CN-224214655-U - Connection structure of wave generator and input shaft of harmonic reducer

Abstract

The utility model relates to a connecting structure of a wave generator and an input shaft of a harmonic reducer, which comprises the wave generator and the input shaft, wherein one end of the input shaft is provided with external spline teeth, the middle part of the wave generator is provided with a stepped through hole, the wall of the through hole with the minimum aperture is provided with internal spline teeth, the input shaft is inserted into the through hole of the wave generator, and two sides of the through hole with the minimum aperture of the input shaft are respectively provided with a clamp spring in a clamping way. The spline is adopted as a main torque transmission and radial positioning mode, is obviously superior to interference fit, has a large spline engagement surface and strong bearing capacity, can provide excellent radial centering precision, effectively ensures the coaxiality of the wave generator and the input shaft, reduces the risks of vibration and noise from the root, and improves the transmission precision and the service life of the flexible gear. In addition, the structure that the double clamping springs are used for axial limiting is adopted, so that the whole structure is extremely compact and reliable, and the assembly is simple, convenient and efficient.

Inventors

• JIN QIQIAN
• GAO ZHICHUAN
• ZHANG HONG
• NIU MINGKUI

Assignees

• 浙江方德机器人关节科技有限公司

Dates

Publication Date

20260508

Application Date

20250605

Claims (5)

1. 1. The connecting structure of the wave generator and the input shaft of the harmonic reducer is characterized by comprising the wave generator and the input shaft, wherein one end of the input shaft (32) is provided with external spline teeth, the middle part of the wave generator is provided with a stepped through hole, the through hole wall with the minimum aperture is provided with internal spline teeth (53), the input shaft (32) is inserted into the through hole of the wave generator, and two sides of the through hole with the minimum aperture, which are positioned by the input shaft (32), are respectively provided with snap springs (12).
2. 2. The connection structure of a wave generator and an input shaft of a harmonic reducer according to claim 1, wherein the wave generator comprises an elliptic cam (5) and a thin-wall bearing (6), the elliptic cam (5) is provided with a reverse truncated cone connecting section (52), an outer convex edge (50) is further arranged on the outer wall of one side of the reverse truncated cone connecting section (52), the thin-wall bearing (6) is tightly sleeved on the elliptic cam (5), and one side of the thin-wall bearing abuts against the outer convex edge (50).
3. 3. The connection structure of the wave generator and the input shaft of the harmonic reducer according to claim 1, wherein the stepped through hole is provided in the elliptical cam (5) and includes three sections of hollow cylinders with different apertures, and a step surface (51) for mounting the support bearing is formed between the outermost hollow cylinder and the middle hollow cylinder.
4. 4. The connection structure of a wave generator of a harmonic reducer and an input shaft according to claim 1, characterized in that the external spline teeth and the internal spline teeth (53) are side-centred and/or large-diameter-centred.
5. 5. The connection structure of a wave generator and an input shaft of a harmonic reducer according to claim 1, wherein a bearing is further tightly sleeved at the other end of the input shaft (32), a limiting ring (321) is further arranged at the other end of the input shaft (32), and one side of the bearing is abutted against the limiting ring (321).

Description

Connection structure of wave generator and input shaft of harmonic reducer Technical Field The utility model belongs to the technical field of robot joint modules, and particularly relates to a connecting structure of a wave generator and an input shaft of a harmonic reducer. Background The harmonic reducer is used as a precise power transmission device, and is widely applied to the fields of high-precision motion control of industrial robots, aerospace, precise machine tools and the like by virtue of the advantages of high reduction ratio, small volume, high precision, zero backlash and the like. The connection structure of the core component wave generator and the input shaft directly determines the reliability and coaxial precision of power transmission and the running stability of the whole machine. The traditional connection mode of the wave generator and the input shaft mainly comprises the following two modes: 1. Interference fit, namely torque transmission and fixation are realized by utilizing the interference between the shaft and the hole. The defects are that 1, the assembly and the disassembly are difficult, the assembly and the disassembly require larger pressure or heating/cooling, the operation is inconvenient, and the matching surface is easy to damage. 2. Fretting wear risk is that under alternating loads fretting wear of the mating surfaces may occur, resulting in loose mating or production of wear debris contaminating the interior of the reducer. 3. Thermal expansion effects working temperature rise can affect the interference resulting in loose or over-tightening of the fit. 2. The flange plate is connected with the wave generator through the flange plate and the bolt. The mode has the defects of 1, complex structure and large volume, and is unfavorable for miniaturization and light weight of the harmonic reducer due to the fact that the flange plate and the bolts are added. 2. Dynamic balance challenges are that multiple bolting points may introduce an amount of unbalance, affecting the smoothness of high speed operation. 3. The assembly efficiency is low, a plurality of bolts are required to be screwed, and the assembly time and the cost are increased. The key pain point of the prior art is that high-precision centering, efficient and reliable torque transmission, simple axial positioning and assembly and compact structural design are difficult to simultaneously achieve. Particularly in application scenarios requiring high precision, high reliability and long life, the conventional connection method has obvious disadvantages in terms of suppressing vibration, ensuring coaxiality, avoiding stress concentration and simplifying assembly. Disclosure of utility model In order to solve the technical problems, the utility model aims to provide a connecting structure of a wave generator and an input shaft of a harmonic reducer, which improves transmission precision and flexible gear service life and is convenient to integrally install. In order to achieve the above object, the present utility model adopts the following technical scheme: The utility model provides a connection structure of wave generator and input shaft of harmonic reducer, includes wave generator and input shaft, external spline tooth has been seted up to the one end of input shaft, wave generator middle part is equipped with echelonment through-hole, and has seted up internal spline tooth on the minimum aperture's the through-hole wall, the input shaft is inserted and is established in wave generator's through-hole, and the input shaft is located the through-hole both sides of minimum aperture and has blocked respectively and be equipped with the jump ring. As the preferable scheme, the wave generator comprises an elliptic cam and a thin-wall bearing, wherein the elliptic cam is provided with an inverted circular truncated cone connecting section, an outer convex edge is further arranged on the outer wall of one side of the inverted circular truncated cone connecting section, the thin-wall bearing is tightly sleeved on the elliptic cam, and one side of the thin-wall bearing abuts against the outer convex edge. As a preferable scheme, the stepped through hole is arranged in the elliptical cam and comprises three sections of hollow cylinders with different apertures, and a step surface for installing a support bearing is formed between the outermost hollow cylinder and the hollow cylinder in the middle. Preferably, tooth side centering and/or large-diameter centering is adopted between the external spline teeth and the internal spline teeth. As a preferable scheme, the other end of the input shaft is also tightly sleeved with a bearing, the other end of the input shaft is also provided with a limiting ring, and one side of the bearing is propped against the limiting ring. Compared with the prior art, the utility model has the beneficial effects that: The spline is adopted as a main torque transmission and radial positioning mo