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CN-121993572-A - Transmission mechanism for harmonic speed reducer

CN121993572ACN 121993572 ACN121993572 ACN 121993572ACN-121993572-A

Abstract

The application provides a transmission mechanism for a harmonic reducer, which comprises a wave generator, a flexible gear, a first inner ring, a second inner ring and a torque sensor, wherein the flexible gear is provided with a first wall part extending along the axis direction and a second wall part extending along the radial direction, the first wall part is sleeved on the outer side of a cam and can be in contact with the cam to deform, the second wall part is arranged at one end of the first wall part, which is far away from the cam, the outer side wall of the first wall part is provided with a first tooth part, the first inner ring is sleeved on the outer side of the first wall part of the flexible gear, the outer wall of the first inner ring is provided with a second tooth part which can be meshed with the first tooth part of the first wall part of the flexible gear, the second inner ring is sleeved on the outer side of the first wall part of the flexible gear, the outer ring is sleeved on the outer sides of the first inner ring and the second inner ring, and the torque sensor is fixedly connected with the second wall part of the flexible gear and fixedly connected with the outer ring. Because the torque sensor is flexible as a whole, when the harmonic speed reducer works, the stress deformation of the flexible gear is greatly released through the torque sensor, and the service life of the flexible gear is prolonged by 2-4 times.

Inventors

  • GU JIANZU

Assignees

  • 苏州本尔灵科技有限公司

Dates

Publication Date
20260508
Application Date
20260202
Priority Date
20251216

Claims (10)

  1. 1.A transmission mechanism for a harmonic speed reducer, comprising: A wave generator, said wave generator comprising a cam; The flexible gear is provided with a first wall part extending along the axial direction and a second wall part extending along the radial direction, the first wall part is sleeved outside the cam and can be in contact with the cam to deform, the second wall part is arranged at one end of the first wall part, which is away from the cam, and the outer side wall of the first wall part is provided with a first tooth part; The first inner ring is sleeved outside the first wall part of the flexible gear, and the outer wall of the first inner ring is provided with a second tooth part which can be meshed with the first tooth part of the first wall part of the flexible gear; The second inner ring is sleeved outside the first wall part of the flexible gear, and the second inner ring is positioned between the first inner ring and the second wall part of the flexible gear along the axial direction; The outer ring is sleeved outside the first inner ring and the second inner ring, the outer ring is matched with the first inner ring through a first roller, and the outer ring is matched with the second inner ring through a second roller; The torque sensor is fixedly connected with the second wall part of the flexible gear, and the torque sensor is fixedly connected with the outer ring.
  2. 2. The transmission of claim 1, wherein the outer race, the first rollers, and the first inner race form a crossed roller bearing.
  3. 3. The transmission of claim 1, wherein the outer race, the second rollers, and the second inner race form a ball bearing or a cross roller bearing.
  4. 4. The transmission of claim 1, wherein the second roller and the second inner race are configured to be concentric.
  5. 5. The transmission mechanism of claim 1, wherein a thin-walled bearing is disposed between the cam and the first wall portion of the flexspline.
  6. 6. The transmission mechanism of claim 1, comprising a housing, wherein the outer race is fixedly coupled to the housing.
  7. 7. A transmission according to claim 1, wherein the first inner ring is provided with a third tooth for outward output on its side facing away from the second inner ring.
  8. 8. The transmission of claim 1, wherein the entirety of the torque sensor is flexible.
  9. 9. The transmission mechanism of claim 1, wherein the flex gear is of unitary construction.
  10. 10. The transmission mechanism of claim 1, wherein the first inner race is of unitary construction.

Description

Transmission mechanism for harmonic speed reducer Technical Field The application relates to the technical field of harmonic speed reducers, in particular to a transmission mechanism for a harmonic speed reducer. Background The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. The harmonic speed reducer in the prior art generally comprises a wave generator, a flexspline and a steel spline. According to the output mode, a harmonic speed reducer in the prior art drives a steel wheel to output through the fixation of a flexible wheel. In this kind of harmonic reducer, one end of the flexspline is provided outside the wave generator, and the other end is fixed with the outer race of the crossed roller bearing. The inner rings of the crossed roller bearings are output outwards through the steel wheels. It should be noted that the foregoing description of the background art is only for the purpose of providing a clear and complete description of the technical solution of the present application and is presented for the convenience of understanding by those skilled in the art. The above-described solutions are not considered to be known to the person skilled in the art simply because they are set forth in the background of the application section. Disclosure of Invention The present application is based on and claims priority from chinese patent application number 2025226608591, day 2025, month 12, and 16, which is incorporated herein by reference in its entirety. Through creative findings of the inventor, the harmonic speed reducer output through the steel wheel in the background technology has at least one of the following defects: (1) The flexible gear is easy to wear, so that the service life is short; (2) The shock resistance of the whole structure is weak, and the harmonic speed reducer is possibly damaged under the scene of high load; (3) The start-up is too fast. Based on the foregoing prior art drawbacks, the transmission mechanism for a harmonic reducer of the present application is used to solve at least one of the above problems. In order to achieve the above purpose, the application provides a transmission mechanism for a harmonic speed reducer, comprising: A wave generator, said wave generator comprising a cam; The flexible gear is provided with a first wall part extending along the axial direction and a second wall part extending along the radial direction, the first wall part is sleeved outside the cam and can be in contact with the cam to deform, the second wall part is arranged at one end of the first wall part, which is away from the cam, and the outer side wall of the first wall part is provided with a first tooth part; The first inner ring is sleeved outside the first wall part of the flexible gear, and the outer wall of the first inner ring is provided with a second tooth part which can be meshed with the first tooth part of the first wall part of the flexible gear; The second inner ring is sleeved outside the first wall part of the flexible gear, and the second inner ring is positioned between the first inner ring and the second wall part of the flexible gear along the axial direction; The outer ring is sleeved outside the first inner ring and the second inner ring, the outer ring is matched with the first inner ring through a first roller, and the outer ring is matched with the second inner ring through a second roller; The torque sensor is fixedly connected with the second wall part of the flexible gear, and the torque sensor is fixedly connected with the outer ring. Preferably, the outer race, the first rollers and the first inner race form a crossed roller bearing. Preferably, the outer race, the second rollers and the second inner race form a ball bearing or a cross roller bearing. Preferably, the second roller and the second inner race are for concentricity. Preferably, a thin-wall bearing is arranged between the cam and the first wall part of the flexible gear. Preferably, the outer ring is fixedly connected with the shell. Preferably, the first inner ring is provided with a third tooth for outward output on a side thereof facing away from the second inner ring. Preferably, the entirety of the torque sensor is flexible. Preferably, the flex gear is of unitary construction. Preferably, the first inner race is of unitary construction. By the technical scheme, the application has the beneficial effects that: (1) One end of the flexible gear is arranged on the outer side of the cam, and the other end of the flexible gear is fixed with the torque sensor. Because the torque sensor is flexible as a whole, when the harmonic speed reducer works, the stress deformation of the flexible gear is greatly released through the torque sensor, and the service life of the flexible gear is prolonged by 2-4 times; (2) Due to the effect of the torsion sensor, the impact resistance of the transmission mechanism is further enh