阅读说明：本技术 一种超轻量型谐波减速器 (Ultra-light harmonic speed reducer ) 是由 周清泉 杨立群 肖凤才 于 2019-10-08 设计创作，主要内容包括：本发明公开了一种超轻量型谐波减速器,包括中空轴,中空轴中部成形有椭圆部,椭圆部外套设有柔性滚动轴承的内圈；柔性滚动轴承外圈套设有柔轮,柔轮连接滚子交叉轴承的轴承外圈；刚轮连接有滚子交叉轴承的轴承内圈；刚轮连接有输出法兰；所述柔轮连接有安装法兰；柔轮和输出法兰与中空轴之间安装有支撑轴承。本发明将原本整体为合金钢材料的输入法兰、输出法兰和刚轮,在保证强度的情况下,改为铝合金材料,并在支撑轴承与密封的旋转部位和刚轮的外齿部镶嵌钢质材料,保证其耐磨性和刚轮的内齿强度；将刚轮与输出法兰合为一体,这样通过设计巧妙,合理、大大降低了减速器的总重量,将产品提升到更需要轻量化的运用场合中,特别是航天器方面。(The invention discloses an ultra-light harmonic reducer, which comprises a hollow shaft, wherein an elliptical part is formed in the middle of the hollow shaft, and an inner ring of a flexible rolling bearing is sleeved outside the elliptical part; the outer ring of the flexible rolling bearing is sleeved with a flexible gear which is connected with the outer ring of the roller crossed bearing; the rigid wheel is connected with a bearing inner ring of the roller cross bearing; the rigid wheel is connected with an output flange; the flexible gear is connected with a mounting flange; and a support bearing is arranged between the flexible gear and the output flange and the hollow shaft. The input flange, the output flange and the rigid wheel which are integrally made of alloy steel materials originally are changed into aluminum alloy materials under the condition of ensuring the strength, and steel materials are embedded in the rotating part of the support bearing and the seal and the external tooth part of the rigid wheel, so that the wear resistance and the internal tooth strength of the rigid wheel are ensured; the rigid wheel and the output flange are combined into a whole, so that the total weight of the speed reducer is reasonably and greatly reduced through ingenious design, and the product is promoted to an application occasion which needs light weight, particularly to the aspect of a spacecraft.)

1. An ultra-light harmonic reducer is characterized by comprising a hollow shaft (1), wherein an elliptical part (11) is formed in the middle of the hollow shaft (1), and an inner ring of a flexible rolling bearing (6) is sleeved outside the elliptical part (11); the outer ring of the flexible rolling bearing (6) is sleeved with a flexible gear (5); the flexspline (5) comprises an outer ring tooth portion (51) and an L-shaped cylindrical wall portion (52); the outer ring tooth part (51) is externally engaged with the inner ring teeth (41) of the rigid wheel (4); the L-shaped cylinder wall part (52) is connected with a bearing outer ring (31) of the roller cross bearing (3); the rigid wheel (4) is connected with a bearing inner ring (32) of the roller cross bearing (3); the rigid wheel (4) is connected with an output flange (42); the flexible gear (5) is connected with a mounting flange (2); and a support bearing (8) is arranged between the flexible gear (5) and the hollow shaft (1) and between the output flange (42).

2. Ultra-light weight harmonic reducer according to claim 1 wherein the mounting flange (2), output flange (42) and rigid wheel (4) are made of aluminium alloy; the mounting flange (2) and the part of the output flange (42) contacted with the support bearing (8) and the inner ring teeth (41) are both made of an embedded material (9); the mosaic material (9) is made of die-casting alloy structural steel.

3. The ultra-light weight harmonic reducer according to claim 2 wherein the die-cast alloy structural steel is embedded in the mounting flange (2), the output flange (42) and the rigid wheel (4), respectively.

4. ultra-light weight type harmonic reducer according to claim 1 characterized in that a roller cross cylinder (43) is installed between the bearing outer ring (31) and the bearing inner ring (32); a first bolt hole (33) which is matched with the flexible gear (5) is formed on the bearing outer ring (31); the bearing inner ring (32) is provided with a second bolt hole (34) connected with the output flange (42).

5. Ultra-light weight harmonic reducer according to claim 4 characterized in that the roller cross bearing (3) is negative play; a framework oil seal (35) is arranged between the bearing outer ring (31) and the bearing inner ring (32), and the framework oil seal (35) is fixed through a bearing cover (36).

6. the ultra-light weight type harmonic reducer according to claim 4, wherein the number of the first bolt holes (33) is 12, and the number of the second bolt holes (34) is 8; the first bolt holes (33) and the second bolt holes (34) are respectively and uniformly arranged along the roller cross bearing (3).

7. Ultra-light weight harmonic reducer according to claim 4 characterized in that between the bearing inner ring (32) and the mounting flange (2) is mounted an O-ring (10).

The technical field is as follows:

The invention relates to the technical field of harmonic reducers, in particular to an ultra-light harmonic reducer.

Background art:

The harmonic reducer is a gear drive which utilizes the wave generator to make the flexible gear generate controllable elastic deformation and is meshed with the rigid gear to transfer motion and power. The harmonic reducer has the unique advantages of high bearing capacity, large transmission ratio, small volume, stable transmission, high transmission precision and the like, and is widely applied to the industries of electronics, aerospace, aviation, robots and the like based on the advantages.

the existing harmonic speed reducer is generally connected with a deformation bearing inner ring by a wave generator, a flexible gear is fixed on an outer ring of the deformation bearing, a rigid gear is fixedly meshed outside the flexible gear, and the flexible gear and the rigid gear are continuously meshed in, completely meshed in, meshed out and completely disengaged by the rotation of the wave generator, so that the flexible gear slowly rotates along the opposite direction of the rotation of the wave generator relative to the rigid gear, and the output with a large speed reduction ratio is formed. However, the flexspline bears both the load of rotation and the load of power output in the process, so that the requirement on the material of the flexspline is extremely high, the cost is extremely high (the cost of a single flexspline in general is about ten thousand yuan), and the flexspline belongs to a component which is easy to damage in all components, thereby severely limiting the service life of the harmonic reducer.

In addition, the existing crossed roller bearing is generally provided with two outer rings, and the volume and the weight of the crossed roller bearing are large.

Finally, when the harmonic reducer operates, the loads of all parts are different, but the existing harmonic reducer is uniformly made of materials bearing the highest load, so that the weight of the harmonic reducer is larger, and the weight of the existing harmonic reducer is overlarge when the existing harmonic reducer is applied to projects with requirements on mass and volume space, such as lunar vehicles, artificial satellites, missiles, rockets, space mechanical arms and the like, so that the structure of the existing harmonic reducer needs to be further optimized to reduce the weight of the harmonic reducer. The ultra-light harmonic reducer designed by the inventor has the advantages that the weight is greatly reduced by 22.4% under the condition that the total volume is equal to that of the original harmonic reducer, and the ultra-light harmonic reducer has important significance.

The invention content is as follows:

The invention aims to provide an ultra-light harmonic reducer, wherein an input flange, an output flange and a rigid wheel which are integrally made of alloy steel materials originally are changed into aluminum alloy materials under the condition of ensuring the strength, and steel materials are embedded in a supporting bearing, a sealed rotating part and an external tooth part of the rigid wheel, so that the wear resistance and the internal tooth strength of the rigid wheel are ensured; the rigid wheel and the output flange are combined into a whole, so that the total weight of the speed reducer is reasonably and greatly reduced through ingenious design, and the product is promoted to an application occasion which needs light weight, particularly to the aspect of a spacecraft.

in order to solve the problems, the technical scheme of the invention is as follows:

An ultra-light harmonic reducer comprises a hollow shaft 1, wherein an oval part 11 is formed in the middle of the hollow shaft 1, and an inner ring of a flexible rolling bearing 6 is sleeved outside the oval part 11; a flexible gear 5 is sleeved on the outer ring of the flexible rolling bearing 6; the flexspline 5 includes an outer ring tooth portion 51 and an L-shaped cylindrical wall portion 52; the outer ring tooth part 51 is externally engaged with the inner ring teeth 41 of the rigid wheel 4; the bearing outer ring 31 of the roller cross bearing 3 is connected to the L-shaped cylinder wall portion 52; the rigid wheel 4 is connected with a bearing inner ring 32 of the roller cross bearing 3; the rigid wheel 4 is connected with an output flange 42; the flexible gear 5 is connected with a mounting flange 2; support bearings 8 are mounted between the flexspline 5 and the output flange 42 and the hollow shaft 1.

In a further improvement, the mounting flange 2, the output flange 42 and the rigid wheel 4 are all made of aluminum alloy; the mounting flange 2 and the part of the output flange 42 contacting with the support bearing 8 and the inner ring teeth 41 are both made of the embedding material 9; the inlay material 9 is made of die-cast alloy structural steel.

In a further improvement, the die-casting alloy structural steel is respectively embedded on the mounting flange 2, the output flange 42 and the rigid wheel 4.

In a further improvement, a roller crossed cylinder 43 is arranged between the bearing outer ring 31 and the bearing inner ring 32; a first bolt hole 33 corresponding to the flexible gear 5 is formed on the bearing outer ring 31; the bearing inner race 32 is formed with second bolt holes 34 that connect to the output flange 42.

in a further improvement, the roller cross bearing 3 is a negative play; a framework oil seal 35 is installed between the bearing outer ring 31 and the bearing inner ring 32, and the framework oil seal 35 is fixed through a bearing cover 36.

In a further improvement, the number of the first bolt holes 33 is 12, and the number of the second bolt holes 34 is 8; the first bolt holes 33 and the second bolt holes 34 are respectively uniformly arranged along the roller cross bearing 3.

In a further improvement, an O-shaped ring 10 is arranged between the bearing inner ring 32 and the mounting flange 2.

The invention has the advantages that:

The ultra-light harmonic reducer has the advantages that the weight is greatly reduced by 22.4% under the condition that the total volume is equal to that of the original harmonic reducer, so that the ultra-light harmonic reducer has important significance, is beneficial to light weight and miniaturization of equipment, is beneficial to wide popularization and application, and is particularly suitable for the technical fields of aerospace, aviation and the like.

Description of the drawings:

FIG. 1 is a schematic diagram of the overall structure of an ultra-lightweight harmonic reducer;

Fig. 2 is a schematic view of the overall structure of the roller cross bearing.

The specific implementation mode is as follows:

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.