CN213332270U - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN213332270U CN213332270U CN202021288873.4U CN202021288873U CN213332270U CN 213332270 U CN213332270 U CN 213332270U CN 202021288873 U CN202021288873 U CN 202021288873U CN 213332270 U CN213332270 U CN 213332270U
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model provides a harmonic reducer, which comprises a wave generator, a rigid gear, a flexible gear and a crossed roller bearing, wherein the crossed roller bearing comprises a crossed roller bearing outer ring and a crossed roller bearing inner ring; the rigid wheel is connected with the outer ring of the crossed roller bearing, and the flexible wheel is arranged in the rigid wheel; the wave generator is arranged at one end of the flexible gear far away from the crossed roller bearing; particularly, the flexible gear comprises a pressing plate and a cam which are coaxially arranged with the flexible gear, wherein the pressing plate is arranged at one end, close to the crossed roller bearing, in the flexible gear, and the flexible gear penetrates through the pressing plate through a screw to be fixedly connected with an inner ring of the crossed roller bearing; the cam is located between the pressing plate and the wave generator, the cam is rotationally connected with the pressing plate, the cam surface is abutted to the surface of the pressing plate, and one end, far away from the pressing plate, of the cam is installed on the wave generator. The utility model discloses a harmonic speed reducer ware has compact structure, small, light in weight and the high characteristics of positioning accuracy between wave generator and the flexbile gear.
Description
Technical Field
The utility model relates to a reduction gear technical field especially relates to a harmonic speed reducer ware.
Background
With the continuous development of industrialization and the prevalence of industrial robots, the requirements on the speed reducer are higher and higher, while the planetary speed reducer has difficulty in meeting the requirements of the industrial robot on high precision and miniaturization, and the existing harmonic speed reducer is assembled by a rigid wheel, a flexible wheel and a crossed roller bearing, so that the weight is large, the installation flange is large, and the occupied space is large. Secondly, the harmonic reducer applied to the robot has high requirements on the assembly precision between the wave generator and the flexible gear.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a harmonic speed reducer ware has compact structure, small, light in weight and the high characteristics of positioning accuracy between wave generator and the flexbile gear.
The utility model provides a harmonic reducer, which comprises a wave generator, a rigid gear, a flexible gear and a crossed roller bearing, wherein the crossed roller bearing comprises a crossed roller bearing outer ring and a crossed roller bearing inner ring; the rigid wheel is connected with the outer ring of the crossed roller bearing, and the flexible wheel is arranged in the rigid wheel; the wave generator is arranged at one end, far away from the crossed roller bearing, in the flexible gear; particularly, the flexible gear fixing device further comprises a pressing plate and a cam which are coaxially arranged with the flexible gear, wherein the pressing plate is arranged at one end, close to the crossed roller bearing, in the flexible gear, and the flexible gear penetrates through the pressing plate through a screw to be fixedly connected with an inner ring of the crossed roller bearing; the cam is located between the pressing plate and the wave generator, the cam is rotationally connected with the pressing plate, the cam surface is abutted to the surface of the pressing plate, and one end, far away from the pressing plate, of the cam is installed on the wave generator.
Optionally, a first mounting hole is formed in the center of the pressing plate, an extending shaft is arranged on one of the cams close to the pressing plate, and the extending shaft is located in the first mounting hole and is rotatably connected with the pressing plate.
Optionally, the wave generator comprises a flexible bearing and an input, the input comprising a drive shaft and a connection; the periphery of the connecting portion is provided with the flexible bearing, the end face, far away from the transmission shaft, of the connecting portion is provided with a second mounting hole, and one end, far away from the pressing plate, of the cam is installed in the second mounting hole.
Optionally, a key groove for fixedly connecting the transmission shaft with the motor is arranged on the transmission shaft.
Optionally, the harmonic reducer further includes a flange, the flange is fixedly connected to the rigid wheel, and the flange is disposed at one end of the rigid wheel, which is far away from the crossed roller bearing.
Optionally, a flange and a flange plate are arranged on the rigid wheel; the flange plate is arranged at the end part of the rigid wheel and connected with the flange; the flange is arranged at one end close to the crossed roller bearing and is connected with the crossed pipe bearing outer ring.
Optionally, a plurality of first bolt holes for mounting the rigid wheel are correspondingly formed in the flange plate and the flange respectively, and the flange plate is fixedly connected with the flange through bolts; the flange and the crossed roller bearing outer ring are respectively and correspondingly provided with a plurality of second bolt holes for mounting steel wheels, and the flange is fixedly connected with the crossed roller bearing outer ring through bolts.
Optionally, the harmonic reducer further comprises an output end, the output end is arranged at one end, far away from the rigid wheel, of the crossed roller bearing, and the output end is mounted on the inner ring of the crossed roller bearing through a set screw.
The utility model discloses in, set up clamp plate and cam between flexbile gear and the wave generator, the flexbile gear passes clamp plate and cross roller bearing inner circle fixed connection through setting up the screw, and the surface and the clamp plate surface butt of cam can prevent that the flexbile gear from beating, and the cam setting has increased the positioning accuracy between wave generator and the flexbile gear between clamp plate and the wave generator, and transmission error is less than or equal to 1arcmin, is about the 30% of the accurate planetary reducer of equal model. Just the utility model discloses a harmonic speed reducer ware compact structure, weight is about 70% of equal model planetary reducer ware, small.
Drawings
Fig. 1 is an exploded view of a harmonic reducer according to an embodiment of the present invention;
fig. 2 is a half sectional view of a harmonic reducer according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1 and 2, a harmonic reducer according to an embodiment of the present invention includes a wave generator 10, a flange 2, a rigid gear 30, a flexible gear 40, and a cross roller bearing 50, where the cross roller bearing 50 includes a cross roller bearing outer ring 51 and a cross roller bearing inner ring 52. The rigid gear 30 is connected with the crossed roller bearing outer ring 51, and the flexible gear 40 is installed inside the rigid gear 30. The wave generator 10 is mounted in the flexspline 40 at an end remote from the crossed roller bearing 50. Particularly, the flexible gear comprises a pressing plate 41 and a cam 6 which are coaxially arranged with the flexible gear 40, wherein the pressing plate 41 is arranged at one end of the flexible gear 40 close to the crossed roller bearing 50, and the flexible gear 40 passes through the pressing plate 41 through a set screw to be fixedly connected with the crossed roller bearing inner ring 52. The cam 6 is positioned between the pressing plate 41 and the wave generator 10, the cam 6 is rotatably connected with the pressing plate 41, the surface of the cam 6 is abutted against the surface of the pressing plate 41, and one end, far away from the pressing plate 41, of the cam 6 is installed on the wave generator 10.
In this embodiment, a pressing plate 41 and a cam 6 are provided between the flexspline 40 and the wave generator 10, the flexspline 40 is fixedly connected to the inner race 52 of the cross roller bearing by inserting a screw through the pressing plate 41, and the outer surface of the cam 6 abuts against the surface of the pressing plate 41, thereby preventing the flexspline 40 from jumping. The cam 6 is connected with the pressure plate 41 and the wave generator 10, so that the positioning precision between the wave generator 10 and the flexible gear 40 is increased, the transmission error is less than or equal to 1arcmin and is about 30 percent of that of a precision planetary reducer with the same model. Just the utility model discloses a harmonic speed reducer ware compact structure, weight is about 70% of equal model planetary reducer ware, small.
As shown in fig. 1 and 2, in some embodiments of the present invention, a first mounting hole 411 is formed at a central position of the pressing plate 41, an extending shaft is disposed at an end of the cam 6 close to the pressing plate 41, the extending shaft is located in the first mounting hole 411 and is rotatably connected to the pressing plate 41, and a front end of the cam 6 is mounted on the wave generator 10. The pressure plate 41 is disc-shaped, and a protrusion is arranged at one end of the pressure plate 41 close to the crossed roller bearing 50 and is located at a central hole of the crossed roller bearing inner ring 52. The rear end of the cam 6 is provided with an extending shaft, and a bearing 7 is arranged between the extending shaft and the pressing plate 41, so that the cam 6 is rotatably connected with the pressing plate 41.
As shown in fig. 1 and 2, in some embodiments of the present invention, the wave generator 10 includes a flexible bearing 11 and an input end 12, and the input end 12 includes a transmission shaft 121 and a connecting portion 122, i.e., the input end 12 is in a cam shape. The flexible bearing 11 is installed on the periphery of the connecting portion 122, a second installation hole 123 is formed in the end face, away from the transmission shaft 121, of the connecting portion 122, and one end, away from the pressing plate 41, of the cam 6 is installed in the second installation hole 123. The flexible bearing 11 is arranged between the flexible gear 40 and the input end 12, and the transmission shaft 121 of the input end 12, the flexible gear 40, the cam 6 and the pressing plate 41 are all coaxially arranged.
As shown in fig. 1 and fig. 2, in some embodiments of the present invention, a key groove 124 for fixedly connecting the transmission shaft 121 with the motor is disposed on the transmission shaft 121, and a threaded hole for fixedly connecting the input end 12 with the motor through a fastening screw is further disposed on a side wall of the transmission shaft 121, that is, the wave generator 10 is connected with the motor by fastening the fastening screw with the key groove 124.
As shown in fig. 1 and 2, in some embodiments of the present invention, the harmonic reducer further includes a flange 2, the rigid wheel 30 is fixedly connected to the flange 2, and the flange 2 is disposed at an end of the rigid wheel 30 far from the crossed roller bearing 50.
As shown in fig. 1 and 2, in some embodiments of the present invention, the rigid wheel 30 is provided with a flange 31 and a flange 32. The flange plate 32 is arranged at the end of the rigid wheel 30 and connected with the flange 2. The flange 31 is disposed near one end of the cross roller bearing 50 and is connected to the cross tube bearing outer race. The flange 31 and the flange plate 32 are arranged, so that the rigid wheel 30 can be conveniently installed, the weight of the harmonic reducer in the embodiment is about 70% of that of a planetary reducer with the same model, and the axial length of the harmonic reducer is about 60% of that of the planetary reducer with the same model.
As shown in fig. 1 and fig. 2, in some embodiments of the present invention, the flange plate 32 and the flange 2 are respectively provided with a plurality of first bolt holes for installing the rigid wheel 30, and the flange plate 32 is fixedly connected to the flange 2 by bolts. The flange 31 and the crossed roller bearing outer ring 51 are respectively and correspondingly provided with a plurality of second bolt holes for mounting steel wheels, and the flange 31 is fixedly connected with the crossed roller bearing outer ring 51 through bolts.
As shown in fig. 1 and 2, in some embodiments of the present invention, the harmonic reducer further includes an output end 8, the output end 8 is disposed at an end of the crossed roller bearing 50 away from the rigid wheel 30, and the output end 8 is mounted on the crossed roller bearing inner ring 52 by a set screw.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. Such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A harmonic reducer comprises a wave generator, a rigid gear, a flexible gear and a crossed roller bearing, wherein the crossed roller bearing comprises a crossed roller bearing outer ring and a crossed roller bearing inner ring; the rigid wheel is connected with the outer ring of the crossed roller bearing; the flexible gear is arranged inside the rigid gear; the wave generator is arranged at one end, far away from the crossed roller bearing, in the flexible gear; the device is characterized by further comprising a pressing plate and a cam which are coaxially arranged with the flexible gear, wherein the pressing plate is arranged at one end, close to the crossed roller bearing, in the flexible gear, and the flexible gear penetrates through the pressing plate through a screw to be fixedly connected with an inner ring of the crossed roller bearing; the cam is located between the pressing plate and the wave generator, the cam is rotationally connected with the pressing plate, the cam surface is abutted to the surface of the pressing plate, and one end, far away from the pressing plate, of the cam is installed on the wave generator.
2. The harmonic reducer according to claim 1, wherein a first mounting hole is formed in a center position of the pressing plate, an extending shaft is arranged at one end of the cam, which is close to the pressing plate, and the extending shaft is located in the first mounting hole and is rotatably connected with the pressing plate.
3. The harmonic reducer of claim 2 wherein the wave generator comprises a compliant bearing and an input, the input comprising a drive shaft and a connection; the periphery of the connecting portion is provided with the flexible bearing, the end face, far away from the transmission shaft, of the connecting portion is provided with a second mounting hole, and one end, far away from the pressing plate, of the cam is installed in the second mounting hole.
4. The harmonic reducer of claim 3 wherein the drive shaft is provided with a keyway for fixedly connecting the drive shaft to the motor.
5. The harmonic reducer of claim 1 further comprising a flange fixedly attached to the ring gear, the flange disposed at an end of the ring gear remote from the crossed roller bearing.
6. The harmonic reducer of claim 5 wherein the rigid wheel is provided with a flange and a flange; the flange plate is arranged at the end part of the rigid wheel and connected with the flange; the flange is arranged at one end close to the crossed roller bearing and is connected with the outer ring of the crossed roller bearing.
7. The harmonic reducer according to claim 6, wherein the flange plate and the flange are respectively provided with a plurality of first bolt holes for mounting the rigid wheel, and the flange plate is fixedly connected with the flange through bolts; the flange and the crossed roller bearing outer ring are respectively and correspondingly provided with a plurality of second bolt holes for mounting steel wheels, and the flange is fixedly connected with the crossed roller bearing outer ring through bolts.
8. The harmonic reducer of claim 1 further comprising an output end disposed at an end of the cross roller bearing distal from the rigid wheel, the output end mounted to the cross roller bearing inner race by set screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021288873.4U CN213332270U (en) | 2020-07-02 | 2020-07-02 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021288873.4U CN213332270U (en) | 2020-07-02 | 2020-07-02 | Harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213332270U true CN213332270U (en) | 2021-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021288873.4U Active CN213332270U (en) | 2020-07-02 | 2020-07-02 | Harmonic speed reducer |
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| Country | Link |
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| CN (1) | CN213332270U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113623366A (en) * | 2021-08-16 | 2021-11-09 | 浙江环动机器人关节科技有限公司 | Primary-secondary type multistage harmonic speed reducer |
| CN113738846A (en) * | 2021-08-25 | 2021-12-03 | 广东赛尼智能装备科技有限公司 | Harmonic speed reducer with novel structure |
-
2020
- 2020-07-02 CN CN202021288873.4U patent/CN213332270U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113623366A (en) * | 2021-08-16 | 2021-11-09 | 浙江环动机器人关节科技有限公司 | Primary-secondary type multistage harmonic speed reducer |
| CN113738846A (en) * | 2021-08-25 | 2021-12-03 | 广东赛尼智能装备科技有限公司 | Harmonic speed reducer with novel structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230113 Address after: 518000 101 201 301 401, Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen, Guangdong Province Patentee after: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. Patentee before: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518103 Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen City, Guangdong Province 101201301401 Patentee after: Shenzhen Shanchuan Harmonic Transmission Technology Co.,Ltd. Country or region after: China Address before: 518000 101 201 301 401, Building 36, Cuigang Industrial Zone 4, Huaide Community, Fuyong Street, Bao'an District, Shenzhen, Guangdong Province Patentee before: SHENZHEN HAN'S MOTION TECHNOLOGY CO.,LTD. Country or region before: China |