TWI571574B - Lubrication Harmonic Reducer - Google Patents

Description

Lubricated harmonic reducer

The invention relates to a harmonic reducer, in particular to a lubricated harmonic reducer.

The harmonic reducer is a speed reducer having a high reduction ratio. The conventional structural arrangement mainly includes a rigid inner ring gear, a flexible outer tooth cup rotatably disposed in the rigid inner ring gear, and a a wave generator rotatably disposed in the flexible outer tooth cup. When the wave generator is assembled in the flexible outer tooth cup, the flexible outer tooth cup is pushed up by the outer periphery of the wave generator to become an elliptical shape. Therefore, when the wave generator is driven by the power source to start rotating, the rigid inner ring gear and the flexible outer tooth cup can be fully engaged at the long axis of the wave generator, and at the short axis of the wave generator. Completely disengaged, because there is a difference in the number of teeth between the rigid inner ring and the flexible outer cup, when the wave generator continues to rotate, the difference in the number of teeth can achieve the effect of high reduction ratio, thus generating high torque Output.

In order to achieve the effect of prolonging the life and reducing the wear, there are different lubrication designs in the conventional technology. For example, the US7,905,426 patent mainly allows the lubricating oil to be injected into the oil supply hole of the flexible outer tooth cup via the oil supply path of the rigid inner ring gear. Inside, the wave generator is lubricated, but since the flexible outer tooth cup is continuously elastically deformed during the operation, the stress concentration is likely to occur at the position of the oil supply hole, resulting in the flexible outer tooth cup. Structural damage. On the other hand, the US 6,672,181 patent provides a solid lubricant at the contact portion between the flexible outer cup and the wave generator, but the lubricating effect provided by the solid lubricant is not satisfactory.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a lubricated harmonic reducer capable of sufficiently performing lubrication to achieve an effect of prolonging life and reducing wear.

In order to achieve the above object, the harmonic reducer of the present invention comprises a rigid inner ring gear, a flexible outer tooth cup, a wave generator, and at least one spoiler. The flexible outer tooth cup is rotatably engaged with the rigid inner ring gear; the wave generator has a bearing, an elliptical wheel, and a coupling, the bearing is disposed in the flexible outer tooth cup, the elliptical wheel is set In the bearing, the coupling is connected to the elliptical wheel such that an oil storage space is formed between the wave generator and the flexible outer tooth cup; the spoiler is connected to the coupling of the wave generator and is located The oil accommodating space enables the spoiler to be rotated along a circular trajectory centered on the axis of the coupling by the coupling.

It can be seen from the above that when the coupling is driven by a power source to start rotating, the spoiler will bring the lubricating oil in the oil storage space to the wave generator as the coupling rotates. The bearing of the wave generator can obtain sufficient lubrication effect, and in addition, the excess lubricating oil can simultaneously lubricate the meshing tooth surface between the rigid inner ring gear and the flexible outer tooth cup, so as to extend the overall structure. Life and the purpose of reducing wear.

More preferably, the spoiler can be provided with a guiding surface in the forward direction of the spoiler, so that the spoiler increases the efficiency of driving the lubricating oil by the guiding surface.

More preferably, the spoiler can be respectively disposed on both sides of the shaft of the coupling, and the distance between the circumferential trajectory of the two spoilers and the axis of the coupling is not necessarily the same, so Increasing the disturbance range of the spoiler further enhances the lubrication effect.

Referring to FIGS. 1 and 2, the lubricating harmonic reducer 10 of the first embodiment of the present invention includes a rigid inner ring gear 20, a flexible outer tooth cup 30, a wave generator 40, and two spoilers. 50, wherein the spoiler 50 is only required to be at least one, and two are preferred embodiments.

The flexible outer tooth cup 30 is disposed within the rigid inner ring gear 20 and is engaged with the rigid inner ring gear 20.

As shown in FIGS. 2 and 7, the wave generator 40 has a bearing 41, an elliptical wheel 42, and a coupling 43. The bearing 41 is disposed in the flexible outer tooth cup 30. The elliptical wheel 42 is disposed in the bearing 41. The coupling 43 and the elliptical wheel 42 are assembled together by an adapter plate 44. The opposite sides of the adapter plate 44 are disposed. There are two opposite first convex portions 45 and two opposite second convex portions 46. The elliptical wheel 42 has two opposite first concave portions 47 on one side of the adapter plate 44, and the outer peripheral edge of the coupling 43 has two opposite sides. The second recess 48, the elliptical wheel 42 is engaged with the first protrusion 45 of the adapter plate 44 by the first recess 47 (as shown in FIG. 8), and the coupling 43 is engaged by the second recess 48. The second projection 46 of the adapter plate 44 (as shown in Fig. 7) thus completes the assembly between the coupling 43 and the elliptical wheel 42. In addition, after the wave generator 40 is mounted in the flexible outer tooth cup 30, an oil storage space 49 (shown in FIG. 8) is formed between the wave generator 40 and the flexible outer tooth cup 30 for storage. lubricating oil.

As shown in FIGS. 7 and 8, the spoiler 50 is located in the oil storage space 49 and has a cantilever portion 51 and a spoiler portion 52. One end of the cantilever portion 51 is integrally connected to the spoiler portion 52. The other end is locked to the end surface of the oil storage space 49 by a fixing member 53. Further, the extending direction of the cantilever portion 51 is perpendicular to the axial direction of the coupling 43, and the spoiler portion 52 is self-cantilevered portion 51. Extending away from the wave generator 40, the spoiler 50 is driven by the coupling 43 so that the spoiler 52 of the spoiler 50 can be respectively centered on the axis C of the coupling 43. The circumferential trajectories P1, P2 are rotated (as shown in FIG. 9) for disturbing the lubricating oil in the oil storage space 49. In the present embodiment, the axis C of the coupling 43 and the two spoilers 50 The distances D1 and D2 between the circumferential trajectories P1 and P2 of the spoiler 52 are the same. Further, as shown in FIGS. 3, 5 and 7, the spoiler 52 of the spoiler 50 has a guiding surface 54, and the facing direction of the guiding surface 54 is when the spoiler 50 is driven by the coupling 43. In the advancing direction, the guide surface 54 may be a slope as shown in FIG. 3 or a curved surface as shown in FIG. 5, which is not particularly limited herein.

In order to avoid overflow of the lubricating oil, the present invention further provides a leakage preventing cover 60. As shown in Figures 1, 2 and 8, the leakage preventing cover 60 is disposed on one end surface of the rigid internal ring gear 20 and covers the wave generator 40. The leakage preventing cover 60 has a through hole 62 which is bored by the coupling 43.

It can be seen from the above structure that when the coupling 43 is driven by a power source to start rotating, the spoiler 50 disturbs the lubricating oil in the oil storage space 49 by the spoiler 52, so that the lubricating oil is along the spoiler. The guide surface 54 of 52 flows in the direction of the wave generator 40, so that the bearing 41 of the wave generator 40 is lubricated, and excess lubricating oil flows between the rigid inner ring gear 20 and the flexible outer tooth cup 30. The tooth surface is meshed so that the rigid inner ring gear 20 and the flexible outer tooth cup 30 can obtain the lubricating effect simultaneously. Further, by the blocking of the leakage preventing cover 60, the lubricating oil can generate backflow to the rigid inner ring gear 20 and the flexibility. The outer tooth cup 30 and the wave generator 40 achieve the effect of repeated lubrication.

It should be additionally noted that, in the foregoing embodiment, the spoiler 50 has a single guiding surface 54 so that the spoiler 50 can only be rotated in a single direction to achieve the effect of driving the lubricating oil, in order not to limit the spoiler. The direction of rotation of the member 50, as shown in Figures 4 and 6, the spoiler 52 of the spoiler 50 can be provided with two guiding faces 54, which are symmetrically distributed around the cantilever portion 51, allowing interference. The flow member 50 can smoothly drive the lubricating oil regardless of the clockwise or counterclockwise rotation, thereby further improving the lubrication efficiency. On the other hand, in order to increase the disturbance range of the spoiler 50, the installation position of the two spoilers 50 can be adjusted, as shown in FIGS. 10 and 11, the axis C of the coupling 43 and the two turbulences are The distances D1, D2 between the circumferential trajectories P1, P2 of the spoiler 52 of the member 50 are different, whereby the turbulence of the two spoilers 50 is caused when the coupling 43 drives the two spoilers 50 to rotate. The range disturbed by the portion 52 does not overlap each other, so that the spoiler effect can be sufficiently exerted.

It is also worth mentioning that, as shown in Fig. 12, the guide surface 54 of the spoiler 50 has an angle θ with a reference plane P perpendicular to the axial direction of the coupling 43, and the range of the angle θ is interposed. Between 50° and 85°, when the angle is within the above range, the lubricating oil can exert an upward driving effect along the guiding surface 54. If the angle θ is less than 50°, the length of the spoiler 50 may not be considered. The interference with the flexible outer tooth cup 30 is limited, so that the disturbance effect of the spoiler 50 on the lubricating oil is reduced, so that the angle θ is limited to be greater than 50°.

In summary, the lubricating harmonic reducer 10 of the present invention, by means of the arrangement of the spoiler 50, allows the bearing 41 of the wave generator 40 to obtain sufficient lubrication effect on the one hand, and the rigid internal tooth on the other hand. The meshing tooth surface between the ring 20 and the flexible outer tooth cup 30 is lubricated, and the conventional structure can achieve the purpose of prolonging the life and reducing the wear compared to the conventional technology.

10Lubricated harmonic reducer 20 Rigid internal gear ring 30 Flexible external gear cup 40 wave generator 41 bearing 42 elliptical wheel 43 coupling C shaft center 44 adapter plate 45 first convex portion 46 second convex portion 47 a recess 48 second recess 49 oil storage space 50 spoiler 51 cantilever portion 52 spoiler 53 fixing member 54 guiding surface P1, P2 circumferential trajectory D1, D2 distance 60 leakproof cover P reference plane θ angle

Figure 1 is a perspective view of the present invention. Figure 2 is an exploded perspective view of the present invention. 3 to 6 are perspective views of the spoiler of the present invention in different embodiments. Figure 7 is a partial perspective view of the present invention, mainly showing the relationship between the wave generator and the spoiler. Figure 8 is a cross-sectional view of the combination of the present invention. Figure 9 is a bottom view of Figure 7, mainly showing the same distance between the two spoilers and the axis of the coupling. Figure 10 is a cross-sectional view of the combination of the present invention, mainly showing that the distance between the two spoilers and the axis of the coupling is different. Figure 11 is similar to Figure 9, which mainly shows that the distance between the two spoilers and the axis of the coupling is not the same. Figure 12 is a partial side view of the present invention, mainly showing the angular relationship between the guiding surface of the spoiler and the reference surface.

10 lubricated harmonic reducer 20 rigid inner ring 30 flexible outer cup 40 wave generator 41 bearing 42 elliptical wheel 43 coupling 44 adapter plate 45 first convex portion 46 second convex portion 47 first concave portion 48 Second recess 50 spoiler 51 cantilever portion 52 spoiler 60 leakproof cover plate 62 perforation

Claims (8)

A lubricated harmonic reducer comprising: a rigid inner ring; a flexible outer cup rotatably engaged with the rigid inner ring; a wave generator having a flexible outer tooth a bearing in the cup, an elliptical wheel disposed in the bearing, and a coupling connecting the elliptical wheel, such that an oil storage space is formed between the wave generator and the flexible outer tooth cup; wherein the elliptical wheel Connected to the coupling by an adapter plate, the opposite sides of the adapter plate respectively have at least one first protrusion and at least one second protrusion, the elliptical wheel having at least one first recess The elliptical wheel is engaged with the first protrusion of the adapter plate by the first recess, the coupling has at least one second recess, and the coupling is engaged with the adapter by the second recess a second convex portion of the plate; and at least one spoiler coupled to the coupling of the wave generator and located in the oil storage space such that the spoiler can be driven by the coupling The axis of the shaft is centered along a circular path. The lubrication type harmonic reducer according to claim 1, wherein the spoiler has a cantilever portion and a spoiler, one end of the cantilever portion is connected to the coupling, and the other end of the cantilever portion is connected to the disturbance a flow portion, the cantilever portion extending in a direction perpendicular to an axial direction of the coupling, the spoiler extending from the cantilever portion in a direction away from the wave generator. The lubricating harmonic reducer of claim 2, wherein the spoiler of the spoiler has at least one guiding surface, and the facing direction of the guiding surface is the forward direction of the spoiler. The lubricating harmonic reducer according to claim 3, wherein the number of the guiding faces is two, and the two guiding faces are symmetrically distributed around the cantilever portion. A lubricated harmonic reducer according to claim 3 or 4, wherein the guide surface is a bevel or a curved surface. The lubricating harmonic reducer according to claim 5, wherein the axial direction of the coupling is perpendicular to a reference surface, and the reference surface has an angle with the guiding surface of the spoiler, and the angle is between 50 degrees to 85 degrees. The lubricating harmonic reducer of claim 1, wherein the number of the spoilers is two, and the distance between the axis of the coupling and the circumferential trajectory of the two spoilers is the same. The lubricating harmonic reducer of claim 1, wherein the number of the spoilers is two, and the distance between the axis of the coupling and the circumferential trajectory of the two spoilers is different.