CN210423648U - Harmonic reducer and wave generator assembly thereof - Google Patents
Harmonic reducer and wave generator assembly thereof Download PDFInfo
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- CN210423648U CN210423648U CN201920847064.3U CN201920847064U CN210423648U CN 210423648 U CN210423648 U CN 210423648U CN 201920847064 U CN201920847064 U CN 201920847064U CN 210423648 U CN210423648 U CN 210423648U
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Abstract
The utility model provides a harmonic speed reducer ware and wave generator subassembly thereof relates to reduction gear technical field. Wherein wave generator subassembly includes: a wave generator and an input shaft; a first connecting mechanism is arranged at one end of the input shaft, a second connecting mechanism is arranged on the wave generator, and the input shaft is detachably assembled with the wave generator through the first connecting mechanism and the second connecting mechanism to connect the input shaft with the wave generator; the input shaft is used for being assembled with a motor shaft, and the extending direction of the input shaft is the same as the extending direction of the motor shaft. The structure of the harmonic reducer and the wave generator assembly thereof provided by the utility model is simpler than the traditional integrated structure, the cam profile in the wave generator is easy to process, and the processing cost is reduced; meanwhile, the coaxiality of the input shaft and the motor shaft can be adjusted conveniently when the motor is installed.
Description
Technical Field
The utility model relates to a reduction gear technical field particularly, relates to a harmonic speed reducer ware and wave generator subassembly thereof.
Background
The speed reducer is a power transmission mechanism that obtains a large torque by reducing the number of revolutions of the motor to a required number of revolutions using a speed converter of a gear. The speed reducer is various, wherein, harmonic speed reducer is a novel speed reducer that utilizes planetary gear transmission principle, compares with general gear drive, and harmonic speed reducer has characteristics such as small, the reduction ratio is big, the number of teeth that mesh simultaneously is many, the transmission is steady, bear the weight of the dynamic height, transmission precision height, consequently by wide application in aspects such as space flight, military affairs, industrial robot.
However, the conventional harmonic reducer integrates the wave generator and the input shaft, so that the processing is inconvenient, the cost is high, the input shaft cannot ensure good coaxiality when being matched with a motor shaft, the input is not stable and accurate enough, and the stability and the accuracy of the harmonic reducer are influenced.
SUMMERY OF THE UTILITY MODEL
For solving among the prior art integrative setting of harmonic reducer ware input shaft, the processing cost is high, the not good technical problem of axiality, the utility model discloses a main aim at provides a harmonic reducer ware and wave generator subassembly that the input shaft components of a whole that can function independently set up.
In a first aspect, an embodiment of the present invention provides a wave generator assembly, including: a wave generator and an input shaft;
a first connecting mechanism is arranged at one end of the input shaft, a second connecting mechanism is arranged on the wave generator, and the input shaft is detachably assembled with the wave generator through the first connecting mechanism and the second connecting mechanism to connect the input shaft with the wave generator;
the input shaft is used for being assembled with a motor shaft, and the extending direction of the input shaft is the same as the extending direction of the motor shaft.
Further, in a preferred embodiment of the present invention, the first connecting mechanism is configured as a spline, and the second connecting mechanism is configured as a spline groove; and connecting the input shaft with the wave generator by assembling the spline and the spline groove.
Further, in a preferred embodiment of the present invention, the first connecting mechanism is configured as a flat key, and the second connecting mechanism is configured as a flat key groove; and connecting the input shaft with the wave generator by assembling the flat key and the flat key groove.
Further, in a preferred embodiment of the present invention, the first connecting mechanism is configured as a first connecting buckle, and the second connecting mechanism is configured as a second connecting buckle; the input shaft is connected with the wave generator through the clamping assembly of the first connecting buckle and the second connecting buckle.
Further, in a preferred embodiment of the present invention, the input shaft is configured as a stepped shaft.
Further, in a preferred embodiment of the present invention, the diameter of the input shaft increases in sequence from the end of the input shaft connected to the wave generator to the end of the input shaft away from the wave generator.
Further, in a preferred embodiment of the present invention, the wave generator includes a cam and a first bearing, an outer ring of the cam is assembled with an inner ring of the first bearing, and the inner ring of the cam is connected to the input shaft.
In a second aspect, an embodiment of the present invention provides a harmonic reducer, including a flexible gear, a rigid gear, and any one of the above wave generator assemblies; the outer ring of the wave generator is linked with the flexible gear, and the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear.
Further, in a preferred embodiment of the present invention, the flexible gear further includes a second bearing, the rigid gear is fixedly connected to the inner ring of the second bearing, and the flexible gear is fixedly connected to the outer ring of the second bearing.
Further, in a preferred embodiment of the present invention, the wave generator includes a first bearing; the first bearing is a flexible bearing, and the second bearing is a rigid bearing.
The embodiment of the utility model provides a harmonic reducer and wave generator subassembly thereof, the input shaft with the wave generator components of a whole that can function independently set up, the structure is simpler than traditional integral type, easily the processing of cam profile in the wave generator, reduced the processing cost; meanwhile, the coaxiality of the input shaft and the motor shaft can be adjusted conveniently when the motor is installed. In the prior art, an input shaft and a wave generator are integrally arranged, as shown in fig. 1, the input shaft and the wave generator have certain weight and volume, and a motor shaft is arranged on the input shaft and then needs to be driven at the same time, so that the coaxiality of the motor shaft and the input shaft is poor. In the embodiment of the present invention, the input shaft and the wave generator are separately arranged, so as to adjust the coaxiality of the wave generator and the motor shaft by adjusting the coaxiality of the input shaft and the motor shaft, and meanwhile, the extending direction of the input shaft is the same as the extending direction of the motor shaft, so as to ensure the balance of the input shaft and the motor shaft after assembly; the stability and the accuracy of the harmonic reducer are ensured. The embodiment of the utility model provides an in the mode that the components of a whole that can function independently set up adopt: the input shaft is provided with a first connecting mechanism, the wave generator is provided with a second connecting mechanism, the first connecting mechanism and the second connecting mechanism are assembled to realize the connection of the input shaft and the wave generator, no additional connecting and fixing part is arranged, and the structure is simple and the installation is convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a prior art wave generator assembly;
fig. 2 is a schematic structural diagram of a wave generator assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an input shaft according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a wave generator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a harmonic reducer according to an embodiment of the present invention.
Reference numerals:
1 wave generator 11 cam 111 spline groove 12 first bearing 2 input shaft
21 stepped shaft 211 first stub shaft 212 second stub shaft 22 spline 3 flexspline
4 rigid wheel 5 second bearing
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
As shown in fig. 2-5, an embodiment of the present invention provides a wave generator 1 assembly, including: a wave generator 1 and an input shaft 2; a first connecting mechanism is arranged at one end of the input shaft 2, a second connecting mechanism is arranged on the wave generator 1, and the input shaft 2 is detachably assembled with the wave generator 1 through the first connecting mechanism and the second connecting mechanism; the input shaft 2 is used for being assembled with a motor shaft, and the extending direction of the input shaft 2 is the same as that of the motor shaft. The input shaft 2 and the wave generator 1 are arranged in a split mode, and therefore coaxiality of the input shaft 2 and a motor shaft can be adjusted conveniently when a motor is installed. In the prior art, an input shaft 2 and a wave generator 1 are integrally arranged, as shown in fig. 1, the input shaft 2 and the wave generator 1 have certain weight and volume, and a motor shaft is arranged on the input shaft 2 and then driven at the same time, so that the coaxiality of the motor shaft and the input shaft 2 is poor. In the embodiment of the utility model, the input shaft 2 and the wave generator 1 are arranged separately, the structure is simpler than the traditional integrated structure, the processing of the contour of the cam 11 in the wave generator 1 is easy, and the processing cost is reduced; meanwhile, the purpose of adjusting the coaxiality of the wave generator 1 and the motor shaft is achieved by adjusting the coaxiality of the input shaft 2 and the motor shaft, and meanwhile, the extending direction of the input shaft 2 is the same as the extending direction of the motor shaft, so that the balance of the input shaft 2 and the motor shaft after assembly is ensured; the stability and the accuracy of the harmonic reducer are ensured. The embodiment of the utility model provides an in the mode that the components of a whole that can function independently set up adopt: set up first coupling mechanism on the input shaft 2, set up second coupling mechanism on the wave generator 1, through first coupling mechanism with second coupling mechanism's assembly is realized the input shaft 2 with wave generator 1's connection does not set up extra connection mounting, simple structure, installation are convenient.
The structure of the split input shaft 2 in the prior art usually needs to realize the connection between the input shaft 2 and the wave generator 1 by means of an additional fixing piece, for example, a screw or cross press block form is adopted, so that the structure of the wave generator 1 is often complex, and the processing difficulty and cost of the wave generator 1 are increased. As shown in fig. 2 to 5, in the wave generator 1 assembly provided in an embodiment of the present invention, the first connecting mechanism is configured as a spline 22, the second connecting mechanism is configured as a spline groove 111, and the specific spline groove 111 in this embodiment is disposed on the cam 11; the input shaft 2 is connected to the wave generator 1 by fitting the spline 22 with the spline groove 111. The end spline 22 of the input shaft 2 can be processed and formed at one time by a die, the spline groove 111 can be processed and formed at one time by the cam 11, the structure is simple, the processing is simple and convenient, and the assembly of the input shaft 2 and the cam 11 can be realized without arranging an additional connecting structure. The split arrangement of the input shaft 2 is realized by connecting the inner ring of the cam 11 and the input shaft 2 by using a spline 22, so that the coaxiality of the wave generator 1 and a motor shaft is effectively improved, and the transmission precision is improved; moreover, because the outer contour of the cam 11 is in a special shape, such as an elliptical shape, a cosine curve shape, a combined equation type and the like, after the cam 11 and the input shaft 2 are in a split type, the structure is simpler than that of the traditional integrated type, the processing of the contour of the cam 11 is easier, and the processing cost is further reduced.
The split type setting of the input shaft 2 and the cam 11 of the wave generator 1 can adopt other modes, in the wave generator 1 assembly provided by another embodiment of the utility model, the first connecting mechanism is set as a flat key, the second connecting mechanism is set as a flat key groove, the flat key groove is arranged on the cam 11 in the embodiment, and the input shaft 2 and the inner ring of the cam 11 are assembled; and the input shaft 2 is connected with the wave generator 1 through the assembly of the flat key and the flat key groove. In the wave generator 1 assembly provided in other embodiments of the present invention, the first connecting mechanism may be further configured as a first connecting buckle, and the second connecting mechanism may be further configured as a second connecting buckle; the input shaft 2 is connected with the wave generator 1 through the clamping assembly of the first connecting buckle and the second connecting buckle. The flat key connection has low alignment and low accuracy of snap fitting, compared to the spline 22 connection, and the spline 22 connection is a preferred embodiment.
In addition, the input shaft 2 in the prior art is generally single in shaft diameter, the wave generator 1 cannot be connected with motors with different shaft diameters, and the wave generator 1 can only be used for motors with the same shaft diameter, so that the wave generator 1 is not strong in universality. To solve this problem, as shown in fig. 2 to 5, an embodiment of the present invention provides a wave generator 1 assembly, wherein the input shaft 2 is provided as a stepped shaft 21. The arrangement of the stepped shaft 21 can provide more than one shaft diameter of the input shaft 2 for the input shaft 2, so that motors with other shaft diameters can be matched, and the universality in the connection process of the wave generator 1 and a motor shaft is improved. The inner ring of the cam 11 of the wave generator 1 and the input shaft 2 are designed to be split, the input shaft 2 is designed to be a segmented stepped shaft 21, the input shafts 2 with different shaft diameters can be selected according to the shaft diameter of a motor shaft connected with the wave generator 1, and the universality of the wave generator 1 with the same model is improved.
The stepped shaft 21 can be arranged according to actual requirements, as shown in fig. 3, in this embodiment, the diameters of the input shafts 2 are sequentially increased from the end of the input shaft 2 connected with the wave generator 1 to the end of the input shaft 2 far away from the wave generator 1. The spline 22 end arranged on the input shaft 2 is close to one end of the motor, and comprises a first short shaft 211 and a second short shaft 212, wherein the diameter of the first short shaft 211 is smaller than that of the second short shaft 212, the first short shaft 211 can be matched with the motor with one shaft diameter, and the second short shaft 212 can be matched with the motor with the other shaft diameter, so that the applicability of the input shaft 2 is increased, and the universality of the wave generator 1 is improved.
As shown in fig. 2 and 4, the present invention provides an assembly of a wave generator 1, wherein the wave generator 1 includes a cam 11 and a first bearing 12, an outer ring of the cam 11 is assembled with an inner ring of the first bearing 12, and the inner ring of the cam 11 is connected to the input shaft 2. In this embodiment, the inner ring of the cam 11 is provided with a spline groove 111, which is fitted with the spline 22 of the input shaft 2.
Wherein, another embodiment of the present invention provides a harmonic reducer, as shown in fig. 5, comprising a flexible gear 3, a rigid gear 4 and the wave generator 1 assembly; the outer ring of the wave generator 1 is linked with the flexible gear 3, and the outer teeth of the flexible gear 3 are meshed with the inner teeth of the rigid gear 4. Compared with the common gear transmission, the harmonic reducer has the characteristics of small volume, large reduction ratio, more meshing teeth, stable transmission, high bearing capacity, high transmission precision and the like. Therefore, the robot is widely applied to the aspects of spaceflight, military, industrial robots and the like. The embodiment of the utility model provides an in the harmonic speed reducer ware, its input shaft 2 sets up, is connected with spline 22 connected mode with the 11 components of a whole that can function independently of wave generator 1's cam for the processing of cam 11 is more simple and convenient, practice thrift the processing cost, makes input shaft 2 and motor shaft cooperation time have good axiality simultaneously, makes wave generator 1 input steady, accurate, thereby guarantees harmonic speed reducer ware's stability and accuracy.
As shown in fig. 5, in this embodiment, the flexible gear includes a second bearing 5, the rigid gear 4 is fixedly connected to an inner ring of the second bearing 5, and the flexible gear 3 is fixedly connected to an outer ring of the second bearing 5. Wherein, in the present embodiment, the wave generator 1 comprises a first bearing 12; the first bearing 12 is a flexible bearing, and the second bearing 5 is a rigid bearing.
The wave generator 1 is in linkage fit with the flexible gear 3, the motor drives the input shaft 2 to further drive the wave generator 1 to rotate, and the wave generator 1 drives the flexible gear 3 to rotate; the outer teeth on the flexible gear 3 are meshed with the inner teeth on the rigid gear, and the rigid gear is fixed during movement, so that the flexible gear 3 and the wave generator 1 move in the opposite direction. The wave generator 1 is composed of a cam 11 with special profiles of an inner ring and an outer ring and a flexible bearing (a first bearing 12), the outer ring of the cam 11 is in interference fit with the flexible bearing, and the inner ring of the cam 11 is connected with the input shaft 2 through a spline 22.
To sum up, the embodiment of the utility model provides a harmonic speed reducer ware, it has wave generator 1 cam 11 and input shaft 2 of split type setting to and structures such as rigid wheel, rigid bearing (second bearing 5), flexbile gear 3, connecting screw. The wave generator 1 is driven by a motor to be used as an input end, the flexible gear 3 is in a thin-wall cap shape and is used as an output end of the speed reducer, and the rigid gear is fixed; the rigid bearing (the second bearing 5) plays a role in supporting and connecting, the outer ring of one end of the rigid bearing (the second bearing) is connected with the flexible gear 3, and the inner ring of the other end of the rigid bearing (the second bearing) is fixedly connected with the rigid gear 4 through a screw. Because the split type wave generator 1 assembly is adopted, the wave generator 1 and the input shaft 2 are made into a split type, meanwhile, the input shaft 2 is set into a stepped shaft 21 form, the universality of the input end of the wave generator 1 and the connection of motor shafts with different shaft diameters is improved, meanwhile, the processing of the contour of the cam 11 is easy, the processing cost is reduced, and the coaxiality of the wave generator 1 and the motor shaft is improved by using a spline 22 connection mode, so that the transmission precision is improved.
In the description of the present invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, that is, the corresponding orientation when the air conditioner is normally installed. This is merely for convenience in describing the invention and to simplify the description and is not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation and is therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A wave generator assembly, comprising: a wave generator (1) and an input shaft (2);
a first connecting mechanism is arranged at one end of the input shaft (2), a second connecting mechanism is arranged on the wave generator (1), and the input shaft (2) is detachably assembled with the wave generator (1) through the first connecting mechanism and the second connecting mechanism;
the input shaft (2) is used for being assembled with a motor shaft, and the extending direction of the input shaft (2) is the same as that of the motor shaft.
2. Wave generator assembly according to claim 1, characterised in that the first connecting means are provided as splines (22) and the second connecting means are provided as spline grooves (111); the input shaft (2) is connected with the wave generator (1) by assembling the spline (22) and the spline groove (111).
3. A wave generator assembly as claimed in claim 1, in which the first coupling means is provided as a flat key and the second coupling means is provided as a flat key slot; and the input shaft (2) is connected with the wave generator (1) through the assembly of the flat key and the flat key groove.
4. The wave generator assembly according to claim 1, wherein the first connecting means is provided as a first connecting catch and the second connecting means is provided as a second connecting catch; the input shaft (2) is connected with the wave generator (1) through the clamping assembly of the first connecting buckle and the second connecting buckle.
5. Wave generator assembly according to claim 1, characterised in that the input shaft (2) is provided as a stepped shaft (21).
6. A wave generator assembly according to claim 5, characterised in that the diameter of the input shaft (2) increases in order from the end of the input shaft (2) connected to the wave generator (1) to the end of the input shaft (2) remote from the wave generator (1).
7. Wave generator assembly according to any one of claims 1-6, characterized in that the wave generator (1) comprises a cam (11) and a first bearing (12), the outer ring of the cam (11) being fitted with the inner ring of the first bearing (12), the inner ring of the cam (11) being connected with the input shaft (2).
8. A harmonic reducer comprising a flexspline (3), a rigid spline (4) and a wave generator assembly according to any one of claims 1 to 7; the outer ring of the wave generator (1) is linked with the flexible gear (3), and the outer teeth of the flexible gear (3) are meshed with the inner teeth of the rigid gear (4).
9. A harmonic reducer according to claim 8 further comprising a second bearing (5), the rigid gear (4) being fixedly connected to the inner race of the second bearing (5), and the flexible gear (3) being fixedly connected to the outer race of the second bearing (5).
10. A harmonic reducer according to claim 9, characterized in that the wave generator (1) comprises a first bearing (12); the first bearing (12) is a flexible bearing, and the second bearing (5) is a rigid bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920847064.3U CN210423648U (en) | 2019-06-05 | 2019-06-05 | Harmonic reducer and wave generator assembly thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920847064.3U CN210423648U (en) | 2019-06-05 | 2019-06-05 | Harmonic reducer and wave generator assembly thereof |
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| CN210423648U true CN210423648U (en) | 2020-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259919A (en) * | 2019-06-05 | 2019-09-20 | 珠海格力电器股份有限公司 | A kind of harmonic speed reducer and its wave producer component |
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2019
- 2019-06-05 CN CN201920847064.3U patent/CN210423648U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259919A (en) * | 2019-06-05 | 2019-09-20 | 珠海格力电器股份有限公司 | A kind of harmonic speed reducer and its wave producer component |
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