TWM547618U - A miniature differential harmonic reducer - Google Patents

Abstract

The present utility model discloses a miniature differential harmonic reducer which includes: A first speed reduction assembly, the first speed reduction assembly consists of a sun gear, a planet gear set and a first fixed ring gear, the planet gear set generates a first driving force during rotating. A second speed reduction assembly, the second speed reduction assembly consists of a wave generator, a flex spline and a second fixed ring gear, the wave generator drives the flex spline rotate between the wave generator and the second fixed ring gear during rotating. A output ring gear, the output ring gear is mounted outside the planet gear set and meshed one another, The first driving force from the planet gear set drives output ring gear to rotate and generates a second driving force, the output ring gear is also connected to the wave generator. A output shaft, the output shaft is connected to the flex spline, The flex spline drives the output shaft to output a fourth driving force during rotating. The present utility model can provide lower rotating speed and higher torque, especially suitable for using in restricted area.

Description

Miniature differential harmonic reducer

The present invention relates to the field of reducers, and in particular to a miniature differential harmonic reducer.

The reducer is a relatively precise machine. It is used to reduce the speed and increase the torque. It is generally used in low-speed and high-torque transmission equipment. The motor, internal combustion engine or other high-speed power is transmitted through the input shaft of the reducer. A gear having a small number of teeth meshes with a large gear on the output shaft 4 to achieve the purpose of deceleration.

There are many types of reducers. According to the transmission type, they can be divided into gear reducers, worm reducers and planetary gear reducers. According to the number of transmission stages, they can be divided into single-stage and multi-stage reducers. According to the gear shape, they can be divided into cylindrical gears. Reducer, bevel gear reducer and cone-cylindrical gear reducer; according to the layout of the drive can be divided into expansion, split and coaxial reducer.

However, the above-mentioned reducers have different disadvantages, such as large volume, low reduction ratio or small output torque, which cannot meet the requirements in a space-constrained environment.

The purpose of this creation is to overcome the above problems existing in the prior art, and to provide a miniature differential harmonic reducer, which can generate small rotation speed and large torque, and is particularly suitable for practical use in a space-constrained environment.

In order to achieve the above technical purpose and achieve the above technical effects, the present invention is realized by the following technical solutions: a miniature differential harmonic reducer comprising: a first reduction assembly 1 comprising a male wheel 11, a planetary gear set 12 and a first fixed ring gear 13 which are arranged around and engaged in order from the inside to the outside, the sun gear 11 driving the planetary gear set 12 moves between the male wheel 11 and the first fixed ring gear 13, the planetary gear set 12 moves to generate a first transmission force; the second reduction assembly 2, the second reduction assembly 2 includes a sequence from the inside to the outside a wave generator 21, a flex wheel 22 and a second fixed ring gear 23 are provided. The wave generator 21 is supported on the inner ring surface of the flex wheel 22 and radially deforms the flex wheel 22, and the flex wheel 22 is deformed. Both ends of the long shaft are meshed with the second fixed ring gear 23, and the wave generator 21 rotates to drive the flexible wheel 22 to move between the wave generator 21 and the second fixed ring gear 23; the inner ring gear 3 is output. The output inner ring gear 3 is sleeved on the planetary gear set 12 and meshedly connected. The first transmission force of the planetary gear set 12 drives the output inner ring gear 3 to rotate, and the output inner ring gear 3 rotates to generate a second transmission force. The output inner ring gear 3 is also connected to the wave generator 21, and the second transmission force of the output inner ring gear 3 drives the wave generator 21 to rotate. The wave generator 21 rotates to generate a third driving force; the output shaft 4 is connected to the flex wheel 22, the flex wheel 22 moves to drive the output shaft 4 to output a fourth driving force; and the outer casing 5 An accommodating space is disposed inside the outer casing 5, and the first deceleration component 1, the second deceleration component 2, the output inner ring gear 3 and the output shaft 4 are disposed in the accommodating space, the first fixing The ring gear 13 and the second fixed ring gear 23 are fixedly coupled to the outer casing 5.

Further, a first bearing platform 31 is disposed on a side of the output inner ring gear 3 on one axial side, and the wave generator 21 is disposed on the first bearing platform 31.

Further, the planetary gear set 12 is disposed on the carrier 121, and the carrier 121 is disposed on a side of the carrying platform with a central shaft portion 122, and the central platform portion 122 is provided with a central groove portion on the corresponding loading platform. 32. The central shaft portion 122 is disposed in the central groove portion 32.

Further, a roller 211 is disposed between the wave generator 21 and the flex wheel 22, and the roller 211 is disposed on the wave generator 21.

Further, the base plate 6 is connected to the outer casing 5 and cooperates with the closed accommodating space, and the outer periphery of the base plate 6 is further provided with a plurality of first stops. The first convex rotation preventing groove 61 is formed between the two adjacent first rotation preventing convex portions 61, and the second outer rotation preventing convex portion 51 is disposed on the outer casing 5 corresponding to the first rotation preventing groove 62. A second rotation preventing groove 52 is formed between the adjacent two second rotation preventing convex portions 51, the first rotation preventing convex portion 61, the first rotation preventing groove 62, the second rotation preventing convex portion 51, and the second stopping The rotation groove 52 is matched with the radial position of the fixed base plate 6. The first rotation stop groove 62 is further provided with a limit position card protrusion 63. The second rotation stop convex portion 51 corresponding to the limit position card protrusion 63 is provided with a limited position. The bayonet 53 defines an axial position of the fixed base plate 6 in cooperation with the limiting bayonet 53. The base plate 6 is further provided with an input shaft hole 64.

Further, a third rotation preventing convex portion 131 is disposed on the side surface of the first fixed ring gear 13 in the axial direction, and a third rotation stop is disposed on the corresponding base plate 6 of the third rotation preventing convex portion 131 The groove 65, the third rotation preventing convex portion 131 cooperates with the third rotation preventing groove 65 to restrict the radial position of the first fixed ring gear 13.

The beneficial effect of this creation is that the reducer is particularly suitable for places where space is limited, where the speed is small and the torque is large, and its advantages are as follows:

1. Small size:

The size of the reducer can be made into a small finger size, which can even be made smaller according to the reduction ratio.

2. The reduction ratio is high:

Due to the multi-stage power output, the reduction ratio can be 5000-10000:1.

3. The output torque is large:

Compared with the same size reducer, because the output uses a harmonic deceleration structure, the multi-tooth meshing advantage is used to improve the torsional performance.

The above description is only an overview of the technical solution of the present invention. In order to be able to understand more clearly, the technical means of the present invention can be implemented in accordance with the contents of the specification. Hereinafter, the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. The specific embodiment of the present creation is given in detail by the following examples and the accompanying drawings.

1‧‧‧First reduction assembly

11‧‧‧Yang

12‧‧‧Musical wheelset

121‧‧‧ planet carrier

122‧‧‧Center shaft

13‧‧‧First fixed ring gear

131‧‧‧3rd anti-rotation convex

2‧‧‧Second reduction assembly

21‧‧‧ Wave Generator

211‧‧‧Roller

22‧‧‧Flex

23‧‧‧Second fixed ring gear

3‧‧‧Output ring gear

31‧‧‧First carrier platform

32‧‧‧ center slot

4‧‧‧ Output shaft

5‧‧‧Outer casing

51‧‧‧Second stop convex

52‧‧‧Second stop groove

53‧‧‧Limited bayonet

6‧‧‧Base plate

61‧‧‧First stop-turn convex

62‧‧‧First stop groove

63‧‧‧Limited card convex

64‧‧‧Input shaft hole

65‧‧‧third stop groove

In order to more clearly illustrate the technical solutions in the art of the present embodiment, the following will BRIEF DESCRIPTION OF THE DRAWINGS The drawings used in the technical description of the embodiments are briefly described. It is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art will not be creatively labored. Further drawings can also be obtained from these drawings.

1 is a schematic view of the overall structure of the present creation; FIG. 2 is a schematic view of the explosion structure of the present creation; FIG. 3 is a schematic structural view of the first reduction assembly 1 and the output inner ring gear 3 of the present creation; FIG. 4 is a second deceleration of the present creation; FIG. 5 is a schematic structural view of the outer casing 5 and the base plate 6 of the present invention. FIG.

The technical solutions in the present creative embodiment will be described clearly and completely in conjunction with the drawings in the present embodiments. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts are within the scope of the present invention.

1 to 4, a miniature differential harmonic reducer includes a first reduction assembly 1, a second reduction assembly 2, an output internal ring gear 3, an output shaft 4, and an outer casing 5; an outer casing 5, an outer casing The body 5 is provided with an accommodating space, and the first deceleration component 1, the second deceleration component 2, the output inner ring gear 3 and the output shaft 4 are disposed in the accommodating space to form an integral modular product.

The first reduction assembly 1 includes a male wheel 11, a planetary gear set 12 and a first fixed ring gear 13 which are arranged around and engaged in order from the inside to the outside. The planetary gear set 12 can be composed of one or more planets. The gear set 12 is formed, the male wheel 11 is fixedly connected with the power input shaft of the motor, and the rotation of the motor drives the male wheel 11 to rotate. Since the first fixed ring gear 13 is fixed to the outer casing 5, it cannot rotate, and the sun wheel 11 drives the planetary gear. In group 12, the planetary gear set 12 is movable between the male wheel 11 and the first fixed ring gear 13, and the planetary gear set 12 generates a first transmission force and outputs; The inner ring gear 3 is output, and the output inner ring gear 3 is mainly used for connecting the first reduction assembly 1 and the second reduction assembly 2, and transmits power between the first reduction assembly 1 and the second reduction assembly 2, and outputs the inner ring gear 3 The first transmission force of the planetary gear set 12 can be driven by being disposed on the planetary gear set 12 and meshingly connected with the first fixed inner ring gear 13 in the same axial direction, effectively reducing the axial volume and improving the integration tightness. The output inner ring gear 3 rotates, and the output inner ring gear 3 rotates to generate a second transmission force, and the reduction ratio is greatly increased by the cooperation of the first reduction assembly 1 and the output inner ring gear 3. The reduction ratio = (Z3 / Z1 + 1) * Z4 / (Z4 - Z3), wherein the number of teeth of the male wheel 11 is Z1, the number of teeth of the first fixed ring gear 13 is Z3, and the number of teeth of the output ring gear 3 is Z4. In order to increase the reduction ratio, Z3 and Z4 are not equal.

The second reduction assembly 2 includes a wave generator 21, a flexible wheel 22 and a second fixed ring gear 23 which are disposed around the inside from the inside to the outside. The wave generator 21 is supported on the inner ring surface of the flexible wheel 22. And the elastic wheel 22 is radially deformed into an elliptical structure, and the wave generator 21 can be meshed with the second fixed ring gear 23 at both ends of the long axis after the deformation of the flexible wheel 22, because the second fixed ring gear 23 It is fixed to the outer casing 5 so that it cannot rotate, and when the wave generator 21 rotates to drive the flexible wheel 22, the flexible wheel 22 can move between the wave generator 21 and the second fixed ring gear 23 and output; The ring 3 is connected to the wave generator 21, and the second transmission force outputting the inner ring gear 3 drives the wave generator 21 to rotate, and the wave generator 21 rotates to generate a third driving force due to the driving power of the wave generator 21 (second The transmission force has greatly reduced the rotational speed, so the advantage of the multi-tooth engagement of the second reduction assembly 2 is utilized to improve the torsional performance, and the deceleration can be decelerated again, and the first reduction assembly 1 is matched to achieve the effect of low rotation speed and high torque. The reduction ratio of the output of the second reduction unit 2 is Z5/(Z6-Z5), wherein the number of teeth of the flexible wheel 22 is Z5, the number of teeth of the second fixed ring gear 23 is Z6, and the output shaft 4, the output shaft 4 and the flexible wheel 22 Connected and disposed on the center of the flex wheel 22, the motion output of the flex wheel 22 can drive the output shaft 4 to rotate and output a fourth transmission force; the output inner ring gear 3 is sleeved on the planetary gear set 12 for reducing the axial dimension. Thereafter, a first carrying platform 31 is disposed on the side of the output inner ring gear 3 on the axial side, and the wave generator 21 is disposed on the first carrying platform 31 to realize power transmission in a compact structure. The planetary gear set 12 is disposed on the planet carrier 121 to maintain the relative position of the planetary gear set 12. The central frame portion 122 is disposed on a side of the carrier platform, and the central platform portion 122 is provided with a central groove portion 32. The central shaft portion 122 is disposed in the central groove portion 32. The relative pressing force of the planetary gear set 12 is transmitted to the carrier 121, and the carrier 121 can be fixed by the cooperation of the central shaft portion 122 and the central groove portion 32, and is more stable during operation.

A roller 211 is disposed between the wave generator 21 and the flex wheel 22, and the roller 211 is disposed on the wave generator 21, so that the friction between the wave generator 21 and the flex wheel 22 is reduced, and the running smoothness is improved.

As shown in FIG. 2 and FIG. 5, in order to increase the production speed and the production yield, it is necessary to provide a base plate 6 which is connected with the outer casing 5 and cooperates with the closed accommodating space to define the above-mentioned components in the outer casing 5. A plurality of first rotation preventing protrusions 61 are disposed on the outer circumference of the base plate 6, and a first rotation preventing groove 62 is formed between the adjacent two first rotation preventing convex portions 61, and the outer casing corresponding to the first rotation preventing groove 62 5 is provided with a second rotation preventing convex portion 51, and a second rotation preventing groove 52 is formed between the adjacent two second rotation preventing convex portions 51, the first rotation preventing convex portion 61, the first rotation preventing groove 62, and the second The rotation preventing convex portion 51 and the second rotation preventing groove 52 cooperate with the radial position of the fixed base plate 6. After the base plate 6 and the outer casing 5 are combined, the base plate 6 cannot be rotated, and the first rotation preventing groove 62 is also provided with a limited position. The card protrusion 63 is disposed on the second rotation preventing convex portion corresponding to the limiting card protrusion 63. The limiting card protrusion 63 and the limiting card opening 53 cooperate to limit the axial position of the fixed base plate 6 in the base plate. 6 When combined with the outer casing 5, the limit card protrusion 63 will be caught in the limit bayonet 53, preventing the base plate 6 from exiting, becoming an integral structure, and the base plate 6 is also provided with The shaft hole 64 is input to facilitate the penetration of the power input shaft of the motor.

A third rotation preventing convex portion 131 is disposed on the axial side of the first fixed ring gear 13 , and a third rotation preventing groove 65 is disposed on the corresponding base plate 6 of the third rotation preventing convex portion 131 . The rotation convex portion 131 cooperates with the third rotation preventing groove 65 to restrict the radial position of the first fixed ring gear 13, and the position of the first fixed ring gear 13 is fixed, the rotation is prevented, and the space of the base plate 6 is fully utilized.

The design of the reducer is prepared by sequentially overlapping and arranging as shown in Fig. 2. The structure is stable and small in size, and is suitable for a space limited, requiring a small rotation speed and a large torque.

The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but the broadest scope consistent with the principles and novel features disclosed herein.

1‧‧‧First reduction assembly

11‧‧‧Yang

12‧‧‧Musical wheelset

121‧‧‧ planet carrier

13‧‧‧First fixed ring gear

131‧‧‧3rd anti-rotation convex

2‧‧‧Second reduction assembly

21‧‧‧ Wave Generator

211‧‧‧Roller

22‧‧‧Flex

3‧‧‧Output ring gear

4‧‧‧ Output shaft

5‧‧‧Outer casing

6‧‧‧Base plate

Claims (6)

A miniature differential harmonic reducer is characterized in that it comprises: a first reduction assembly 1 comprising a sun wheel 11 and a planetary gear set 12 which are arranged around and engaged in order from the inside to the outside. a fixed inner ring gear 13, the male wheel 11 drives the planetary gear set 12 to move between the male wheel 11 and the first fixed ring gear 13, the planetary gear set 12 moves to generate a first transmission force; the second reduction component 2. The second reduction assembly 2 includes a wave generator 21, a flex wheel 22 and a second fixed ring gear 23 which are disposed in order from the inside to the outside. The wave generator 21 is supported on the inner ring surface of the flex wheel 22. And the flex wheel 22 is radially deformed, and the two ends of the long shaft after the deformation of the flex wheel 22 are meshed with the second fixed ring gear 23, and the wave generator 21 rotates to drive the flex wheel 22 at the wave generator 21 and the second. The fixed inner ring gear 23 moves; the inner ring gear 3 is output on the planetary gear set 12 and meshed with the first transmission force of the planetary gear set 12 to drive the output inner ring gear 3, the output inner ring gear 3 rotates to generate a second transmission force, and the output inner ring gear 3 is also connected to the wave generator 21 The second transmission force of the output ring gear 3 drives the wave generator 21 to rotate, the wave generator 21 rotates to generate a third transmission force; the output shaft 4, the output shaft 4 is coupled to the flex wheel 22, The flexible wheel 22 is configured to drive the output shaft 4 to output a fourth driving force; and the outer casing 5, the outer casing 5 is internally provided with an accommodating space, and the first deceleration component 1 and the second deceleration are disposed in the accommodating space The assembly 2, the output ring gear 3 and the output shaft 4, the first fixed ring gear 13 and the second fixed ring gear 23 are fixedly connected to the outer casing 5. A miniature differential harmonic reducer according to claim 1, wherein the output inner ring gear 3 is provided with a first bearing platform 31 on a side of the axial side, and the wave occurs. The device 21 is disposed on the first carrying platform 31. A miniature differential harmonic reducer according to claim 2, wherein the planetary gear set 12 is disposed on a carrier 121, and the carrier 121 is disposed on a side of the carrying platform 31. a shaft portion 122, the central shaft portion A corresponding center portion 32 is provided on the corresponding load bearing platform 31, and the center shaft portion 122 is disposed in the center groove portion 32. A miniature differential harmonic reducer according to claim 1, wherein a roller 211 is disposed between the wave generator 21 and the flex wheel 22, and the roller 211 is disposed in the wave. On generator 21. A miniature differential harmonic reducer according to any one of claims 1 to 4, further comprising a base plate 6 connected to the outer casing 5 and fitted with a closed capacity a plurality of first rotation preventing protrusions 61 are disposed on the outer circumference of the base plate 6. A first rotation preventing groove 62 is formed between the adjacent two first rotation preventing convex portions 61, and the first rotation stop is formed. A second rotation preventing convex portion 51 is disposed on the outer casing 5 corresponding to the groove 62, and a second rotation preventing groove 52 is formed between the adjacent two second rotation preventing convex portions 51, and the first rotation preventing convex portion 61, The first rotation preventing groove 62, the second rotation preventing convex portion 61 and the second rotation preventing groove 52 cooperate with the radial position of the fixed base plate 6, and the first rotation preventing groove 62 is further provided with a limit position card protrusion 63. The second rotation preventing convex portion 51 corresponding to the positional card protrusion 63 is provided with a limit position bayonet 53. The limiting card protrusion 63 cooperates with the limiting bayonet 53 to limit the axial position of the fixed base plate 6. The base plate 6 An input shaft hole 64 is also provided thereon. A miniature differential harmonic reducer according to claim 5, wherein the first fixed ring gear 13 is provided with a third rotation preventing convex portion 131 on the axial side surface, The base plate 6 corresponding to the third rotation preventing convex portion 131 is provided with a third rotation preventing groove 65. The third rotation preventing convex portion 131 cooperates with the third rotation preventing groove 65 to restrict the radial direction of the first fixed ring gear 13 position.