rigid wheel or the cylinder of the flexure wheel, severely affecting transmission accuracy and service life.

[0004] In view of this, it is indeed necessary to improve the existing harmonic reducers to solve the above problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a harmonic reducer that can avoid direct contact between the roller bearing and the rigid wheel and the flexible wheel, thus ensuring service life.

[0006] The technical solution of this utility model is: A harmonic reducer includes a rigid wheel and a flexible wheel coaxially arranged, and a main bearing for positioning the rigid wheel and the flexible wheel. The main bearing includes an inner bearing ring connected to the rigid wheel and an outer bearing ring located on the outer periphery of the inner bearing ring and connected to the flexible wheel. The harmonic reducer also includes a pressure plate connected to the inner bearing ring, the pressure plate extending at least partially toward the outer bearing ring to form a cavity for accommodating a roller bearing between the outer bearing ring, the inner bearing ring, and the pressure plate.

[0007] As a further improvement of this utility model, one of the bearing outer ring and the bearing inner ring is provided with a first protrusion extending toward the other of the bearing outer ring and the bearing inner ring, the first protrusion dividing the cavity into at least two to accommodate at least two roller bearings.

[0008] As a further improvement of this utility model, one of the bearing outer ring and the bearing inner ring is provided with a second protrusion extending toward the other of the bearing outer ring and the bearing inner ring, and the first protrusion is located between the second protrusion and the pressure plate to form at least two cavities between the first protrusion, the second protrusion and the pressure plate.

[0009] As a further improvement of this utility model, the first protruding part is a V-shaped structure with a gradually narrowing cross section, so as to divide the cavity into two sub-cavities, and the two sub-cavities are arranged in a figure-eight shape.

[0010] As a further improvement of this utility model, the protruding surface of the first protrusion facing the outer ring or the inner ring of the bearing is a plane, so as to divide the cavity into three sub-cavities, and the three sub-cavities are arranged in a U-shape.

[0011] As a further improvement of this utility model, the flexible wheel includes a flexible wheel body located in the inner ring of the rigid wheel and an extension portion extending outward from one end of the flexible wheel body relative to the rigid wheel. The extension portion is fixedly connected to the outer ring of the bearing, and the inner ring of the bearing is located between the rigid wheel and the extension portion.

[0012] As a further improvement of this utility model, the pressure plate is located between the inner ring of the bearing and the extension portion, and has a first extension plate extending toward the outer ring of the bearing and a second extension plate extending toward the rigid wheel, wherein the inner ring of the bearing is located between the flexible wheel body and the second extension plate.

[0013] As a further improvement of this utility model, when the rigid wheel and the inner ring of the bearing are assembled, they form a common through hole. The through hole is used to be penetrated by a fixing member to position and fix the rigid wheel and the inner ring of the bearing. The fixing member and the second extension plate are located on the same axis.

[0014] As a further improvement of this utility model, a gap is left between the first extension plate and the outer ring of the bearing.

[0015] As a further improvement of this utility model, an oil seal is provided between the inner ring of the bearing and the outer ring of the bearing, and the oil seal is located above the second protrusion.

[0016] The beneficial technical effects of this utility model are as follows: The harmonic reducer of this utility model connects the inner ring of the main bearing to a rigid wheel and the outer ring of the bearing to a flexible wheel located on the outer periphery of the inner ring. The harmonic reducer also includes a pressure plate connected to the inner ring of the bearing, with at least a portion of the pressure plate extending towards the outer ring of the bearing to form a cavity for accommodating the roller bearing between the outer ring, the inner ring, and the pressure plate. In this way, the roller bearing can be confined between the outer ring, the inner ring, and the pressure plate, avoiding direct contact between the roller bearing and the rigid wheel or flexible wheel, thus ensuring its service life. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a harmonic reducer structure conforming to a preferred embodiment of the present utility model.

[0018] Figure 2 yes Figure 1 The diagram shows a cross-sectional view of the harmonic reducer. Detailed Implementation

[0019] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0020] Please see Figure 1 and Figure 2 As shown, this utility model discloses a harmonic reducer 100. The harmonic reducer 100 includes a rigid wheel 1 and a flexible wheel 2 coaxially arranged, and a main bearing 3 for positioning the rigid wheel 1 and the flexible wheel 2. The main bearing 3 includes an inner bearing ring 31 connected to the rigid wheel 1 and an outer bearing ring 32 located on the outer periphery of the inner bearing ring 31 and connected to the flexible wheel 2. The harmonic reducer 100 also includes a pressure plate 4 connected to the inner bearing ring 31. The pressure plate 4 extends at least partially toward the outer bearing ring 32 to form a cavity 6 for accommodating a roller bearing 5 between the outer bearing ring 32, the inner bearing ring 31, and the pressure plate 4. In this way, direct contact between the roller bearing 5 and the rigid wheel 1 or the flexible wheel 2 is avoided, ensuring service life. It should be noted that conventional components such as the wave generator of the harmonic reducer 100 can be set with reference to conventional technical means, which will not be described in detail here.

[0021] Specifically, one of the bearing outer ring 32 and the bearing inner ring 31 is provided with a first protrusion 321 extending toward the other of the bearing outer ring 32 and the bearing inner ring 31. The first protrusion 321 divides the cavity 6 into at least two parts to accommodate at least two roller bearings 5. Thus, by dividing the cavity 6 with the first protrusion 321, the multiple roller bearings 5 ​​can independently and evenly distribute the load, significantly improving the overall load-bearing capacity and rigidity. At the same time, the partition structure avoids mutual compression and interference between the multiple roller bearings 5, making their operation smoother and reducing the vibration transmitted to the rigid wheel 1 and the flexible wheel 2, effectively protecting the core components. Furthermore, the first protrusion 321 efficiently integrates multiple roller bearings 5 ​​within a limited space, simplifying the internal structure, making assembly more convenient, and increasing reliability.

[0022] In this embodiment, the first protrusion 321 is disposed on the outer ring 32 of the bearing and extends toward the inner ring 31 of the bearing. In other embodiments, the first protrusion 321 may also be disposed on the inner ring 31 of the bearing and extend toward the outer ring 32 of the bearing; there is no limitation on this.

[0023] One of the bearing outer ring 32 and the bearing inner ring 31 is provided with a second protrusion 322 extending toward the other of the bearing outer ring 32 and the bearing inner ring 31. The first protrusion 321 is located between the second protrusion 322 and the pressure plate 4, so as to form at least two cavities 6 between the first protrusion 321, the second protrusion 322 and the pressure plate 4. In this way, through the second protrusion 322, the cavity 6 is completely formed by the inner wall surface of the bearing outer ring 32, the first protrusion 321, the pressure plate 4, the outer wall surface of the bearing inner ring 31 and the second protrusion 322, thus completely eliminating direct contact between the roller bearing 5 and the rigid wheel 1 or the flexible wheel 2.

[0024] Optionally, the first protrusion 321 is a V-shaped structure with a gradually narrowing cross-section to divide the cavity 6 into two sub-cavities, which are arranged in a figure-eight shape. This avoids mutual squeezing and interference between the two roller bearings 5, making their operation smoother and reducing the vibration transmitted to the rigid wheel 1 and the flexible wheel 2, effectively protecting the core components.

[0025] In this embodiment, the first protrusion 321 is located on the outer ring 32 of the bearing, and its protruding surface facing the inner ring 31 of the bearing is planar, dividing the cavity 6 into three sub-cavities arranged in a U-shape. This avoids mutual compression and interference between the three roller bearings 5, resulting in smoother operation and less vibration transmitted to the rigid wheel 1 and the flexible wheel 2, effectively protecting the core components. The three roller bearings 5 ​​include one radial roller bearing and two thrust roller bearings, with the radial roller bearing located closer to the inner ring 31. Of course, when the first protrusion 321 is located on the inner ring 31 of the bearing and its protruding surface facing the outer ring 32 of the bearing is planar, the radial roller bearing is located closer to the outer ring 32 of the bearing.

[0026] In this embodiment, the second protrusion 322 is also located on the inner ring 31 of the bearing. That is, both the second protrusion 322 and the pressure plate 4 extend from the inner ring 31 toward the outer ring 32 of the bearing, because the first protrusion 321 is located on the outer ring 32 of the bearing. In other embodiments, adaptive adjustments can be made, and there are no limitations on this.

[0027] The flexible wheel 2 includes a flexible wheel body 21 located in the inner ring of the rigid wheel 1 and an extension 22 extending outward from one end of the flexible wheel body 21 relative to the rigid wheel 1. The extension 22 is fixedly connected to the outer ring 32 of the bearing, and the inner ring 31 of the bearing is located between the rigid wheel 1 and the extension 22.

[0028] The pressure plate 4 is located between the inner ring 31 of the bearing and the extension 22, and has a first extension plate 41 extending toward the outer ring 32 of the bearing and a second extension plate 42 extending toward the rigid wheel 1. The inner ring 31 of the bearing is located between the flexible wheel body 21 and the second extension plate 42.

[0029] When the rigid wheel 1 and the bearing inner ring 31 are assembled, they form a common through hole 10. The through hole 10 is used for the fastener 7 to pass through, so as to position and fix the rigid wheel 1 and the bearing inner ring 31. The fastener 7 and the second extension plate 42 are located on the same axis. In this way, the stability of the structure can be guaranteed.

[0030] Preferably, a gap is left between the first extension plate 41 and the outer ring 32 of the bearing. A gap is also left between the second protrusion 322 and the outer ring 32 or the inner ring 31 of the bearing. An oil seal 8 is provided between the inner ring 31 and the outer ring 32 of the bearing, and the oil seal 8 on the flexible wheel body 21 is located above the second protrusion 322. The oil seal 8 is a skeleton oil seal.

[0031] In summary, the harmonic reducer 100 of this utility model connects the inner ring 31 of the main bearing 3 to the rigid wheel 1, and connects the outer ring 32 of the bearing to the flexible wheel 2 located on the outer periphery of the inner ring 31. The harmonic reducer 100 also includes a pressure plate 4 connected to the inner ring 31 of the bearing. The pressure plate 4 extends at least partially toward the outer ring 32 of the bearing to form a cavity 6 for accommodating the roller bearing 5 between the outer ring 32, the inner ring 31, and the pressure plate 4. In this way, the roller bearing 5 can be confined between the outer ring 32, the inner ring 31, and the pressure plate 4, avoiding direct contact between the roller bearing 5 and the rigid wheel 1 or the flexible wheel 2, thus ensuring its service life.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A harmonic reducer, characterized in that, The device includes a rigid wheel and a flexible wheel arranged coaxially, and a main bearing for positioning the rigid wheel and the flexible wheel. The main bearing includes an inner bearing ring connected to the rigid wheel and an outer bearing ring located on the outer periphery of the inner bearing ring and connected to the flexible wheel. The harmonic reducer also includes a pressure plate connected to the inner bearing ring. The pressure plate extends at least partially toward the outer bearing ring to form a cavity for accommodating a roller bearing between the outer bearing ring, the inner bearing ring, and the pressure plate.

2. The harmonic reducer according to claim 1, characterized in that, One of the bearing outer ring and the bearing inner ring is provided with a first protrusion extending toward the other of the bearing outer ring and the bearing inner ring, the first protrusion dividing the cavity into at least two to accommodate at least two roller bearings.

3. The harmonic reducer according to claim 2, characterized in that, One of the bearing outer ring and the bearing inner ring is provided with a second protrusion extending toward the other of the bearing outer ring and the bearing inner ring, and the first protrusion is located between the second protrusion and the pressure plate to form at least two cavities between the first protrusion, the second protrusion and the pressure plate.

4. The harmonic reducer according to claim 3, characterized in that, The protruding portion is a V-shaped structure with a gradually narrowing cross section, which divides the cavity into two sub-cavities, and the two sub-cavities are arranged in a figure-eight shape.

5. The harmonic reducer according to claim 3, characterized in that, The protruding surface of the protrusion facing the outer ring or inner ring of the bearing is a plane, so as to divide the cavity into three sub-cavities, which are arranged in a U-shape.

6. The harmonic reducer according to claim 1, characterized in that, The flexible wheel includes a flexible wheel body located within the inner ring of the rigid wheel and an extension extending outward from one end of the flexible wheel body relative to the rigid wheel. The extension is fixedly connected to the outer ring of the bearing, and the inner ring of the bearing is located between the rigid wheel and the extension.

7. The harmonic reducer according to claim 6, characterized in that, The pressure plate is located between the inner ring of the bearing and the extension, and has a first extension plate extending toward the outer ring of the bearing and a second extension plate extending toward the rigid wheel, wherein the inner ring of the bearing is located between the flexible wheel body and the second extension plate.

8. The harmonic reducer according to claim 7, characterized in that, When the rigid wheel and the inner ring of the bearing are assembled, they form a common through hole. The through hole is used to be penetrated by a fixing member to position and fix the rigid wheel and the inner ring of the bearing. The fixing member and the second extension plate are located on the same axis.

9. The harmonic reducer according to claim 7, characterized in that, A gap is left between the first extension plate and the outer ring of the bearing.

10. The harmonic reducer according to claim 3, characterized in that, An oil seal is provided between the inner ring and the outer ring of the bearing, and the oil seal is located above the second protrusion.

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