CN210770104U - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN210770104U CN210770104U CN201920922891.4U CN201920922891U CN210770104U CN 210770104 U CN210770104 U CN 210770104U CN 201920922891 U CN201920922891 U CN 201920922891U CN 210770104 U CN210770104 U CN 210770104U
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Abstract
The utility model provides a harmonic speed reducer ware, including wave generator, flexible gear and rigid gear, the camshaft outer wall is located to wave generator cover, cam shaft sleeve locates outside the output flange, and the camshaft overcoat is equipped with side by side cap, cross bearing and rigid gear, the wave generator overcoat is equipped with flexible gear, rigid gear is fixed in cross bearing one side, rigid gear encircles the flexible gear setting, rigid gear fixed connection output flange, the camshaft rotates drive wave generator and rotates, make flexible gear take place deformation and rigid gear meshing and transmission, thereby make rigid gear rotate, it rotates to drive the output flange. The utility model has the advantages that: the design requirements of the cooperative robot on the compactness and the flexibility of the harmonic reducer are met, the size is small, the weight is light, and the frameless direct-drive torque motor, the low-voltage direct-current driver and the brake can be conveniently and directly integrated on the harmonic reducer.
Description
Technical Field
The utility model relates to a mechanical transmission technical field especially relates to a harmonic speed reducer ware.
Background
At present, cooperative robots are gradually becoming the development trend of industrial robots, and the market share of the cooperative robots is getting larger and larger. The harmonic reducer has the unique advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission, high transmission precision and the like, so that the harmonic reducer becomes a core component of the joint of the cooperative robot. However, the harmonic reducer is a standard component produced by professional manufacturers, and due to the difference of design structures of the cooperative robots, the joints are inconvenient to mount the motor, the brake, the rotary encoder and the next joint, so that the harmonic reducer needs to be improved and designed to solve the problems.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a harmonic reducer.
An embodiment of the utility model provides a harmonic speed reducer ware, including wave generator, flexible gear and rigid gear, the camshaft outer wall is located to the wave generator cover, the camshaft cover is located outside the output flange, just the camshaft overcoat is equipped with side by side cap, cross bearing and the rigid gear, the wave generator overcoat is equipped with the flexible gear, the rigid gear is fixed in cross bearing one side, the rigid gear encircles the flexible gear sets up, rigid gear fixed connection the output flange, the camshaft rotates the drive wave generator rotates, makes the flexible gear take place deformation with rigid gear meshing and transmission, thereby makes rigid gear rotates, drives the output flange rotates.
Further, an inner bearing seat is arranged in the side cover, the side cover is sleeved on the camshaft, a first bearing is arranged in the inner bearing seat, and the first bearing is supported on the outer wall of the camshaft.
Furthermore, an outer bearing seat is arranged outside the output end flange, the output end flange is sleeved with the camshaft, a second bearing is arranged in the outer bearing seat, and the second bearing is supported on the outer wall of the camshaft.
Further, the flexible gear is of a sleeve structure, the end face of the side of the flexible gear is arranged between the side cover and the cross bearing, and the outer wall of the flexible gear is provided with a meshing part which can be meshed with the rigid gear.
Further, the side face of the rigid gear is fixed to one side of the cross bearing through a screw.
Further, the rigid gear is fixedly connected with the output end flange through a bolt.
The embodiment of the utility model provides a beneficial effect that technical scheme brought is: the utility model discloses a harmonic speed reducer ware, flexible gear are connected with the camshaft, and rigid gear is connected with the output flange, changes the next joint connection of being convenient for of original output flange structure, the utility model discloses a harmonic speed reducer ware can fully satisfy the cooperation robot to harmonic speed reducer ware compactness, nimble designing requirement, and its size is little, light in weight, is convenient for directly drive torque motor, low pressure direct current driver, stopper on harmonic speed reducer ware integrated frameless directly. Simultaneously the utility model discloses a harmonic reducer ware has reduceed personnel and the time input to mechanical lectotype, design, the equipment a plurality of links, is convenient for realize the product design modularization.
Drawings
Fig. 1 is a schematic diagram of a harmonic reducer according to the present invention.
In the figure: 1-camshaft, 2-output end flange, 3-rigid gear, 4-cross bearing, 5-flexible gear, 6-side cover, 7-wave generator, 8-first bearing, 9-second bearing, 10-meshing part and 11-screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a harmonic reducer, which includes a wave generator 7, a flexible gear 5, and a rigid gear 3.
1 outer wall of camshaft is located to wave generator 7 cover, camshaft 1 is the hollow shaft, 2 outer walls of output flange are located to 1 cover of camshaft, 2 outer bearing frame of output flange, and set up second bearing 7 in this outer bearing frame, second bearing 7 support in 1 outer wall of camshaft, just 1 outer wall cover of camshaft is equipped with side by side cap 6, cross bearing 4 and rigid gear 3, establish the inner bearing seat in the side cap 6, 6 covers of side cap are located set up first bearing 8 in 1 and this inner bearing seat of camshaft, first bearing 8 support in 1 outer wall of camshaft.
7 overcoat of wave generator is equipped with flexible gear 5, flexible gear 5 is the sleeve structure, 5 side end faces of flexible gear set up in side cap 6 with between the cross bearing 4, 5 outer walls of flexible gear be equipped with can with 3 meshed meshing portions 10 of rigid gear, 3 encircles of rigid gear flexible gear 5's meshing portions 10 sets up, 3 a sides of rigid gear are fixed in through screw 11 cross bearing 4 one side, 3 another sides of rigid gear pass through bolt fixed connection output flange 2.
The utility model discloses a harmonic reducer ware's working process does: the camshaft 1 is driven by a power source to rotate, the power source can be a motor, the wave generator 7 rotates along with the camshaft 1, the flexible gear 5 is enabled to generate controllable elastic deformation waves, the rigid gear 3 and the meshing part 10 of the flexible gear 5 are caused to carry out staggered teeth relatively to transmit power and move, the meshing part 10 of the flexible gear 5 is oval, teeth at two ends of the meshing part 10 in the long axis direction are completely meshed with teeth of the rigid gear 3, and teeth at two ends of the meshing part 10 in the short axis direction are kept disengaged from teeth of the rigid gear 3, so that the rigid gear 3 rotates to drive the output end flange 2 to rotate. Flexible gear 5 with side cap 6 is connected, rigid gear 3 with output end flange 2 is connected, and the high low-speed rotary encoder of being convenient for, stopper, motor are connected the utility model discloses a harmonic speed reducer ware.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (6)
1. A harmonic reducer, characterized in that: including wave generator, flexible gear and rigid gear, the camshaft outer wall is located to the wave generator cover, outside the output end flange was located to the camshaft cover, just the camshaft overcoat is equipped with side by side cap, cross bearing and the rigid gear, the wave generator overcoat is equipped with the flexible gear, the rigid gear is fixed in cross bearing one side, the rigid gear encircles the flexible gear setting, rigid gear fixed connection the output end flange, the camshaft rotates the drive wave generator rotates, makes the flexible gear take place deformation with rigid gear meshing and transmission, thereby makes rigid gear rotates, drives the output end flange rotates.
2. A harmonic reducer as defined in claim 1 in which: an inner bearing seat is arranged in the side cover, the side cover is sleeved on the camshaft, a first bearing is arranged in the inner bearing seat, and the first bearing is supported on the outer wall of the camshaft.
3. A harmonic reducer as defined in claim 1 in which: the output end flange is externally provided with an outer bearing seat, the camshaft is sleeved on the output end flange, a second bearing is arranged in the outer bearing seat, and the second bearing is supported on the outer wall of the camshaft.
4. A harmonic reducer as defined in claim 1 in which: the flexible gear is of a sleeve structure, the end face of the side of the flexible gear is arranged between the side cover and the cross bearing, and the outer wall of the flexible gear is provided with a meshing part which can be meshed with the rigid gear.
5. A harmonic reducer as defined in claim 1 in which: the side face of the rigid gear is fixed on one side of the cross bearing through a screw.
6. A harmonic reducer as defined in claim 1 in which: the rigid gear is fixedly connected with the output end flange through a bolt.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018217835596 | 2018-10-31 | ||
| CN201821783559 | 2018-10-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210770104U true CN210770104U (en) | 2020-06-16 |
Family
ID=71038909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920922891.4U Active CN210770104U (en) | 2018-10-31 | 2019-06-18 | Harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210770104U (en) |
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2019
- 2019-06-18 CN CN201920922891.4U patent/CN210770104U/en active Active
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