CN214661838U - Series harmonic drive speed reducer - Google Patents

Abstract

The utility model discloses a series harmonic drive reduction gear relates to reduction gear technical field, can satisfy the requirement of user to moment amplification output and big reduction ratio. The series harmonic drive speed reducer comprises a motor, a primary speed reducer and a secondary speed reducer connected with the output end of the primary speed reducer in series; the input end of the first-stage speed reducer is in transmission connection with a motor shaft of the motor, and the output end of the first-stage speed reducer is in transmission connection with the input end of the second-stage speed reduction input shaft; the output end of the second-stage speed reduction input shaft is in transmission connection with the input end of the second-stage speed reducer, and the output end of the second-stage speed reducer is connected with a load.

Description

Series harmonic drive speed reducer

Technical Field

The utility model relates to a reduction gear technical field especially relates to a series harmonic drive reduction gear.

Background

The harmonic drive reducer is a mechanical driver which transmits power and motion by generating controllable elastic mechanical waves through flexible parts, has the characteristics of small volume, light weight and high precision, and is widely applied to the industries of aerospace, robots, medical treatment and the like.

The conventional harmonic reducer is of a single-stage reduction structure, so that the reduction ratio is small, for example, the reduction ratio of an XBS-60-100 type reducer is only 100, the requirements of users on the moment amplification output and the large reduction ratio of the reducer cannot be met, and the application scene of the reducer is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a harmonic drive reduction gear establishes ties can satisfy the user and enlarge the requirement of output and big reduction ratio to moment.

In order to achieve the above object, the utility model provides a series harmonic drive reducer, which comprises a motor, a primary reducer and a secondary reducer connected in series with the output end of the primary reducer;

the input end of the primary speed reducer is in transmission connection with a motor shaft of the motor, and the output end of the primary speed reducer is in transmission connection with the transmission input end of the secondary speed reduction input shaft;

the output end of the secondary speed reduction input shaft is in transmission connection with the transmission input end of the secondary speed reducer, and the output end of the secondary speed reducer is connected with a load.

Preferably, the motor includes motor body, motor shaft, annular installation department and matching portion, annular installation department fixed mounting is on motor body, matching portion with the annular installation department is close to one side fixed mounting of motor shaft.

Preferably, the primary speed reducer comprises a first transition sleeve, a first rigid gear, a first wave generator, a first flexible gear and a first crossed bearing;

a shaft hole for the motor shaft to pass through is reserved in the center of the first transition sleeve, a motor alignment spigot matched with the matching part is formed in the end face, close to the annular mounting part, of the first transition sleeve, and a first rigid wheel alignment spigot installed in alignment with the first rigid wheel is formed in the end face, far away from the annular mounting part, of the first transition sleeve;

the first rigid wheel is installed with the first transition sleeve in an aligning mode through the first rigid wheel aligning spigot, the cam of the first wave generator is installed with the motor shaft in an aligning mode, and the flexible bearing outer ring of the first wave generator is connected with the inner wall of the first flexible wheel in a matched mode;

the outer tooth of first flexbile gear with the internal tooth meshing rotation of first rigid gear is connected, the output flange portion of first flexbile gear with the inner ring fixed connection of first cross bearing, the outer loop of first cross bearing is fixed with the casing of series connection harmonic drive reduction gear.

Preferably, the primary speed reducer further comprises a first baffle and a first pressing piece,

a through hole is formed in the center of the first baffle plate, a screw hole is formed in the center of the motor shaft, and the first baffle plate penetrates through the through hole through a screw to be fixed with the screw hole of the motor shaft and is used for preventing the motor shaft from moving in the axial displacement direction in a cam of the first wave generator;

the first pressing piece is connected with the cup bottom of the first flexible gear and used for preventing the first flexible gear from shifting in axial displacement.

Preferably, the secondary speed reduction input shaft comprises a transmission input end, a fixing part and a transmission output end which are integrally formed;

the transmission input end is fixedly connected with the flange output of the inner ring of the first crossed bearing through a fixing part;

and the transmission output end is in transmission connection with the input end of the secondary speed reducer.

Preferably, the transmission output end of the secondary speed reduction input shaft is of a motor shaft structure.

Preferably, the secondary speed reducer comprises a second transition sleeve, a second rigid gear, a second wave generator, a second flexible gear and a second crossed bearing;

a shaft hole for the motor shaft structure to pass through is reserved in the center of the second transition sleeve, a second aligning spigot matched with the fixing part is formed in the end face, close to the fixing part, of the second transition sleeve, and a second rigid wheel aligning spigot installed in an aligning mode with the second rigid wheel is formed in the end face, far away from the fixing part, of the second transition sleeve;

the second rigid wheel is in alignment installation with the second transition sleeve through the second rigid wheel alignment spigot, a cam of the second wave generator is in alignment installation with the motor shaft structure, and a flexible bearing outer ring of the second wave generator is in fit connection with the inner wall of the second flexible wheel;

the outer tooth of second flexbile gear with the internal tooth meshing rotation of second rigid gear is connected, the output flange portion of second flexbile gear with the inner ring fixed connection of second cross bearing, the outer loop of second cross bearing is fixed with the casing of series connection harmonic drive reduction gear.

Preferably, the secondary speed reducer further comprises a second baffle plate and a second pressing plate,

a through hole is formed in the center of the second baffle, a screw hole is formed in the center of the motor shaft structure, and the second baffle penetrates through the through hole through a screw to be fixed with the screw hole of the motor shaft structure and is used for preventing the motor shaft structure from moving in the axial displacement direction in a cam of the second wave generator;

the second pressing piece is connected with the cup bottom of the second flexible gear and used for preventing the second flexible gear from shifting in axial displacement.

Optionally, the first flexible gear and the second flexible gear are both short cylinder flexible gears.

Compared with the prior art, the utility model provides a series connection harmonic drive reduction gear has following beneficial effect:

the utility model provides a series connection harmonic drive reduction gear mainly comprises motor, one-level reduction gear and second reduction gear triplex, and wherein, the input of one-level reduction gear is connected with the motor shaft transmission of motor, and the output of one-level reduction gear is connected with the input transmission of second grade speed reduction input shaft, and the output of second grade speed reduction input shaft is connected with the input transmission of second grade reduction gear, and the load is connected to the output of second grade reduction gear.

It can be seen that, the utility model provides a transmission reduction gear is including one-level reduction gear and second reduction gear, and one-level reduction gear and second reduction gear adopt series transmission structure, compares the transmission reduction gear of single reduction gear structure among the prior art, the utility model provides a reduction gear's reduction ratio is the increase of geometric grade, and the structure is succinct reliable, satisfies the requirement of user to reduction gear moment amplification output and big reduction ratio.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

FIG. 1 is a cross-sectional view of a series harmonic drive reducer of an embodiment;

FIG. 2 is a left side view of a series harmonic drive reducer of an embodiment;

FIG. 3 is a right side view of the series harmonic drive reducer of the embodiment;

FIG. 4 is a schematic structural view of a motor in the embodiment;

FIG. 5 is an exploded view of a primary speed reducer according to an embodiment;

FIG. 6 is a schematic structural diagram of a two-stage reduction input shaft in the embodiment;

fig. 7 is an exploded view of the secondary retarder in the embodiment.

Reference numerals:

11-motor, 12-first transition sleeve;

13-a first rigid wheel, 14-a first wave generator;

15-a first baffle sheet, 16-a first pressing sheet;

17-a first flexspline, 18-a first cross bearing;

19-a secondary speed reduction input shaft, 20-a second transition sleeve;

21-a second rigid wheel, 22-a second wave generator;

23-second blocking, 24-second pressing;

25-second flexspline, 26-second crossed bearing;

111-motor shaft, 112-motor body;

113-annular mounting portion, 114-mating portion;

115-flat key, 191-transmission input;

192-fixed part, 193-drive output.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail with reference to the accompanying drawings. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Example one

Referring to fig. 1 to 7, the present embodiment provides a series harmonic drive reducer, which includes a motor 11, a primary reducer, and a secondary reducer connected in series with an output end of the primary reducer;

the input end of the primary speed reducer is in transmission connection with a motor shaft of the motor, and the output end of the primary speed reducer is in transmission connection with the transmission input end of the secondary speed reduction input shaft 19;

the transmission output end of the secondary speed reduction input shaft 19 is in transmission connection with the input end of the secondary speed reducer, and the output end of the secondary speed reducer is connected with a load.

The series harmonic drive reducer provided by this embodiment mainly comprises a motor 11, a first-stage reducer and a second-stage reducer, wherein an input end of the first-stage reducer is in transmission connection with a motor shaft 111 of the motor 11, an output end of the first-stage reducer is in transmission connection with a transmission input end 191 of a second-stage reduction input shaft 19, a transmission output end 193 of the second-stage reduction input shaft 19 is in transmission connection with an input end of the second-stage reducer, and an output end of the second-stage reducer is connected with a load.

It can be seen that the transmission speed reducer in this embodiment includes one-level speed reducer and second reduction gear, and one-level speed reducer and second reduction gear adopt series transmission structure, compares the transmission speed reducer of single reduction gear structure among the prior art, and the reduction ratio of the transmission speed reducer that this embodiment provided is the increase of geometric grade, and the structure is succinct reliable, satisfies the requirement of user to the enlarged output of reduction gear moment and big reduction ratio.

In the above embodiment, the motor includes the motor body 112, the motor shaft 111, the annular mounting portion 113 and the matching portion 114, the annular mounting portion 113 is fixedly mounted on the motor body 112, and the matching portion 114 and one surface of the annular mounting portion 113 close to the motor shaft 111 are fixedly mounted.

Referring to fig. 1 and 4, in a specific implementation, the annular mounting portion 113 is disc-shaped, a preformed hole for the motor body 112 to pass through is formed in the middle of the annular mounting portion, the preformed hole is integrally formed with the housing of the motor body 112, the radius of the annular mounting portion 113 is respectively matched with the radius of the first transition sleeve 12, the radius of the first rigid wheel 13, and the radius of the first cross bearing 18, the preformed hole for the motor shaft 111 to pass through is formed in the middle of the matching portion 114, the matching portion 114 is disc-shaped, the radius of the matching portion 114 is smaller than the radius of the annular mounting portion 113, the matching portion 114 is fixedly attached to the annular mounting portion 113, and screw holes for fixing are formed in the periphery of the disc of the annular mounting portion 113. In addition, a flat key 115 is provided on the motor shaft 111 for improving the fastening effect of the motor shaft 111 and the cam of the first wave generator 14, and preventing the motor shaft 111 from rotating and sliding. Illustratively, the radius of the mating portion 114 is one-third to one-half of the radius of the disc.

In the above embodiment, the primary speed reducer includes the first transition sleeve 12, the first rigid gear 13, the first wave generator 14, the first flexible gear 17, and the first cross bearing 18; a shaft hole for the motor shaft 111 to pass through is reserved in the center of the first transition sleeve 12, a motor alignment spigot matched with the matching part 114 is formed in the end face, close to the annular mounting part 113, of the first transition sleeve 12, and a first rigid wheel 13 alignment spigot installed in alignment with the first rigid wheel 13 is formed in the end face, far away from the annular mounting part 113, of the first transition sleeve 12; the first rigid wheel 13 is installed in a contraposition way with the first transition sleeve 12 through a contraposition spigot of the first rigid wheel 13, a cam of the first wave generator 14 is installed in a contraposition way with the motor shaft 111, and a flexible bearing outer ring of the first wave generator 14 is connected with the inner wall of the first flexible wheel 17 in a matching way; the outer teeth of the first flexible gear 17 are in meshing transmission connection with the inner teeth of the first rigid gear 13, the output flange part of the first flexible gear 17 is fixedly connected with the inner ring of the first crossed bearing 18, and the outer ring of the first crossed bearing 18 is fixed with the shell of the series harmonic transmission speed reducer.

As shown in fig. 1 and fig. 5, in a specific implementation, the first transition sleeve 12 includes an outer ring structure and an inner ring structure, a motor alignment spigot is formed at a position in the inner ring structure adapted to the matching portion 114, an annular mounting portion 113 alignment spigot is formed at a position in the outer ring structure adapted to the annular mounting portion 113, a screw hole is formed in the outer ring structure, and the annular mounting portion 113 and the screw hole in the outer ring structure are correspondingly mounted and fixed, so that the motor and the first transition sleeve 12 can be reliably and fixedly assembled. In addition, the other end surface of the first transition sleeve 12 is provided with a first rigid wheel 13 aligning spigot matched with the first rigid wheel 13, and the aligning spigot is used for completing the matched installation of the first transition sleeve 12 and the first rigid wheel 13.

First rigid wheel 13 includes integrated into one piece's rigid wheel body and cyclic annular connecting portion, has seted up the screw on the rigid wheel body, and the radius of cyclic annular connecting portion is less than the radius of rigid wheel body, and cyclic annular connecting portion and the first rigid wheel 13 counterpoint tang of first transition cover 12 are counterpointed the installation, and first transition cover 12 and rigid wheel body pass through the screw and counterpoint the installation. In addition, the inner wall of the rigid wheel body is provided with inner teeth, and an installation space matched with the first flexible gear 17 is reserved in the rigid wheel body.

The first wave generator 14 comprises a cam and an integrally formed flexible bearing outer ring, an opening matched with the motor shaft 111 is formed in the center of the cam, a key groove matched with the flat key 115 is reserved in the opening, the motor shaft 111 penetrates through the center of the flat key 115 and is fixed through the key groove, the transmission effect between the motor shaft 111 and the cam can be ensured, and the slipping phenomenon is avoided. The flexible bearing outer ring of the first wave generator 14 can be in sliding fit, i.e. transition fit, with the first flexible gear 17, and is driven by friction between the two parts to rotate together to realize relative rest in a transmission state.

The outer teeth of the first flexible gear 17 are in meshed transmission connection with the inner teeth of the first rigid gear 13, so that the effects of speed reduction and torque amplification are achieved. A plurality of screw holes are formed in the output flange portion of the first flexible gear 17, screw holes matched with the screw holes in the annular connecting portion of the first rigid gear 13 are formed in the outer ring of the first crossed bearing 18, and therefore assembly of the first rigid gear 13 and the first crossed bearing 18 is achieved, in addition, the output flange portion of the first flexible gear 17 is also provided with the screw holes, the first crossed bearing 18 and the screw holes in the output flange portion are matched in position, and therefore the output flange portion of the first flexible gear 17 is fixedly connected with the inner ring of the first crossed bearing 18.

Referring to fig. 5, in the above embodiment, the primary speed reducer further includes a first blocking piece 15 and a first pressing piece 16, a through hole is formed in the center of the first blocking piece 15, a screw hole is formed in the center of the motor shaft 111, and the first blocking piece 15 is fixed to the screw hole of the motor shaft 111 by passing through the through hole through a screw, so as to prevent the motor shaft 111 from moving axially in the cam of the first wave generator 14; the first presser 16 is connected to the cup bottom of the first flexible gear 17 for preventing the first flexible gear 17 from shifting in axial displacement.

Referring to fig. 1 and 6, in the above embodiment, the two-stage reduction input shaft 19 includes a transmission input end 191, a fixing portion 192 and a transmission output end 193 which are integrally formed; the transmission input end 191 is fixedly connected with the flange output of the inner ring of the first crossed bearing 18 through a fixing part 192; the transmission output 193 is in transmission connection with the transmission input 191 of the secondary reduction gear.

In specific implementation, the secondary speed reduction input shaft 19 mainly serves to connect the primary speed reducer and the secondary speed reducer in series, so as to meet the application requirement of high speed reduction ratio.

Preferably, the transmission output end 193 of the secondary speed reduction input shaft 19 is a motor shaft structure which is identical to the structure of the motor shaft 111, so that the universality of parts is improved.

Referring to fig. 7, in the above embodiment, the secondary speed reducer includes a second transition sleeve 20, a second rigid gear 21, a second wave generator 22, a second flexible gear 25 and a second cross bearing 26; a shaft hole for the motor shaft 111 to pass through is reserved in the center of the second transition sleeve 20, a second alignment spigot matched with the fixing part 192 is formed in the end face, close to the fixing part 192, of the second transition sleeve 20, and a second rigid wheel 21 alignment spigot installed in alignment with the second rigid wheel 21 is formed in the end face, far away from the fixing part 192, of the second transition sleeve 20; the second rigid wheel 21 is installed in a contraposition way with the second transition sleeve 20 through a contraposition spigot of the second rigid wheel 21, a cam of the second wave generator 22 is installed in a contraposition way with the structure of the motor shaft 111, and a flexible bearing outer ring of the second wave generator 22 is in transition fit connection with the inner wall of the second flexible wheel 25; the outer teeth of the second flexible gear 25 are meshed with the inner teeth of the second rigid gear 21, the output flange part of the second flexible gear 25 is fixedly connected with the inner ring of a second crossed bearing 26, and the outer ring of the second crossed bearing 26 is fixed with the shell of the series harmonic drive reducer.

Referring to fig. 7, in the above embodiment, the secondary speed reducer further includes a second blocking piece 23 and a second pressing piece 24, a through hole is formed in the center of the second blocking piece 23, a screw hole is formed in the center of the motor shaft structure, and the second blocking piece 23 is fixed to the screw hole of the motor shaft structure by passing through the through hole through a screw, so as to prevent the motor shaft structure from moving in the cam of the second wave generator due to axial displacement; the second presser 24 is connected to the cup bottom of the second flexible gear, and is used for preventing the second flexible gear 25 from shifting in axial displacement.

In a specific implementation, the structure and the assembly manner of each component in the secondary speed reducer are completely the same as those of each component in the primary speed reducer, and this embodiment is not described herein again.

Preferably, the first flexible gear 17 and the second flexible gear 25 in the above embodiments both adopt short cylinder flexible gears, so that the axial distance is shortened, and the use requirement of a narrow space is met.

In conclusion, the embodiment can increase the geometric grade of the reduction ratio by serially assembling the first-stage speed reducer and the second-stage speed reducer, and can save the installation space by adopting the short-cylinder flexible gear, so that the structure is simple and reliable, and the requirements of users on the torque amplification output and the large reduction ratio of the speed reducer are met. For example, when the reduction ratio of the harmonic drive reduction gear using a single reduction gear is only 100, the reduction ratio of the harmonic drive reduction gear using the reduction gears of the stages connected in series can be 100x100 to 10000.

The above embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, and all should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A series harmonic drive reducer is characterized by comprising a motor, a primary reducer and a secondary reducer connected with the output end of the primary reducer in series;

the input end of the primary speed reducer is in transmission connection with a motor shaft of the motor, and the output end of the primary speed reducer is in transmission connection with the transmission input end of the secondary speed reduction input shaft;

the transmission output end of the secondary speed reduction input shaft is in transmission connection with the input end of the secondary speed reducer, and the output end of the secondary speed reducer is connected with a load.

2. The series harmonic drive reducer of claim 1 wherein the motor includes a motor body, a motor shaft, an annular mounting portion and a mating portion, the annular mounting portion being fixedly mounted to the motor body, the mating portion being fixedly mounted to a face of the annular mounting portion that is adjacent to the motor shaft.

3. The series harmonic drive reducer of claim 2 wherein the primary reducer comprises a first transition sleeve, a first rigid gear, a first wave generator, a first flexible gear, and a first cross bearing;

a shaft hole for the motor shaft to pass through is reserved in the center of the first transition sleeve, a motor alignment spigot matched with the matching part is formed in the end face, close to the annular mounting part, of the first transition sleeve, and a first rigid wheel alignment spigot installed in alignment with the first rigid wheel is formed in the end face, far away from the annular mounting part, of the first transition sleeve;

the first rigid wheel is installed with the first transition sleeve in an aligning mode through the first rigid wheel aligning spigot, the cam of the first wave generator is installed with the motor shaft in an aligning mode, and the flexible bearing outer ring of the first wave generator is connected with the inner wall of the first flexible wheel in a matched mode;

the outer tooth of first flexbile gear with the internal tooth meshing rotation of first rigid gear is connected, the output flange portion of first flexbile gear with the inner ring fixed connection of first cross bearing, the outer loop of first cross bearing is fixed with the casing of series connection harmonic drive reduction gear.

4. The series harmonic drive reducer of claim 3 wherein the primary reducer further comprises a first catch and a first tab;

a through hole is formed in the center of the first baffle plate, a screw hole is formed in the center of the motor shaft, and the first baffle plate penetrates through the through hole through a screw to be fixed with the screw hole of the motor shaft and is used for preventing the motor shaft from moving in the axial displacement direction in a cam of the first wave generator;

the first pressing piece is connected with the cup bottom of the first flexible gear and used for preventing the first flexible gear from shifting in axial displacement.

5. The series harmonic drive reducer of claim 3 wherein the secondary reduction input shaft comprises an integrally formed drive input, fixed portion and drive output;

the transmission input end is fixedly connected with the flange output of the inner ring of the first crossed bearing through a fixing part;

and the transmission output end is in transmission connection with the input end of the secondary speed reducer.

6. The series harmonic drive reducer of claim 5 wherein the drive output of the secondary reduction input shaft is a motor shaft configuration.

7. The series harmonic drive reducer of claim 6 wherein the secondary reducer comprises a second transition sleeve, a second rigid gear, a second wave generator, a second flexible gear, and a second cross bearing;

a shaft hole for a motor shaft structure to pass through is reserved in the center of the second transition sleeve, a second aligning spigot matched with the fixing part is formed in the end face, close to the fixing part, of the second transition sleeve, and a second rigid wheel aligning spigot installed in an aligning mode with the second rigid wheel is formed in the end face, far away from the fixing part, of the second transition sleeve;

the second rigid wheel is installed in an aligning mode with the second transition sleeve through the second rigid wheel aligning spigot, a cam of the second wave generator is installed in an aligning mode with a motor shaft structure, and a flexible bearing outer ring of the second wave generator is in transition fit connection with the inner wall of the second flexible wheel;

the outer tooth of second flexbile gear with the internal tooth meshing rotation of second rigid gear is connected, the output flange portion of second flexbile gear with the inner ring fixed connection of second cross bearing, the outer loop of second cross bearing is fixed with the casing of series connection harmonic drive reduction gear.

8. The series harmonic drive reduction gear of claim 7 wherein the secondary reduction gear further comprises a second catch and a second tab,

a through hole is formed in the center of the second baffle, a screw hole is formed in the center of the motor shaft structure, and the second baffle passes through the through hole through a screw to be fixed with the screw hole of the motor shaft structure, so that the motor shaft structure is prevented from moving in the axial displacement direction in the cam of the second wave generator;

the second pressing piece is connected with the cup bottom of the second flexible gear and used for preventing the second flexible gear from shifting in axial displacement.

9. The series harmonic drive reducer of claim 7 wherein the first and second flexspline are both short tube flexspline.

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