CN211082748U

CN211082748U - Overload protection type harmonic speed reducer ware

Info

Publication number: CN211082748U
Application number: CN201922145443.0U
Authority: CN
Inventors: 陈玉敏
Original assignee: Dongguan Lingya Automation Technology Co ltd
Current assignee: Dongguan Lingya Automation Technology Co ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-07-24
Anticipated expiration: 2029-12-03

Abstract

The utility model belongs to the technical field of the harmonic speed reducer ware, especially, be an overload protection type harmonic speed reducer ware, wave generator, flexbile gear and steel wheel including coaxial setting, the front end and the steel wheel meshing setting of flexbile gear, the cam internal connection of wave generator has the input shaft, rotate through first bearing and install first end cover in one side that corresponds wave generator on the input shaft, rotate through the second bearing and install the second end cover in one side that corresponds wave generator and keeps away from first end cover on the input shaft. The utility model discloses can provide overload protection for the flexbile gear, make the flexbile gear be difficult for producing fatigue failure, effectively prolong the life of flexbile gear, can utilize the heat that coolant liquid and harmonic speed reducer ware during operation produced to carry out the heat exchange, reach rapid cooling's effect, can force emollient to wriggle, carry out emollient along set route and supply with, reach the purpose that reduces friction, guaranteed the stability of the teeth of a cogwheel frictional behavior of flexbile gear and steel wheel, effectively prolong the life of gear.

Description

Overload protection type harmonic speed reducer ware

Technical Field

The utility model relates to a harmonic reducer ware technical field specifically is an overload protection type harmonic reducer ware.

Background

The harmonic reducer is mainly composed of four basic components of a wave generator, a flexible gear, a flexible bearing and a rigid gear, and is in gear transmission which is characterized in that the flexible bearing is assembled on the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power. The working principle of the harmonic reducer is as follows: the structure and the motion principle of the wave generator are similar to those of a cam, high-speed rotary motion from the mechanism is input into a high-speed shaft in the harmonic reducer, the wave generator is linked with the high-speed shaft, and the motion is transmitted to the flexible wheel through the shape of the outer contour line of the wave generator; the flexible gear is a flexible external gear capable of generating controllable elastic deformation as the name implies, the flexible gear is periodically elastically deformed along with the outer contour line of the wave generator along with the rotation of the wave generator, the flexible gear is externally engaged with a rigid gear, and the speed reduction effect of the whole harmonic speed reducer is realized through the difference value of the number of teeth between the flexible gear and the rigid gear.

Harmonic reducers are widely used in transmission devices of robots, but the application of the existing harmonic reducers still needs to face a plurality of problems, including the following defects:

1. when the existing harmonic reducer works, the flexible gear periodically deforms, so that alternating stress is generated, and fatigue failure is easy to generate;

2. the heat dissipation performance is poor, heat generated by the harmonic reducer during working is difficult to dissipate in time, the friction performance of a shaft and a bearing is affected, and the service life of the harmonic reducer is shortened;

3. the lubricating condition is poor, the friction between the gears is large, and the service life of the gears is reduced.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides an overload protection type harmonic speed reducer ware has solved current harmonic speed reducer ware during operation, and flexible wheel takes place to warp periodically, therefore produces the alternating stress, makes it easily produce tiredly broken, and the thermal diffusivity is relatively poor, and the heat that the harmonic speed reducer ware during operation produced is difficult to in time distribute away, influences the frictional behavior of axle and bearing, shortens harmonic speed reducer ware's life, and lubricated condition is poor, and friction between the gear is big, has reduced the problem of the life of gear.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an overload protection type harmonic speed reducer ware, includes wave generator, flexbile gear and the steel wheel of coaxial setting, the front end and the steel wheel meshing setting of flexbile gear, the cam internal connection of wave generator has the input shaft, one side that corresponds wave generator on the input shaft rotates through first bearing and installs first end cover, one side that the first end cover was kept away from to the wave generator on the input shaft rotates through the second bearing and installs the second end cover, be connected with the cooling jacket gland between second end cover and the steel wheel, be equipped with coolant liquid import and coolant liquid export on the cooling jacket gland, the inside of cooling jacket gland is equipped with water-cooling channel, water-cooling channel's the end of intaking and coolant liquid import intercommunication, water-cooling channel's play water end and coolant liquid export intercommunication, it rotates through the third bearing to install supporting component to correspond between second end cover and the wave generator on the input shaft, the supporting component comprises an inner ring supporting block, a connecting block, an outer ring supporting block and a pressing ring, the inner ring supporting block is connected to the outer surface of the third bearing and is connected with the outer ring supporting block through the connecting block, the connecting block is fixedly connected with the rear end of the flexible gear, the inner ring supporting block, the connecting block and the outer ring supporting block form a U-shaped piece with a cross section being horizontal, the pressing ring is fixedly connected to the side wall of the inner ring supporting block, a first oil seal is arranged on the inner ring supporting block, a lubricant cavity is formed among the first oil seal, the input shaft and the wave generator, a second oil seal is arranged between the pressing ring and the input shaft, and a shaft seal top ring is arranged on one side, away from the third bearing, of the pressing ring and the input shaft corresponding to the second oil.

As an optimal technical scheme of the utility model, link up between first end cover, steel wheel and the cooling jacket gland and be equipped with first locking hole, through the screw fastening with first locking hole looks adaptation between first end cover, steel wheel and the cooling jacket gland.

As an optimal technical scheme of the utility model, the flexbile gear includes the main part wheel portion, the front end surface of main part wheel portion be equipped with have steel wheel internal toothing's the teeth of a cogwheel, the rear end of main part wheel portion is equipped with interior extension portion, fasten through locking screw between interior extension portion and the connecting block.

As an optimal technical scheme of the utility model, link up between second end cover and the cooling jacket gland and be equipped with second locking hole, through the screw fastening with second locking hole looks adaptation between second end cover and the cooling jacket gland.

As an optimal technical scheme of the utility model, first oil blanket adopts single lip skeleton oil blanket, the tension lip of this single lip skeleton oil blanket and the inner wall contact of flexbile gear.

As an optimal technical scheme of the utility model, the width of outer loop supporting shoe is less than the width of inner ring supporting shoe, the surface of outer loop supporting shoe and the inner wall surface butt of flexbile gear.

As an optimal technical scheme of the utility model, be equipped with first sealing washer between the connection terminal surface of first end cover and first bearing, be equipped with the second sealing washer between the connection terminal surface of first end cover and steel wheel.

As an optimized technical scheme of the utility model, be equipped with the third sealing washer between the connection terminal surface of steel wheel and cooling jacket gland.

As an optimized technical scheme of the utility model, be equipped with the fourth sealing washer between the connection terminal surface of cooling jacket gland and second end cover.

(III) advantageous effects

Compared with the prior art, the utility model provides an overload protection type harmonic speed reducer ware possesses following beneficial effect:

1. this overload protection type harmonic speed reducer ware through addding supporting component in the reduction gear, utilizes locking screw to fasten flexbile gear rear end and supporting component's link, and the setting of cooperation third bearing provides stress support when the flexbile gear periodically takes place to warp, can provide overload protection for the flexbile gear, makes the flexbile gear be difficult for producing fatigue failure, effectively prolongs the life of flexbile gear.

2. This overload protection type harmonic speed reducer ware through setting up the cooling jacket gland, sets up water-cooling channel in the cooling jacket gland, cooperates corresponding coolant liquid supply system, utilizes the coolant liquid to carry out the heat exchange with the heat that harmonic speed reducer ware during operation produced, reaches rapid cooling's effect.

3. This overload protection type harmonic speed reducer ware sets up through the combination of first oil blanket and second oil blanket, under the continuous change of the tension lip state of flexbile gear, forces the emollient to creep, carries out the emollient along set route and supplies with, reaches the purpose that reduces friction, has guaranteed the stability of the teeth of a cogwheel frictional behavior of flexbile gear and steel wheel, effectively prolongs the life of gear.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 1;

fig. 4 is a schematic view of a connection structure of the middle flexible gear, the support assembly and the first oil seal of the present invention;

fig. 5 is a front view of the gland of the cooling jacket of the present invention.

In the figure: 1. an input shaft; 2. a wave generator; 3. a flexible gear; 301. a main body wheel section; 302. gear teeth; 303. an inner extension portion; 4. a steel wheel; 5. a first end cap; 6. a first bearing; 7. a second bearing; 8. a second end cap; 9. a cooling jacket gland; 901. a coolant inlet; 902. a coolant outlet; 10. a third bearing; 11. A support assembly; 1101. an inner ring support block; 1102. connecting blocks; 1103. an outer ring support block; 1104. pressing a ring; 12. locking the screw; 13. a first oil seal; 14. a second oil seal; 15. a shaft seal top ring; 16. a water-cooling channel; 17. a first seal ring; 18. a second seal ring; 19. a third seal ring; 20. and a fourth seal ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: an overload protection type harmonic reducer comprises a wave generator 2, a flexible gear 3 and a steel gear 4 which are coaxially arranged, wherein the front end of the flexible gear 3 is meshed with the steel gear 4, an input shaft 1 is connected in a cam of the wave generator 2, a first end cover 5 is rotatably arranged on one side of the input shaft 1 corresponding to the wave generator 2 through a first bearing 6, a second end cover 8 is rotatably arranged on one side of the input shaft 1 corresponding to the wave generator 2 far away from the first end cover 5 through a second bearing 7, a cooling cover gland 9 is connected between the second end cover 8 and the steel gear 4, a cooling liquid inlet 901 and a cooling liquid outlet 902 are arranged on the cooling cover gland 9, a water cooling channel 16 is arranged in the cooling cover gland 9, the water inlet end of the water cooling channel 16 is communicated with the cooling liquid inlet 901, the water outlet end of the water cooling channel 16 is communicated with the cooling liquid outlet 902, a support component 11 is rotatably arranged on the input shaft 1 corresponding to the second end cover 8 and the, the supporting component 11 is composed of an inner ring supporting block 1101, a connecting block 1102, an outer ring supporting block 1103 and a pressing ring 1104, the inner ring supporting block 1101 is connected to the outer surface of the third bearing 10, the inner ring supporting block 1101 is connected with the outer ring supporting block 1103 through the connecting block 1102, the connecting block 1102 is fixedly connected with the rear end of the flexible gear 3, the inner ring supporting block 1101, the connecting block 1102 and the outer ring supporting block 1103 form a U-shaped piece with a transverse section, the pressing ring 1104 is fixedly connected to the side wall of the inner ring supporting block 1101, a first oil seal 13 is arranged on the inner ring supporting block 1101, a lubricant cavity is formed between the first oil seal 13 and the input shaft 1 and the wave generator 2, a second oil seal 14 is arranged between the pressing ring 1104 and the input shaft 1, and a shaft seal top ring 15 is arranged on one side, away from the third bearing 10.

Specifically, a first locking hole is formed among the first end cover 5, the steel wheel 4 and the cooling cover pressing cover 9 in a penetrating mode, and the first end cover 5, the steel wheel 4 and the cooling cover pressing cover 9 are fastened through screws matched with the first locking hole.

In this embodiment, the first end cover 5, the steel wheel 4 and the cooling cover gland 9 are fastened through screws, so that the connecting ends of the first end cover 5, the steel wheel 4 and the cooling cover gland 9 are more compact, and the mounting and dismounting are convenient.

Specifically, the flexspline 3 comprises a main body wheel part 301, gear teeth 302 engaged with inner teeth of the steel gear 4 are arranged on the outer surface of the front end of the main body wheel part 301, an inner extension part 303 is arranged at the rear end of the main body wheel part 301, and the inner extension part 303 and the connecting block 1102 are fastened through a locking screw 12.

In this embodiment, the setting of interior extension portion 303 is different from the setting of outer extension portion among the prior art, through the screw with the end cover among the prior art, fasten between extension portion and the gland, the centrifugal force that this kind of flexbile gear 3 structure received at the in-process of changeing is great, has increased the load of flexbile gear 3 at rotatory in-process, easily causes flexbile gear 3 to warp and damages, has shortened flexbile gear 3's life, the utility model discloses in with outer extension portion design for interior extension portion 303, when carrying out stress support to flexbile gear 3 through addding supporting component 11, utilize locking screw 12 with connecting block 1102 and interior extension portion 303 between the fastening, improved the stability and the reliability of connecting end structure, can provide overload protection for flexbile gear 3, extension flexbile gear 3's life.

Specifically, a second locking hole is arranged between the second end cover 8 and the cooling cover pressing cover 9 in a penetrating manner, and the second end cover 8 and the cooling cover pressing cover 9 are fastened through a screw matched with the second locking hole.

In this embodiment, the screw penetrates through the second end cover 8 and the cooling jacket gland 9, so that the speed reducer can be fixedly mounted.

Specifically, the first oil seal 13 is a single-lip skeleton oil seal, and a tension lip of the single-lip skeleton oil seal contacts with the inner wall of the flexible gear 3.

In this embodiment, because the first oil seal 13 is located inside the support assembly 11, the tightness is better, so it is not necessary to adopt a double-lip skeleton oil seal, and the tension lip contacts the inner wall of the flexible gear 3, and in the rotation process of the wave generator 2, after the wave generator 2 is installed in the flexible gear 3, the section of the flexible gear 3 is forced to change from original round to oval, the teeth near the two ends of the major axis of the flexible gear are completely meshed with the teeth of the steel gear 4, while the teeth near the two ends of the minor axis are completely disengaged from the steel gear 4, and the teeth of other sections on the perimeter are in the transition state of meshing and disengaging; when the wave generator 2 rotates continuously, the flexible gear 3 deforms continuously, so that the meshing state of the flexible gear 3 and the steel gear 4 is changed continuously, and the flexible gear 3 and the steel gear 4 are meshed, disengaged and meshed again … … in a repeated manner, so that the flexible gear 3 rotates slowly relative to the steel gear 4 in the opposite direction of the wave generator 2, the state of a tension lip of a single-lip framework oil seal which is abutted against the inner wall of the flexible gear 3 is changed continuously in the process, the lubricant is forced to creep, and the lubricant supply to the steel gear 4 and the flexible gear 3 is completed.

Specifically, the width of the outer ring support block 1103 is smaller than the width of the inner ring support block 1101, and the outer surface of the outer ring support block 1103 abuts against the inner wall surface of the flexible gear 3.

In this case, the width of outer ring supporting block 1103 is less than the setting of the width of inner ring supporting block 1101, does benefit to the installation to first oil blanket 13, and the surface of outer ring supporting block 1103 sets up with the inner wall surface butt of flexbile gear 3, supports flexbile gear 3 through outer ring supporting block 1103, has improved the stress area of flexbile gear 3, realizes the overload protection to flexbile gear 3, prevents that flexbile gear 3 from receiving load impact and deformation damage.

Specifically, a first sealing ring 17 is arranged between the connection end surfaces of the first end cover 5 and the first bearing 6, and a second sealing ring 18 is arranged between the connection end surfaces of the first end cover 5 and the steel wheel 4.

In this embodiment, the first seal ring 17 and the second seal ring 18 ensure the sealing performance of the connection end face of the first end cap 5, the first bearing 6 and the steel wheel 4, and prevent oil leakage and external dust from entering the speed reducer.

Specifically, a third sealing ring 19 is arranged between the connecting end surface of the steel wheel 4 and the cooling cover gland 9.

In this embodiment, the third sealing ring 19 is arranged to ensure the sealing performance of the connection end surface between the steel wheel 4 and the cooling cover gland 9, so as to prevent oil leakage and external dust from entering the speed reducer.

Specifically, a fourth seal ring 20 is arranged between the connecting end surfaces of the cooling cover gland 9 and the second end cover 8.

In this embodiment, the fourth sealing ring 20 is disposed to ensure the sealing performance between the cooling cover pressing cover 9 and the second end cover 8, so as to prevent oil leakage and external dust from entering the speed reducer.

The utility model discloses a theory of operation and use flow: when in use, after the wave generator 2 is arranged in the flexible gear 3, the section of the flexible gear 3 is forced to be changed from the original round shape into the oval shape, the teeth near the two ends of the long shaft are completely meshed with the teeth of the steel gear 4, the teeth near the two ends of the short shaft are completely separated from the steel gear 4, and the teeth of other sections on the perimeter are in a transition state of meshing and separation; when the wave generator 2 rotates continuously, the flexible gear 3 deforms continuously, so that the meshing state of the flexible gear 3 and the steel gear 4 is changed continuously, and the flexible gear 3 and the steel gear 4 are meshed, disengaged and meshed again … … in a repeated manner, so that the flexible gear 3 rotates slowly relative to the steel gear 4 in the opposite direction of the wave generator 2, the state of a tension lip of a single-lip framework oil seal which is abutted against the inner wall of the flexible gear 3 is changed continuously in the process, the lubricant is forced to creep, and the lubricant supply to the steel gear 4 and the flexible gear 3 is completed, and due to the arrangement of the first oil seal 13 and the second oil seal 14, the lubricant enters the second bearing 7 from a lubricant cavity and is supplied to a lubricant along a combined route of the third bearing 10, the flexible bearing in the wave generator 2 and the meshing end of the flexible gear 3 and the steel gear 4; in the working process of the harmonic reducer, the flexible gear 3 is subjected to stress support by additionally arranging the support component 11, and meanwhile, the connecting block 1102 and the inner extension part 303 are fastened by using the locking screw 12, so that the stability and the reliability of the connecting end structure are improved, and overload protection can be provided for the flexible gear 3; the cooling liquid is injected into the cooling liquid inlet 901 pipeline on the cooling cover gland 9 by the cooling liquid supply system, and under the action of the circulating pump of the system, the cooling liquid flows in the water cooling channel 16 and is returned to the system liquid storage equipment by the cooling liquid outlet 902 and the connecting pipeline thereof, so that the heat on the cooling cover gland 9 is quickly taken away by the water cooling effect of the cooling liquid, and the effect of cooling is achieved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. 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

1. An overload protection type harmonic speed reducer ware which characterized in that: the flexible gear comprises a wave generator (2), a flexible gear (3) and a steel gear (4) which are coaxially arranged, wherein the front end of the flexible gear (3) is meshed with the steel gear (4), an input shaft (1) is connected inside a cam of the wave generator (2), one side of the input shaft (1) corresponding to the wave generator (2) is rotatably provided with a first end cover (5) through a first bearing (6), one side of the input shaft (1) corresponding to the wave generator (2) far away from the first end cover (5) is rotatably provided with a second end cover (8) through a second bearing (7), a cooling cover gland (9) is connected between the second end cover (8) and the steel gear (4), the cooling cover gland (9) is provided with a cooling liquid inlet (901) and a cooling liquid outlet (902), a water cooling channel (16) is arranged inside the cooling cover gland (9), and the water inlet end of the water cooling channel (16) is communicated with the cooling liquid inlet (901), the water outlet end of the water cooling channel (16) is communicated with a cooling liquid outlet (902), a support assembly (11) is rotatably mounted between the input shaft (1) and the wave generator (2) through a third bearing (10), the support assembly (11) consists of an inner ring support block (1101), a connection block (1102), an outer ring support block (1103) and a pressing ring (1104), the inner ring support block (1101) is connected to the outer surface of the third bearing (10), the inner ring support block (1101) is connected with the outer ring support block (1103) through a connection block (1102), the connection block (1102) is fixedly connected with the rear end of the flexible wheel (3), the inner ring support block (1101), the connection block (1102) and the outer ring support block (1103) form a U-shaped piece with a transverse cross section, and the pressing ring (1104) is fixedly connected to the side wall of the inner ring support block (1101), the bearing is characterized in that a first oil seal (13) is arranged on the inner ring supporting block (1101), a lubricant cavity is formed among the first oil seal (13), the input shaft (1) and the wave generator (2), a second oil seal (14) is arranged between the pressing ring (1104) and the input shaft (1), and a shaft seal top ring (15) is arranged on one side, away from the third bearing (10), of the pressing ring (1104) and the input shaft (1) corresponding to the second oil seal (14).

2. An overload protection type harmonic reducer according to claim 1 wherein: first end cover (5), steel wheel (4) and cooling jacket gland (9) are link up between and are equipped with first locking hole, through the screw fastening with first locking hole looks adaptation between first end cover (5), steel wheel (4) and the cooling jacket gland (9).

3. An overload protection type harmonic reducer according to claim 1 wherein: flexbile gear (3) are including main body wheel portion (301), the front end surface of main body wheel portion (301) is equipped with and has the teeth of a cogwheel (302) of steel wheel (4) internal toothing, the rear end of main body wheel portion (301) is equipped with interior extension portion (303), fasten through locking screw (12) between interior extension portion (303) and connecting block (1102).

4. An overload protection type harmonic reducer according to claim 1 wherein: and a second locking hole is arranged between the second end cover (8) and the cooling cover gland (9) in a penetrating manner, and the second end cover (8) and the cooling cover gland (9) are fastened through screws matched with the second locking hole.

5. An overload protection type harmonic reducer according to claim 1 wherein: first oil blanket (13) adopt single lip skeleton oil blanket, the inner wall contact of the tension lip of this single lip skeleton oil blanket and flexbile gear (3).

6. An overload protection type harmonic reducer according to claim 1 wherein: the width of the outer ring supporting block (1103) is smaller than that of the inner ring supporting block (1101), and the outer surface of the outer ring supporting block (1103) is abutted to the inner wall surface of the flexible gear (3).

7. An overload protection type harmonic reducer according to claim 1 wherein: be equipped with first sealing washer (17) between the connection terminal surface of first end cover (5) and first bearing (6), be equipped with second sealing washer (18) between the connection terminal surface of first end cover (5) and steel wheel (4).

8. An overload protection type harmonic reducer according to claim 1 wherein: and a third sealing ring (19) is arranged between the steel wheel (4) and the connecting end surface of the cooling cover gland (9).

9. An overload protection type harmonic reducer according to claim 1 wherein: and a fourth sealing ring (20) is arranged between the cooling cover gland (9) and the connecting end surface of the second end cover (8).