阅读说明：本技术 波发生器组件及具有其的谐波减速器 (Wave generator subassembly and have its harmonic speed reducer ware ) 是由 程中甫 谷甲甲 袁成林 张亚超 杨繁荣 肖凤才 于 2021-09-29 设计创作，主要内容包括：本发明提供了一种波发生器组件及具有其的谐波减速器,波发生器适用于谐波减速器,包括凸轮和套设在凸轮上的柔性轴承,谐波减速器的柔轮套设在柔性轴承上,波发生器还包括：润滑剂腔,润滑剂腔包括设置在凸轮上的凸轮内腔的至少部分,凸轮上设置有用于连通凸轮内腔的内壁面和凸轮的外周面的连通孔；运动件,运动件可运动地设置在润滑剂腔内,以将润滑剂腔内的润滑剂经连通孔推送至柔性轴承处。本发明的波发生器解决了现有技术中的谐波减速器的柔性轴承的润滑效果较差的问题。(The invention provides a wave generator assembly and a harmonic reducer with the same, wherein the wave generator is suitable for the harmonic reducer and comprises a cam and a flexible bearing sleeved on the cam, a flexible gear of the harmonic reducer is sleeved on the flexible bearing, and the wave generator also comprises: the lubricant cavity comprises at least part of a cam inner cavity arranged on the cam, and the cam is provided with a communication hole for communicating the inner wall surface of the cam inner cavity with the outer peripheral surface of the cam; and the moving piece is movably arranged in the lubricant cavity to push the lubricant in the lubricant cavity to the flexible bearing through the communication hole. The wave generator solves the problem of poor lubricating effect of the flexible bearing of the harmonic reducer in the prior art.)

1. The utility model provides a wave generator subassembly, is applicable to harmonic speed reducer ware, establishes including cam (2) and cover flexible bearing (7) on cam (2), harmonic speed reducer ware's flexbile gear (10) cover is established flexible bearing (7) are last, its characterized in that, wave generator still includes:

a lubricant chamber (13), wherein the lubricant chamber (13) comprises at least part of a cam inner cavity (20) arranged on the cam (2), and a communication hole (24) for communicating the inner wall surface of the cam inner cavity (20) with the outer peripheral surface of the cam (2) is arranged on the cam (2);

a moving part (4), wherein the moving part (4) is movably arranged in the lubricant cavity (13) to push the lubricant in the lubricant cavity (13) to the flexible bearing (7) through the communication hole (24).

2. The wave generator assembly according to claim 1,

the moving part (4) is in transmission connection with the cam (2) so as to drive the moving part (4) to move through the rotation of the cam (2); or

The harmonic reducer comprises a driving part, and the driving part is in driving connection with the moving part (4) to drive the moving part (4) to move.

3. Wave generator assembly according to claim 1, characterised in that the moving part (4) is a screw, at least part of which is located inside the cam cavity (20), between the outer peripheral surface of which and the inner wall surface of the cam cavity (20) is intended to enclose the lubricant chamber (13).

4. The wave generator assembly according to claim 3,

a first bearing (51) is clamped between one end of the screw and the cam (2) to support the screw;

the cam (2) is connected with the screw through a one-way transmission mechanism, so that when the cam (2) drives the screw to rotate, the lubricant always flows towards a position close to the communication hole (24).

5. Wave generator assembly according to claim 3 or 4, characterized in that the connection between the cam (2) and the screw is by means of a ratchet mechanism (3).

6. Wave generator assembly according to claim 5, characterized in that the ratchet mechanism (3) comprises a ratchet wheel (31), a non-return pawl (32), a pawl swivel axis (33); the ratchet wheel (31) is fixedly sleeved on the outer peripheral surface of one end of the screw rod, and the non-return pawl (32) is fixed in the cam inner cavity (20) through the pawl rotating shaft (33) so as to push the ratchet wheel (31) and the screw rod to rotate in a single direction under the driving of the cam (2).

7. Wave generator assembly according to claim 6, characterized in that at least one of said ratchet wheel (31) and said non-return pawl (32) is made of a heat-sensitive material.

8. Wave generator assembly according to claim 3, characterized in that the connection between the cam (2) and the screw is by means of an overrunning clutch.

9. The wave generator assembly according to claim 1,

the cam (2) comprises a first shaft section (21) and a second shaft section (22), the first shaft section (21) being used for mounting the flexible bearing (7); the communication hole (24) is arranged on one side of the first shaft section (21) close to the second shaft section (22); wherein the second shaft section (22) has a cross-sectional area larger than the cross-sectional area of the first shaft section (21) to stop the movement of the lubricant away from the flexible bearing (7).

10. The wave generator assembly according to claim 9, characterized in that the cam (2) comprises a third shaft section (23) arranged between the first shaft section (21) and the second shaft section (22), the cross-sectional area of the third shaft section (23) being smaller than the cross-sectional area of the first shaft section (21), the communication hole (24) being arranged at the third shaft section (23).

11. Wave generator assembly according to claim 1 or 2, characterised in that the moving part (4) is a piston to push lubricant through the communication holes (24) to the flexible bearing (7) by the telescopic movement of the piston.

12. The wave generator assembly according to claim 11, wherein the harmonic reducer comprises a rigid gear (8) sleeved on the flexible gear (10), the wave generator assembly further comprises an output flange (1), the output flange (1) comprises a flange main body (101) and an insertion section (102) arranged on one side of the flange main body (101) close to the cam (2), the flange main body (101) is connected with the rigid gear (8), the insertion section (102) is inserted into the cam inner cavity (20) of the cam (2), and the lubricant cavity (13) is enclosed between the insertion section (102) and the inner wall surface of the cam inner cavity (20) and the outer circumferential surface of the moving member (4).

13. Wave generator assembly according to claim 12, characterised in that the insert section (102) is provided with a housing cavity (103) and an opening communicating with the housing cavity (103), the opening being located at an end of the insert section (102) remote from the flange body (101) to communicate the housing cavity (103) with the cam inner cavity (20), the housing cavity (103) and the outer peripheral surface of the moving member (4) being arranged to enclose the lubricant cavity (13).

14. The wave generator assembly according to claim 13, wherein the insert section (102) is provided with an injection hole (104), and both ends of the injection hole (104) are respectively located on an inner wall surface of the accommodating cavity (103) and an outer circumferential surface of the insert section (102) to inject lubricant into the accommodating cavity (103) through the injection hole (104).

15. Wave generator assembly according to claim 14, characterised in that the mobile element (4) is a screw, between one end of which a first bearing (51) is interposed and the cam (2) and between the other end of which a second bearing (52) is interposed and the output flange (1).

16. A harmonic reducer comprising a wave generator assembly according to any one of claims 1 to 15.

Technical Field

The invention relates to the technical field of speed reducers, in particular to a wave generator assembly and a harmonic speed reducer with the same.

Background

The harmonic reducer is mainly composed of a rigid gear, a flexible gear and a wave generator, and has the advantages of high transmission precision, large speed ratio, small volume, simple structure, wide application and the like. The working process of the harmonic reducer is that the rigid wheel is generally fixed, and the wave generator rotates to enable the flexible wheel to generate elastic deformation so that the teeth of the flexible wheel and the teeth of the rigid wheel enter a meshing state, and therefore transmission is achieved.

In the prior art, in order to ensure the normal operation of the harmonic reducer, a lubricant is generally required to be added between a rigid gear and a flexible gear and between the flexible gear and a wave generator so as to meet the lubricating requirement of the harmonic reducer; however, the lubricant required by the harmonic reducer generally needs to be specially customized, the temperature range of the working condition which can be supported by the lubricant used by the current harmonic reducer is small, when the temperature of the harmonic reducer is too high, the lubricating effect of the lubricant is easy to lose, and if the lubricant loses efficacy, the lubricant can not play a good lubricating effect even if the lubricant can flow, so that the lubricating effect on the harmonic reducer is insufficient, the abrasion of the harmonic reducer is greatly increased, and the service life of the harmonic reducer is shortened. In addition, when the lubricant is added to the harmonic reducer which utilizes the lubricant to realize the lubricating effect in the prior art, the harmonic reducer needs to be disassembled to realize the lubricant filling, and the operation is complex.

The service life of the harmonic reducer is mainly determined by the service life of the flexible bearing, and the failure mode of the flexible bearing is mainly fatigue wear caused by poor lubrication. Because the inside of the harmonic reducer is usually a closed cavity, a lubricating mode generally uses a lubricating mode, in order to prevent the problems of oil leakage of the reducer, overhigh temperature rise of the reducer and the like caused by large pressure of the inner cavity, the oil injection amount in the cavity is usually not more than 60% of the volume of the whole cavity, and because the fluidity of the lubricating agent is poor, the lubricating agent can be accumulated to one end of the cavity when the harmonic reducer is used for a long time, so that the lubricating agent cannot reach the flexible bearing to cause the failure of the flexible bearing. Therefore, the good lubricating condition of the flexible bearing needs to be ensured, the service life of the flexible bearing is prolonged, and the service life of the whole reducer is prolonged.

In contrast, some barrier designs are added in the harmonic reducer, so that each area forms an independent closed space, and grease cannot flow mutually, so that the grease lubrication conditions of each part are improved, but the problem of poor lubrication caused by accumulation of grease in a non-working area cannot be solved; it is also proposed that a first inner cavity is arranged in a wave generator of the harmonic reducer structure, and a transmission part of the wave generator is provided with a first flow through hole communicated with the first inner cavity; the rigid wheel is provided with a second inner cavity, the inner wall of the rigid wheel is provided with a second flow through hole communicated with the second inner cavity, and fluid lubricating media are suitable to be introduced into the first inner cavity and the second inner cavity through the first flow through hole and the second flow through hole respectively, so that a good lubricating effect is realized.

However, both of the above methods have the disadvantage that it is difficult to achieve the interconnection of the grease in each cavity due to the poor fluidity of the lubricant of the harmonic reducer.

Disclosure of Invention

The invention mainly aims to provide a wave generator assembly and a harmonic reducer with the same, and aims to solve the problem that a flexible bearing of the harmonic reducer in the prior art is poor in lubricating effect.

In order to achieve the above object, according to one aspect of the present invention, there is provided a wave generator assembly adapted to a harmonic reducer, including a cam and a flexible bearing sleeved on the cam, wherein a flexible gear of the harmonic reducer is sleeved on the flexible bearing, and the wave generator further includes: the lubricant cavity comprises at least part of a cam inner cavity arranged on the cam, and the cam is provided with a communication hole for communicating the inner wall surface of the cam inner cavity with the outer peripheral surface of the cam; and the moving piece is movably arranged in the lubricant cavity to push the lubricant in the lubricant cavity to the flexible bearing through the communication hole.

Furthermore, the moving part is in transmission connection with the cam so as to drive the moving part to move through the rotation of the cam; or the harmonic reducer comprises a driving part which is in driving connection with the moving part so as to drive the moving part to move.

Furthermore, the moving part is a screw, at least part of the screw is positioned in the cam inner cavity, and a lubricant cavity is enclosed between the outer peripheral surface of the screw and the inner wall surface of the cam inner cavity.

Furthermore, a first bearing is clamped between one end of the screw and the cam to support the screw; the cam is connected with the screw rod through a one-way transmission mechanism, so that when the cam drives the screw rod to rotate, the lubricant always flows towards the position close to the communicating hole.

Further, the cam is connected with the screw through a ratchet mechanism.

Further, the ratchet mechanism comprises a ratchet wheel, a non-return pawl and a pawl rotating shaft; the ratchet wheel is fixedly sleeved on the outer peripheral surface of one end of the screw rod, and the non-return pawl is fixed in the inner cavity of the cam through the pawl rotating shaft so as to push the ratchet wheel and the screw rod to rotate in a single direction under the driving of the cam.

Further, at least one of the ratchet and the check pawl is made of a heat sensitive material.

Further, the cam is connected with the screw through an overrunning clutch.

Further, the cam comprises a first shaft section and a second shaft section, wherein the first shaft section is used for mounting a flexible bearing; the communication hole is arranged on one side of the first shaft section close to the second shaft section; wherein the second shaft section has a cross-sectional area greater than the cross-sectional area of the first shaft section to stop movement of the lubricant away from the compliant bearing.

Further, the cam includes a third shaft section provided between the first shaft section and the second shaft section, the third shaft section having a cross-sectional area smaller than that of the first shaft section, and the communication hole is provided at the third shaft section.

Further, the moving part is a piston, so that the lubricant is pushed to the flexible bearing through the communication hole by the telescopic motion of the piston.

Further, the harmonic reducer comprises a rigid wheel sleeved on the flexible wheel, the wave generator assembly further comprises an output flange, the output flange comprises a flange main body and an insertion section arranged on one side, close to the cam, of the flange main body, the flange main body is connected with the rigid wheel, the insertion section is inserted into the cam inner cavity of the cam, and a lubricant cavity is formed between the inner wall surface of the insertion section and the cam inner cavity and the outer peripheral surface of the moving piece in a surrounding mode.

Further, the inserting section is provided with an accommodating cavity and an opening part communicated with the accommodating cavity, the opening part is positioned at one end, far away from the flange main body, of the inserting section, so that the accommodating cavity is communicated with the inner cavity of the cam, and a lubricant cavity is formed between the accommodating cavity and the outer peripheral surface of the moving part in a surrounding mode.

Further, the insertion section is provided with an injection hole, and two ends of the injection hole are respectively positioned on the inner wall surface of the accommodating cavity and the outer peripheral surface of the insertion section so as to inject the lubricant into the accommodating cavity through the injection hole.

Furthermore, the moving part is a screw rod, a first bearing is clamped between one end of the screw rod and the cam, and a second bearing is clamped between the other end of the screw rod and the output flange.

According to another aspect of the present invention, there is provided a harmonic reducer comprising the wave generator assembly described above.

By applying the technical scheme of the invention, the wave generator component is suitable for a harmonic reducer and comprises a cam and a flexible bearing sleeved on the cam, wherein a flexible gear of the harmonic reducer is sleeved on the flexible bearing, and the wave generator further comprises: the lubricant cavity comprises at least part of a cam inner cavity arranged on the cam, and the cam is provided with a communication hole for communicating the inner wall surface of the cam inner cavity with the outer peripheral surface of the cam; and the moving piece is movably arranged in the lubricant cavity to push the lubricant in the lubricant cavity to the flexible bearing through the communication hole. The movable part is arranged in the lubricant cavity of the harmonic reducer, and the communicating hole is arranged on the cam for guiding the flowing of the lubricant, so that the defects that the lubricant in the lubricant cavity of the harmonic reducer is poor in fluidity and is difficult to reach the flexible bearing are overcome.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 illustrates a schematic structural diagram of an embodiment of a harmonic reducer according to the present invention;

FIG. 2 illustrates an exploded view of the harmonic reducer of FIG. 1;

FIG. 3 illustrates a schematic structural view of an output flange of the harmonic reducer of FIG. 1;

FIG. 4 is a schematic diagram illustrating a construction of a cam of the harmonic reducer of FIG. 1; and

fig. 5 shows a schematic structural view of a ratchet mechanism of the harmonic reducer shown in fig. 1.

Wherein the figures include the following reference numerals:

1. an output flange; 101. a flange body; 102. an insertion section; 103. an accommodating chamber; 104. an injection hole; 105. a second bearing mounting groove; 2. a cam; 20. an inner cavity of the cam; 21. a first shaft section; 22. a second shaft section; 23. a third shaft section; 24. a communicating hole; 25. a first bearing mounting groove; 26. a fastener hole; 27. a keyway; 3. a ratchet mechanism; 31. a ratchet wheel; 32. a non-return pawl; 33. a pawl rotating shaft; 4. a moving member; 51. a first bearing; 52. a second bearing; 61. a third bearing; 62. a fourth bearing; 7. a compliant bearing; 8. a rigid wheel; 9. a rigid bearing; 10. a flexible gear; 11. an input flange; 111. an annular boss; 12. oil sealing; 13. a lubricant chamber.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The wave generator of the harmonic reducer in the prior art comprises an elliptical cam, wherein the elliptical long axis of the cam is larger than the inner diameter of a flexible gear, when the cam of the wave generator is inserted into an inner hole of the flexible gear, the open end of the flexible gear deforms along with the shape of the cam, the open end of the flexible gear is tightly supported and outwards expanded at the position close to the long axis of the cam, and the open end of the flexible gear is inwards contracted at the position close to the short axis of the cam because the perimeter of the flexible gear is basically unchanged; at the same time, the diameter of the cylinder bottom far from the opening end on the flexible gear has no change or only a small change. Therefore, when the wave generator rotates, the repeated deformation of the opening end of the flexible gear can force the lubricating grease in the cavity of the speed reducer to accumulate towards one end close to the output flange.

As shown in fig. 1 to 5, the present invention provides a wave generator assembly, which is suitable for a harmonic reducer, and includes a cam 2 and a flexible bearing 7 sleeved on the cam 2, wherein a flexible gear 10 of the harmonic reducer is sleeved on the flexible bearing 7, and the wave generator further includes: a lubricant chamber 13, the lubricant chamber 13 including at least a part of a cam inner chamber 20 provided on the cam 2, the cam 2 being provided with a communication hole 24 for communicating an inner wall surface of the cam inner chamber 20 with an outer peripheral surface of the cam 2; and the moving piece 4, wherein the moving piece 4 is movably arranged in the lubricant cavity 13 to push the lubricant in the lubricant cavity 13 to the flexible bearing 7 through the communication hole 24.

The wave generator assembly of the invention is suitable for the harmonic reducer, including the cam 2 and is fitted over the flexible bearing 7 on the cam 2, the flexible gear 10 of the harmonic reducer is fitted over the flexible bearing 7, the wave generator also includes: a lubricant chamber 13, the lubricant chamber 13 including at least a part of a cam inner chamber 20 provided on the cam 2, the cam 2 being provided with a communication hole 24 for communicating an inner wall surface of the cam inner chamber 20 with an outer peripheral surface of the cam 2; and the moving piece 4, wherein the moving piece 4 is movably arranged in the lubricant cavity 13 to push the lubricant in the lubricant cavity 13 to the flexible bearing 7 through the communication hole 24. The movable part 4 is arranged in the lubricant cavity 13 of the harmonic reducer, and the communicating hole 24 is arranged on the cam 2 to guide the flowing of the lubricant, so that the defects that the flowability of the lubricant in the lubricant cavity 13 of the harmonic reducer is poor and the lubricant is difficult to reach the flexible bearing 7 are avoided, when the wave generator rotates to enable the opening end of the flexible gear 10 to repeatedly deform so as to force the lubricating grease in the cavity of the harmonic reducer to be accumulated to one end close to the output flange, the movable part 4 can timely push the accumulated lubricant to the flexible bearing 7 through the communicating hole 24, and the problem that the lubricating effect of the flexible bearing of the harmonic reducer in the prior art is poor is solved.

Optionally, the moving part 4 is in transmission connection with the cam 2, so that the moving part 4 is driven to move by the rotation of the cam 2; or the harmonic reducer comprises a driving part which is in driving connection with the moving part 4 to drive the moving part 4 to move.

In the embodiment of the present invention shown in fig. 1 to 5, the moving member 4 is a screw, at least a part of the screw is located in the cam cavity 20, and a lubricant cavity 13 is defined between the outer circumferential surface of the screw and the inner wall surface of the cam cavity 20.

As shown in fig. 1, a first bearing 51 is arranged between one end of the screw and the cam 2 to support the screw; the cam 2 is connected with the screw through a one-way transmission mechanism, so that when the cam 2 drives the screw to rotate, the lubricant always flows towards a position close to the communication hole 24.

Since the screw has a rotational direction, if the cam 2 and the screw are always connected, when the cam 2 rotates in the forward direction or the reverse direction, the screw is driven to rotate to push the lubricant in the lubricant chamber 13 to move to a position close to the communication hole 24 or push the lubricant in the lubricant chamber 13 to move to a position far from the communication hole 24. Therefore, the cam 2 and the screw rod need to be connected through the one-way transmission mechanism, when the cam 2 drives the screw rod to rotate in the forward direction, the screw rod is driven to rotate to push the lubricant to move to the position close to the communication hole 24, when the cam 2 drives the screw rod to rotate in the reverse direction, the cam 2 can be separated from the screw rod to enable the screw rod to be immobile, so that the lubricant is always pushed to move to the position close to the communication hole 24 when the screw rod rotates, the lubricant accumulated in the lubricant cavity 13 is conveyed to the flexible bearing 7, the lubrication state of the flexible bearing 7 is improved, the problem of fatigue wear failure of the flexible bearing 7 due to poor lubrication is solved, and the service life of the whole harmonic reducer is prolonged.

Wherein, the one-way transmission mechanism is a ratchet mechanism 3, and the cam 2 is connected with the screw rod through the ratchet mechanism 3.

As shown in fig. 5, the ratchet mechanism 3 includes a ratchet 31, a check pawl 32, a pawl rotation shaft 33; the ratchet wheel 31 is fixedly sleeved on the outer peripheral surface of one end of the screw rod, the check pawl 32 is fixed in the cam inner cavity 20 through the pawl rotating shaft 33, a spring is arranged between the check pawl 32 and the pawl rotating shaft 33, the check pawl 32 is driven to move when the cam 2 rotates, the check pawl 32 can push the ratchet wheel 31 to rotate towards the positive direction and prevent the ratchet wheel 31 from rotating towards the negative direction, and when the cam 2 rotates in the negative direction, the ratchet wheel 31 and the check pawl 32 automatically slip, so that the one-way transmission between the cam 2 and the screw rod is realized.

Preferably, at least one of the ratchet wheel 31 and the check pawl 32 is made of a heat sensitive material that expands in volume when heated. Thus, when the temperature in the lubricant chamber 13 is lower than the predetermined temperature, there is a gap between the ratchet 31 and the check pawl 32 to separate the cam 2 from the screw, and the screw does not rotate regardless of whether the cam 2 rotates in the forward direction or the reverse direction; when the temperature in the lubricant cavity 13 is higher than or equal to the predetermined temperature, the volume of at least one of the ratchet wheel 31 and the check pawl 32 expands, so that the ratchet wheel 31 and the check pawl 32 contact with each other to realize the one-way transmission between the cam 2 and the screw, thereby driving the screw to rotate to deliver the lubricant to the flexible bearing 7.

In another embodiment of the invention, the one-way transmission mechanism is an overrunning clutch, and the cam 2 is connected with the screw through the overrunning clutch so as to realize one-way transmission between the cam 2 and the screw.

As shown in fig. 4, the cam 2 comprises a first shaft segment 21 and a second shaft segment 22, the first shaft segment 21 being used for mounting the flexible bearing 7; the communication hole 24 is arranged on one side of the first shaft section 21 close to the second shaft section 22; wherein the second shaft section 22 has a cross-sectional area larger than the cross-sectional area of the first shaft section 21 to stop the movement of the lubricant away from the flexible bearing 7. The second shaft section 22 is provided to stop the movement of the lubricant between the first shaft section 21 and the second shaft section 22 away from the flexible bearing 7 and prevent the retainer of the flexible bearing 7 from falling off.

Preferably, the number of the communication holes 24 is plural, and the plural communication holes 24 are arranged at intervals around the axial direction of the cam 2.

As shown in fig. 4, the cam 2 includes a third shaft section 23 disposed between the first shaft section 21 and the second shaft section 22, the third shaft section 23 having a cross-sectional area smaller than that of the first shaft section 21, and a communication hole 24 provided at the third shaft section 23.

Specifically, the third shaft segment 23 is a relief groove machined at one end of the first shaft segment 21 close to the second shaft segment 22 to ensure the machining accuracy of the mounting surface of the flexible bearing 7 of the first shaft segment 21.

In a further embodiment of the invention, the moving element 4 is a piston, so that lubricant is pushed through the communication holes 24 to the flexible bearing 7 by the telescopic movement of the piston.

In particular, the moving element 4 can be of a structure similar to a small compressor, the piston of which is used to push the lubricant in motion, which can achieve better results, but the processing cost is higher correspondingly, and the structure is more complex.

As shown in fig. 1 to 3, the harmonic reducer includes a rigid gear 8 sleeved on a flexible gear 10, the wave generator assembly further includes an output flange 1, the output flange 1 includes a flange main body 101 and an insertion section 102 disposed on one side of the flange main body 101 close to the cam 2, the flange main body 101 is connected with the rigid gear 8, the insertion section 102 is inserted into the cam inner cavity 20 of the cam 2, and a lubricant cavity 13 is defined between the insertion section 102 and the inner wall surface of the cam inner cavity 20 and the outer peripheral surface of the moving member 4.

The insertion section 102 is provided with an accommodating cavity 103 and an opening part communicated with the accommodating cavity 103, the opening part is positioned at one end of the insertion section 102 far away from the flange main body 101 so as to communicate the accommodating cavity 103 with the cam inner cavity 20, and a part of the lubricant cavity 13 is enclosed between the accommodating cavity 103 and the outer peripheral surface of the moving part 4.

Preferably, the insertion section 102 is provided with a filling hole 104, and two ends of the filling hole 104 are respectively located on an inner wall surface of the accommodation cavity 103 and an outer circumferential surface of the insertion section 102, so as to fill the lubricant into the accommodation cavity 103 through the filling hole 104.

In the embodiment of the present invention shown in fig. 1 to 4, the moving member 4 is a screw, a first bearing 51 is interposed between one end of the screw and the cam 2, and a second bearing 52 is interposed between the other end of the screw and the output flange 1, so that the screw is supported by the first bearing 51 and the second bearing 52.

Wherein, the cam inner cavity 20 of the cam 2 comprises a first bearing installation groove 25 for installing the outer ring of the first bearing 51, and one end of the insertion section 102 is provided with a second bearing installation groove 105 for installing the outer ring of the second bearing 52.

The invention also provides a harmonic reducer, which comprises the wave generator assembly.

One end of a cam 2 of the harmonic reducer is far away from an output flange 1 and is used for being connected with an output shaft of a motor so as to rotate under the driving of the output shaft of the motor. Optionally, the cam 2 is connected with the motor through a spline structure; or the cam 2 is connected with the motor through a flat key structure and a fastener, as shown in fig. 4, a key groove 27 is arranged in a shaft hole of the cam 2, which is used for being connected with an output shaft of the motor, a fastener hole 26 perpendicular to a rotation axis of the cam 2 is further arranged on the cam 2, one end of the fastener hole 26 is located on the outer circumferential surface of the cam 2, one end of the fastener hole 26 is located on a groove wall surface of the key groove 27, and one end of the fastener passes through the fastener hole 26 and abuts against the flat key in the key groove 27, so that tight connection and quick assembly and disassembly between the cam 2 and the motor are realized.

Specifically, the harmonic reducer of the invention is a hat-type harmonic reducer, the flexible gear 10 of the harmonic reducer is hat-type, the flexible gear 10 comprises a first ring body and a second ring body which are coaxially arranged and connected, the diameter of the first ring body is larger than that of the second ring body, and the thickness of the first ring body is smaller than that of the second ring body; the harmonic speed reducer ware still includes input flange 11, the first ring body of flexbile gear 10 and input flange 11 fixed connection are on the front end lid of motor, the one end that first ring body was kept away from to the second ring body of flexbile gear 10 passes through the internal tooth meshing of external tooth and the one end of rigid wheel 8, the one end that the second ring body of flexbile gear 10 is close to first ring body passes through fastener and rigid bearing 9's outer lane fixed connection, rigid wheel 8 and rigid bearing 9's inner circle fixed connection, output flange 1's flange main part 101 passes through fastener and rigid wheel 8 fixed connection.

Preferably, an annular boss 111 used for being matched with a groove on a front end cover of the motor is arranged on one side end face, away from the output flange 1, of the input flange 11, and the outer diameter of the annular boss 111 is the same as that of a boss on the cup-shaped harmonic reducer, so that the hat-shaped harmonic reducer can be applied to more working scenes instead of the cup-shaped harmonic reducer.

As shown in fig. 1, a third bearing 61 is interposed between the outer peripheral surface of the cam 2 and the input flange 11, a fourth bearing 62 is interposed between the outer peripheral surface of the cam 2 and the flange main body 101 of the output flange 1 to support the cam 2 through the third bearing 61 and the fourth bearing 62, an oil seal 12 is further interposed between the outer peripheral surface of the cam 2 and the input flange 11, and the oil seal 12 is located on a side of the third bearing 61 close to the front end cover of the motor to prevent the lubricant inside the harmonic reducer from flowing out of the harmonic reducer from the third bearing 61.

In addition, one end, far away from the rigid wheel 8, of the flange main body 101 of the output flange 1 is used for being connected with a load, the structure of the output flange 1 can be designed into different structures according to the interface form of the load, so that the number of intermediate transition connecting pieces is reduced, the assembly links are reduced, and the reliability and the dismounting efficiency of the whole harmonic reducer are improved.

The motion process of the harmonic reducer of the invention is as follows:

when the output shaft of the motor drives the cam 2 of the wave generator to rotate, the cam 2 drives the flexible bearing 7 to rotate, the flexible bearing 7 transmits the motion to the flexible gear 10, the flexible gear 10 is meshed with the rigid gear 8 for transmission, and the outer rings of the flexible gear 10 and the rigid bearing 9 and the input flange 11 are fixed with the front end cover of the motor, so the motion after speed reduction is output through the rigid gear 8, the inner ring of the rigid bearing 9 connected with the rigid gear 8 and the output flange 1.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

the wave generator assembly of the invention is suitable for the harmonic reducer, including the cam 2 and is fitted over the flexible bearing 7 on the cam 2, the flexible gear 10 of the harmonic reducer is fitted over the flexible bearing 7, the wave generator also includes: a lubricant chamber 13, the lubricant chamber 13 including at least a part of a cam inner chamber 20 provided on the cam 2, the cam 2 being provided with a communication hole 24 for communicating an inner wall surface of the cam inner chamber 20 with an outer peripheral surface of the cam 2; and the moving piece 4, wherein the moving piece 4 is movably arranged in the lubricant cavity 13 to push the lubricant in the lubricant cavity 13 to the flexible bearing 7 through the communication hole 24. The movable part 4 is arranged in the lubricant cavity 13 of the harmonic reducer, and the communicating hole 24 is arranged on the cam 2 to guide the flowing of the lubricant, so that the defects that the flowability of the lubricant in the lubricant cavity 13 of the harmonic reducer is poor and the lubricant is difficult to reach the flexible bearing 7 are avoided, when the wave generator rotates to enable the opening end of the flexible gear 10 to repeatedly deform so as to force the lubricating grease in the cavity of the harmonic reducer to be accumulated to one end close to the output flange, the movable part 4 can timely push the accumulated lubricant to the flexible bearing 7 through the communicating hole 24, and the problem that the lubricating effect of the flexible bearing of the harmonic reducer in the prior art is poor is solved.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.