CN205036820U - Take well casement harmonic speed reducer ware of cross cross roller bearing - Google Patents

Abstract

The utility model relates to the field of harmonic reducers, in particular to a hollow type harmonic reducer with cross roller bearings, which includes an upper shell, a lower shell, a wave generator, a flexible wheel, a rigid wheel, and a cross roller The sub-bearing, the wave generator is a hollow structure, the wave generator passes through the upper casing and the lower casing; the flexible spline is sleeved outside the wave generator, and the inner teeth of the rigid spline and the outer teeth of the flexible spline The rigid wheel is fixed to the lower casing, and a cross roller bearing is arranged between the rigid wheel and the upper casing. The outer ring of the cross roller bearing is fixed on the upper casing, and the cross roller bearing The inner ring leans against the flexible spline. After adopting the above scheme, a large number of parts of the harmonic reducer are simplified, and the assembly efficiency is greatly improved.

Description

A Hollow Harmonic Reducer with Cross Roller Bearings

technical field

The utility model relates to the field of harmonic reducers, in particular to a hollow harmonic reducer with cross roller bearings.

Background technique

The reducer is a power transmission mechanism that uses the speed converter of the gear to reduce the number of revolutions of the motor to the desired number of revolutions and obtain a larger torque mechanism. There are many types of reducers with different models, and different types have different uses. Among them, the harmonic reducer is a new type of reducer developed by using the principle of planetary gear transmission. Due to its high carrying capacity, large transmission ratio, and volume The unique advantages of small size, light weight, stable transmission and high transmission precision make the harmonic reducer widely used in electronics, aerospace, robotics and other industries.

The connecting shaft of the existing harmonic reducer is generally solid. When the harmonic reducer is connected to two parts that need to be driven, the wires can only be arranged and installed outside the harmonic reducer. Not only the cables are exposed outside, the installation space is increased, the installation difficulty is increased, and it is easy to be damaged, and the length of the cables is increased, causing unnecessary waste. Also, in order to have high processing efficiency, the instantaneous acceleration of kinematic joints such as robot arms is very high, which forces the harmonic reducer to have very good bending resistance.

Therefore, the inventor made further research on this, and developed a hollow type harmonic reducer with cross roller bearings, and this case arose from it.

Utility model content

The purpose of the utility model is to provide a hollow harmonic reducer with cross roller bearings, which greatly simplifies the parts of the harmonic reducer and greatly improves the assembly efficiency.

In order to achieve the above object, the technical scheme of the utility model is as follows:

A hollow harmonic reducer with cross roller bearings, comprising an upper shell, a lower shell, a wave generator, a flexible wheel, a rigid wheel, and a cross roller bearing, the wave generator is a hollow structure, The wave generator passes through the upper shell and the lower shell; the flexible spline is sleeved outside the wave generator, the internal teeth of the rigid spline mesh with the external teeth of the flexible spline, the rigid spline is fixed to the lower shell, and the rigid spline A crossed roller bearing is arranged between the wheel and the upper casing, the outer ring of the crossed roller bearing is fixed on the upper casing, and the inner ring of the crossed roller bearing is adjacent to the flexspline.

Further, the lower housing and the rigid wheel, the upper housing and the cross roller bearing are respectively connected by screws.

Further, a flexible bearing is arranged between the flexible spline and the wave generator.

After adopting the above scheme, the utility model has the following advantages compared with the prior art:

It saves the materials of the load part and shell part of the general harmonic reducer, and reduces its manufacturing cost; it greatly simplifies the parts of the harmonic reducer, which greatly improves the assembly efficiency; Passing through the through hole of the wave generator avoids the cable being exposed outside, making the cable not easy to be damaged, and also reduces the length of the cable, avoiding unnecessary waste; the rigid wheel can be integrated with the load, greatly reducing the The overall axial size of the harmonic reducer; the cross roller bearing is used as the hub connecting the flexible spline and the rigid spline, which greatly improves the rotation stability and bending resistance of this hollow harmonic reducer.

Description of drawings

Fig. 1 is the schematic diagram of the utility model;

Label description

Upper shell 1, lower shell 2, wave generator 3, flexible spline 4, rigid spline 5,

Cross roller bearing 6, flexible bearing 7.

detailed description

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further.

As shown in the figure, a hollow harmonic reducer with a cross roller bearing 6 disclosed by the utility model includes an upper casing 1, a lower casing 2, a wave generator 3, a flexible spline 4, and a rigid spline 5 1. Cross roller bearing 6; the wave generator 3 with a through hole in the middle passes through the upper casing 1 and the lower casing 2, the upper casing 1 is used as the input end, the lower casing 2 is used as the output end, and the The wave generator 3 is provided with a screw hole, which is connected as a power input.

The flexible spline 4 is set outside the wave generator 3, and a flexible bearing 7 is arranged between the flexible spline 4 and the wave generator 3; the internal teeth of the rigid spline 5 mesh with the external teeth of the flexible spline 4, and the rigid spline 5 and the lower shell The body 2 is fixed, and a cross roller bearing 6 is arranged between the rigid wheel 5 and the upper casing 1. The outer ring of the cross roller bearing 6 is fixed on the upper casing 1, and the inner ring of the cross roller bearing 6 is connected to the upper casing 1. The flexible spline 4 leans against each other; the lower shell 2 and the rigid spline 5, the upper shell 1 and the cross roller bearing 6 are respectively connected by screws.

Working principle: Power input drives the wave generator 3 to rotate. When the wave generator 3 rotates continuously, the deformation of the flexible spline 4 changes continuously, so that the meshing state of the flexible spline 4 and the rigid spline 5 also changes continuously. , Engage out, disengage, and then engage again, so as to realize the slow rotation of the flexible spline 4 relative to the rigid spline 5 along the opposite direction of the wave generator 3, and the threaded hole opened on the rigid spline 5 is connected to the load output.

The above are only specific embodiments of the present utility model, but the design concept of the present utility model is not limited thereto. Any insubstantial modification of the utility model using this concept should be an act of violating the protection scope of the utility model.

Claims (3)

1. the hollow type harmonic speed reducer with cross roller bearing, it is characterized in that: comprise upper shell, lower shell body, wave-generator, flexbile gear, just wheel, cross roller bearing, described wave-generator is hollow structure, and wave-generator is through upper shell and lower shell body; Described flexbile gear is set in outside wave-generator, the described internal tooth of firm wheel is meshed with the external tooth of flexbile gear, firm wheel and lower shell body are fixed, cross roller bearing is provided with between firm wheel and upper shell, the outer ring of described cross roller bearing is fixed on upper shell, and the inner ring of cross roller bearing leans on mutually with flexbile gear.

2. a kind of hollow type harmonic speed reducer with cross roller bearing according to claim 1, is characterized in that: described lower shell body with just take turns, upper shell is connected each via screw with cross roller bearing.

3. a kind of hollow type harmonic speed reducer with cross roller bearing according to claim 1, is characterized in that: be provided with flexible bearing between described flexbile gear and wave-generator.