阅读说明：本技术 一种自动调心的双内啮复波谐波传动减速器 (Automatic double-inner-meshing complex wave harmonic drive speed reducer with aligning function ) 是由 王伟 候国兴 于 2021-09-17 设计创作，主要内容包括：本发明公开了谐波传动减速器领域的一种自动调心的双内啮复波谐波传动减速器,包括外壳体和端盖,所述外壳体一侧通过螺钉连接有端盖,所述外壳体为方形结构,所述外壳体内部开设有圆孔。本发明通过在柔性齿轮内部一体压铸成型横向筋条和竖向筋条,可以提高柔性齿轮的强度和刚性,通过采用压铸工艺制成,可以大大提高柔性齿轮的使用寿命,外壳体端部两侧与转接联轴器以及动力传递座之间端面轴承的设置,可以大大提高动力输出组件转动的灵活性,通过设置谐波发生轴承和辅助支撑轴承与柔性齿轮接触,发生谐波运动,而谐波发生轴承以及辅助支撑轴承均为标准件,一方面可以大大降低成本,另一方面可以极大地提高维修效率,节约时间。(The invention discloses an automatic aligning double-internal meshing complex wave harmonic drive reducer in the field of harmonic drive reducers, which comprises an outer shell and an end cover, wherein one side of the outer shell is connected with the end cover through a screw, the outer shell is of a square structure, and a circular hole is formed in the outer shell. According to the invention, the transverse ribs and the vertical ribs are integrally formed in the flexible gear in a die-casting manner, so that the strength and the rigidity of the flexible gear can be improved, the flexible gear is manufactured by adopting a die-casting process, the service life of the flexible gear can be greatly prolonged, the flexibility of rotation of the power output assembly can be greatly improved by arranging the end face bearings between the two sides of the end part of the outer shell and the transfer coupling and between the two sides of the end part of the outer shell and the power transmission seat, harmonic motion is generated by arranging the harmonic generation bearing and the auxiliary support bearing which are standard parts and are in contact with the flexible gear, on one hand, the cost can be greatly reduced, on the other hand, the maintenance efficiency can be greatly improved, and the time is saved.)

1. The utility model provides an automatic two internal toothing complex wave harmonic drive reduction gears of aligning, includes shell body (1) and end cover (2), its characterized in that: there are end cover (2) shell body (1) one side through screw connection, shell body (1) is square structure, the inside round hole of having seted up of shell body (1), just integrated into one piece has ring gear (13) on the inside round hole wall of shell body (1), shell body (1) is inside to be provided with flexible gear (12), the peripheral integrated into one piece of flexible gear (12) has outer ring gear (14), flexible gear (12) including integrative die-casting shaping in horizontal rib (1201) and vertical rib (1202) inside flexible gear (12), horizontal rib (1201) along the circumference equipartition of flexible gear (12), vertical rib (1202) along the appearance equipartition of flexible gear (12), inside harmonic generator (15) that is provided with of flexible gear (12), harmonic generator (15) include supporting baffle (23), The harmonic generator comprises a locking assembly (24), a first support shaft (18), a second support shaft (19), a harmonic generation bearing (20), an auxiliary support bearing (21) and a bearing support clamping sleeve (22).

2. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 1 wherein: the harmonic generator (15) is characterized in that a power input shaft (16) penetrating through the end cover (2) is arranged on one side of the harmonic generator (15), a double-row bearing (17) is arranged between the power input shaft (16) and the end cover (2), and the power input shaft (16) is rotatably connected with the end cover (2) through the double-row bearing (17).

3. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 2 wherein: the number of the supporting baffles (23) is three, the supporting baffles (23) are of disc structures, and the number of the supporting baffles (23) is equal to the number of the disc structures.

4. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 3 wherein: wear to be equipped with back shaft one (18) and back shaft two (19) on supporting baffle (23), back shaft one (18) have two, back shaft two (19) have sixteen, just back shaft one (18) with back shaft two (19) are along the axis symmetry setting of supporting baffle (23).

5. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 4 wherein: the outer circle of the first support shaft (18) is positioned at three positions between the support baffles (23) and is provided with two harmonic generation bearings (20), and the harmonic generation bearings (20) are in transition fit with the first support shaft (18).

6. The self-aligning double-intermeshing complex wave harmonic drive reducer according to claim 5, wherein three auxiliary support bearings (21) are clamped and pressed between the three support baffles (23) on the outer circle of the second support shaft (19), and the auxiliary support bearings (21) are in transition fit with the second support shaft (19).

7. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 6 wherein: and bearing support clamping sleeves (22) are clamped and pressed on the peripheries of the first support shafts (18) and the second support shafts (19) between the auxiliary support bearings (21) and the support baffles (23).

8. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 7 wherein: the auxiliary supporting bearing (21) and the outer contour of the harmonic generation bearing (20) form an oval structure, the gear ratio of the inner gear ring (13) is two more than the gear number of the outer gear ring (14), the gear number is three, a locking component (24) is arranged between the supporting baffles (23), and the locking component (24) is a countersunk screw and a nut.

9. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 1 wherein: another tip of flexbile gear (12) has switching shaft coupling (11) through bolted connection, another tip of switching shaft coupling (11) has power transmission seat (3) through the screw connection, lie in on power transmission seat (3) seal groove (9) have been seted up on a lateral wall of shell body (1), inside sealing washer (10) that is provided with of seal groove (9), sealing washer (10) are high temperature resistant sealing washer (10).

10. The self-aligning dual-intermeshing complex wave harmonic drive reducer of claim 9 wherein: switching shaft coupling (11) and power transmission seat (3) with all block between shell body (1) and press and be provided with end face bearing (8), there is external rotation seat (4) power transmission seat (3) one side through the screw connection, there is power take-off subassembly (5) external rotation seat (4) one side through the screw connection, power take-off subassembly (5) one side integrated into one piece has output shaft (6), transmission keyway (7) have been seted up on output shaft (6).

Technical Field

The invention relates to the field of harmonic drive reducers, in particular to an automatic-aligning double-internal-meshing complex wave harmonic drive reducer.

Background

The harmonic drive reducer is a gear drive 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 transfer motion and power. However, when the existing harmonic drive reducer is used, the flexible gear is continuously deformed to transmit power, so that the service life of the flexible gear is greatly reduced, the motion stability of an output shaft is poor, and the harmonic generator is troublesome to replace and has higher cost. Accordingly, those skilled in the art have provided a self-aligning dual-intermeshing complex wave harmonic drive reducer that solves the problems set forth in the background above.

Disclosure of Invention

The invention aims to provide an automatic-aligning double-internal-meshing complex wave harmonic drive reducer so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an automatic-aligning double-internal-meshing complex wave harmonic drive reducer comprises an outer shell and an end cover, wherein one side of the outer shell is connected with the end cover through a screw, the outer shell is of a square structure, a round hole is formed in the outer shell, and an inner gear ring is integrally formed on the wall of the circular hole in the outer shell, a flexible gear is arranged in the outer shell, the periphery of the flexible gear is integrally formed with an outer gear ring, the flexible gear comprises a transverse rib and a vertical rib which are integrally formed in the flexible gear in a die-casting manner, the transverse ribs are uniformly distributed along the circumference of the flexible gear, the vertical ribs are uniformly distributed along the appearance of the flexible gear, the harmonic generator is arranged inside the flexible gear and comprises a supporting baffle, a locking assembly, a first supporting shaft, a second supporting shaft, a harmonic generation bearing, an auxiliary supporting bearing and a bearing supporting clamping sleeve.

As a further scheme of the invention: one side of the harmonic generator is provided with a power input shaft penetrating through the end cover, a double-row bearing is arranged between the power input shaft and the end cover, and the power input shaft is rotatably connected with the end cover through the double-row bearing.

As a further scheme of the invention: the supporting baffle has threely, just the supporting baffle is the disc structure, and is three the equidistant setting of supporting baffle.

As a further scheme of the invention: wear to be equipped with back shaft one and back shaft two on the supporting baffle, back shaft one has two, back shaft two has sixteen roots, just back shaft one with back shaft two along supporting baffle's axle center symmetry sets up.

As a further scheme of the invention: the outer circle of the supporting shaft is positioned at three positions, two harmonic generation bearings are arranged between the supporting baffles, and the harmonic generation bearings are in transition fit with the supporting shaft.

As a further scheme of the invention: and three auxiliary supporting bearings are clamped and pressed among the three supporting baffles on the excircle of the supporting shaft, and the auxiliary supporting bearings are in transition fit with the second supporting shaft.

As a further scheme of the invention: and the first support shaft periphery is positioned between the harmonic generation bearing and the support baffle, and the second support shaft periphery is positioned between the auxiliary support bearing and the support baffle, and bearing support clamping sleeves are clamped and pressed.

As a further scheme of the invention: the auxiliary support bearing and the outer contour of the harmonic generation bearing form an oval structure, the number of teeth of the inner gear ring is greater than that of the outer gear ring by two, and the number of teeth of the outer gear ring is three, and the locking assemblies are countersunk screws and nuts.

As a further scheme of the invention: another tip of flexible gear has the switching shaft coupling through bolted connection, another tip of switching shaft coupling has the power transmission seat through the screw connection, lie in on the power transmission seat set up the seal groove on the shell body lateral wall, the inside sealing washer that is provided with of seal groove, the sealing washer is high temperature resistant sealing washer.

As a further scheme of the invention: the adapter coupling and the power transmission seat with it is provided with the end face bearing all to block pressure between the shell body, power transmission seat one side has external rotation seat through the screw connection, external rotation seat one side has power take off subassembly through the screw connection, power take off subassembly one side integrated into one piece has the output shaft, the transmission keyway has been seted up on the output shaft.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the transverse ribs and the vertical ribs are integrally die-cast in the flexible gear, so that the strength and rigidity of the flexible gear can be improved, and the flexible gear is manufactured by adopting a die-casting process, so that the service life of the flexible gear can be greatly prolonged.

2. According to the invention, the arrangement of the end face bearings between the two sides of the end part of the outer shell and the adapter coupling and between the two sides of the end part of the outer shell and the power transmission seat can greatly improve the rotation flexibility of the power output assembly.

3. According to the invention, the harmonic wave generation bearing and the auxiliary support bearing are arranged to be in contact with the flexible gear to generate harmonic wave motion, and the harmonic wave generation bearing and the auxiliary support bearing are standard parts, so that the cost can be greatly reduced, the maintenance efficiency can be greatly improved, and the time is saved

Drawings

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

FIG. 2 is a left side elevation view of the present invention;

FIG. 3 is a cross-sectional view of a compliant gear according to the present invention;

FIG. 4 is an enlarged view of a portion of the present invention at B of FIG. 3;

FIG. 5 is a partial enlarged view taken at A of FIG. 1 in accordance with the present invention;

FIG. 6 is a left side view of the harmonic generator of the present invention;

FIG. 7 is an internal structural view of a harmonics generator of the present invention;

FIG. 8 is a front view of a harmonics generator of the present invention;

FIG. 9 is a connection relationship diagram of a first support shaft, a support baffle, a harmonic generation bearing and a bearing support ferrule in the harmonic generator of the present invention;

fig. 10 is an enlarged view of a portion of the invention at C in fig. 9.

In the figure: 1. an outer housing; 2. an end cap; 3. a power transmission base; 4. a rotating seat is externally connected; 5. a power take-off assembly; 6. an output shaft; 7. a drive keyway; 8. an end face bearing; 9. a sealing groove; 10. a seal ring; 11. transferring a coupler; 12. a flexible gear; 1201. transverse ribs; 1202. vertical ribs; 13. an inner gear ring; 14. an outer ring gear; 15. a harmonic generator; 16. a power input shaft; 17. a double-row bearing; 18. a first support shaft; 19. a second support shaft; 20. a harmonic generation bearing; 21. an auxiliary support bearing; 22. a bearing support ferrule; 23. a support baffle; 24. and a locking assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 10, in an embodiment of the present invention, an automatic aligning dual-internal-meshing complex-wave harmonic drive reducer includes an outer shell 1 and an end cover 2, one side of the outer shell 1 is connected to the end cover 2 through a screw, the outer shell 1 is of a square structure, a circular hole is formed in the outer shell 1, an inner gear ring 13 is integrally formed on a wall of the circular hole in the outer shell 1, a flexible gear 12 is disposed in the outer shell 1, an outer gear ring 14 is integrally formed on a periphery of the flexible gear 12, the flexible gear 12 includes a horizontal rib 1201 and a vertical rib 1202 integrally formed in the flexible gear 12 by die casting, the horizontal rib 1201 is uniformly distributed along a circumference of the flexible gear 12, the vertical rib 1202 is uniformly distributed along an outer shape of the flexible gear 12, a harmonic generator 15 is disposed in the flexible gear 12, and the harmonic generator 15 includes a supporting baffle 23, a locking assembly 24, a first supporting shaft 18, a second supporting shaft 19, a second shaft 19, a third shaft, a fourth, Harmonic generation bearing 20, auxiliary stay bearing 21 and bearing support cutting ferrule 22 through horizontal rib 1201 and vertical rib 1202 of the inside integrative die-casting shaping of flexible gear 12, can improve the intensity and the rigidity of flexible gear 12, make through adopting the die-casting technology, can improve the life of flexible gear 12 greatly.

Wherein, a power input shaft 16 penetrating through the end cover 2 is arranged on one side of the harmonic generator 15, a double-row bearing 17 is arranged between the power input shaft 16 and the end cover 2, the power input shaft 16 is rotatably connected with the end cover 2 through the double-row bearing 17, and the power input shaft 16 can be ensured to flexibly rotate along the end cover 2.

Wherein, the support baffle 23 has threely, and the support baffle 23 is the disc structure, and three support baffle 23 equidistant setting wears to be equipped with back shaft one 18 and back shaft two 19 on the support baffle 23, and back shaft one 18 has two, and back shaft two 19 has sixteen, and back shaft one 18 and back shaft two 19 set up along the axle center symmetry of support baffle 23, can realize the fixed of back shaft one 18 and back shaft two 19.

Wherein, it takes place bearing 20 to be provided with two harmonics on the 18 excircles of back shaft between the three support baffle 23, and harmonic takes place bearing 20 and 18 transition fit of back shaft, and it has three auxiliary support bearing 21 to lie in the card pressure between three support baffle 23 on the two 19 excircles of back shaft, and auxiliary support bearing 21 and the two 19 transition fits of back shaft can ensure that harmonic takes place bearing 20 and auxiliary support bearing 21 along the nimble rotation of one 18 of back shaft and two 19 of back shafts.

Wherein, the bearing support cutting ferrule 22 is clamped and pressed on the periphery of the first support shaft 18 between the harmonic generation bearing 20 and the support baffle 23 and on the periphery of the second support shaft 19 between the auxiliary support bearing 21 and the support baffle 23, the bearing support cutting ferrule 22 can play a role in supporting the harmonic generation bearing 20 and the auxiliary support bearing 21, the harmonic generation bearing 20 and the auxiliary support bearing 21 are prevented from contacting with the support baffle 23, and the rotating flexibility is improved.

The outer contours of the auxiliary supporting bearing 21 and the harmonic generation bearing 20 form an oval structure, the number of teeth of the inner gear ring 13 is two more than that of the outer gear ring 14, locking assemblies 24 pass through the three supporting baffles 23, the locking assemblies 24 are countersunk screws and nuts, and the locking assemblies 24 can fix the harmonic generator 15.

Wherein, another tip of flexible gear 12 has switching shaft coupling 11 through bolted connection, another tip of switching shaft coupling 11 has power transmission seat 3 through screwed connection, lie in on the 1 lateral wall of shell body on the power transmission seat 3 and seted up seal groove 9, the inside sealing washer 10 that is provided with of seal groove 9, sealing washer 10 is high temperature resistant sealing washer 10, sealing washer 10 can provide rotary seal to between power transmission seat 3 and the shell body 1, avoids the entering of outside dust.

Wherein, all block between adapter coupling 11 and power transmission seat 3 and the shell body 1 and press and be provided with end face bearing 8, there is external rotation seat 4 in power transmission seat 3 one side through the screw connection, there is power take-off subassembly 5 in external rotation seat 4 one side through the screw connection, 5 one side integrated into one piece of power take-off subassembly has output shaft 6, transmission keyway 7 has been seted up on the output shaft 6, 1 tip both sides of shell body and adapter coupling 11 and the setting of end face bearing 8 between the power transmission seat 3, can improve 5 pivoted flexibilities of power take-off subassembly greatly.

The working principle of the invention is as follows: when the harmonic drive reducer is used, an external power motor can be connected with a power input shaft 16, when the harmonic drive reducer is connected, a sealing gasket is pressed between the end face of the motor and an end cover 2 to seal the end face of the motor in a dustproof manner, the external power motor drives a harmonic generator 15 to rotate under the drive of the power input shaft 16 so as to drive a flexible gear 12 to rotate, an outer gear ring 14 on the flexible gear 12 is meshed with an inner gear ring 13 inside an outer shell 1 at the periphery of a harmonic generation bearing 20, because the inner gear ring 13 on the wall of the outer gear ring 14 is provided with two teeth, when the harmonic generator 15 rotates for one circle, the flexible gear 12 rotates for the angle of the two teeth, and then power is transmitted to a power output assembly 5 through a power transmission seat 3 and an external rotation seat 4, the purpose of speed reduction is achieved, and the end face bearings 8 between the two sides of the end part of the outer shell 1 and a transfer coupler 11 and the power transmission seat 3 are arranged, can improve power take off subassembly 5 pivoted flexibility greatly, take place bearing 20 and auxiliary stay bearing 21 and flexible gear 12 contact through setting up the harmonic, take place the harmonic motion, and the harmonic takes place bearing 20 and auxiliary stay bearing 21 and is the standard part, on the one hand can the greatly reduced cost, on the other hand can greatly improve maintenance efficiency, time saving, through horizontal rib 1201 of the inside integrative die-casting shaping of flexible gear 12 and vertical rib 1202, can improve the intensity and the rigidity of flexible gear 12, make through adopting die-casting technology, can improve the life of flexible gear 12 greatly.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.