CN113757342A

CN113757342A - A kind of secondary harmonic deceleration equipment

Info

Publication number: CN113757342A
Application number: CN202110873492.5A
Authority: CN
Inventors: 周梁; 杨卫东; 廖德林; 杨勇; 高云峰
Original assignee: Shenzhen Han's Motion Technology Co ltd; Han s Laser Technology Industry Group Co Ltd
Current assignee: Shenzhen Han's Motion Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-12-07

Abstract

The invention belongs to the technical field of reducers, and in particular relates to a secondary harmonic deceleration device. The second-stage harmonic deceleration equipment includes a first-stage harmonic decelerator and a second-stage harmonic decelerator; the first-stage harmonic decelerator includes a first-stage wave generator, a first-stage flexible wheel, and a first-stage flex wheel and a second-stage harmonic decelerator. The first-stage rigid wheel on the first-stage flexible wheel; the first-stage flexible wheel is sleeved on the first-stage wave generator; the second-stage harmonic reducer includes a second-stage wave generator a generator, a second-stage flexible wheel and a second-stage rigid wheel sleeved on the second-stage flexible wheel; the second-stage flexible wheel is sleeved on the second-stage wave generator, and the first-stage flexible wheel is sleeved on the second-stage wave generator. The first-stage rigid wheel is connected to the second-stage flexible wheel, and the first-stage rigid wheel is connected to the second-stage wave generator. In the present invention, the secondary deceleration device has the advantages of large reduction ratio, small axial size, light weight, etc., which improves its practicability and applicability.

Description

Second harmonic speed reduction device

Technical Field

The invention belongs to the technical field of speed reducers, and particularly relates to a second-stage harmonic speed reducing device.

Background

The harmonic reducer mainly comprises a rigid wheel with an inner gear ring, a flexible wheel with an outer gear ring and a wave generator; the rigid gear is equivalent to a sun gear in the planetary gear train, the flexible gear is equivalent to a planet gear in the planetary gear train, and the harmonic generator is equivalent to a planet carrier in the planetary gear train. The harmonic reducer has a simple structure and a small volume, and is widely applied to robots.

In the prior art, if the reduction ratio of the harmonic reducer is designed to be large, the volume of the harmonic reducer is large, so that the harmonic reducer is not easy to install, and the use scene of the harmonic reducer is limited. If the volume of the harmonic reducer is designed to be smaller, the harmonic reducer usually has a smaller reduction ratio, and the applicable scene of the harmonic reducer is also limited.

Disclosure of Invention

The invention aims to solve the technical problems that a harmonic reducer in the prior art is small in reduction ratio and large in size, and provides secondary harmonic reduction equipment.

In order to solve the above problems, an embodiment of the present invention provides a second-order harmonic speed reduction device, including a first-order harmonic speed reducer and a second-order harmonic speed reducer; the first-stage harmonic reducer comprises a first-stage wave generator, a first-stage flexible gear and a first-stage rigid gear sleeved on the first-stage flexible gear; the first-stage flexible gear is sleeved on the first-stage wave generator;

the second-stage harmonic reducer comprises a second-stage wave generator, a second-stage flexible gear and a second-stage rigid gear sleeved on the second-stage flexible gear; the second-stage flexible gear is sleeved on the second-stage wave generator, the first-stage rigid gear is connected with the second-stage flexible gear, and the first-stage flexible gear is connected with the second-stage wave generator;

the first-stage wave generator, the first-stage flexible gear, the second-stage flexible gear and the second-stage wave generator are all positioned between a first plane and a second plane; the first plane is a plane where one end of the first-stage rigid wheel, which is far away from the second-stage rigid wheel, is located, and the second plane is a plane where one end of the second-stage rigid wheel, which is far away from the first-stage rigid wheel, is located.

Optionally, the second-stage harmonic reducer further includes a second-stage bearing sleeved on the second-stage flexible gear, and the second-stage bearing is located between the first-stage rigid gear and the second-stage rigid gear along the axial direction of the first-stage rigid gear; and the first-stage rigid wheel is connected with the second-stage flexible wheel through the outer ring of the second-stage bearing.

Optionally, the second-stage flexible gear comprises a cylinder sleeved on the second-stage wave generator and a connecting disc connected with the cylinder, the cylinder and the connecting disc are coaxially arranged, the outer ring of the second-stage bearing is connected with the first-stage rigid gear and the connecting disc, and the inner rings of the second-stage rigid gear and the second-stage bearing are all sleeved on the cylinder.

Optionally, the second harmonic speed reduction device further comprises a sealing skeleton for sealing the second stage bearing, the sealing skeleton being connected to the second stage bearing.

Optionally, the first-stage harmonic reducer further comprises a first-stage bearing sleeved on the first-stage wave generator, and the first-stage bearing is located between the first-stage wave generator and the second-stage wave generator along the axial direction of the first-stage rigid gear; the first-stage flexible gear is connected with the inner ring of the first-stage bearing, the first-stage rigid gear is connected with the outer ring of the first-stage bearing, and the first-stage flexible gear is connected with the second-stage wave generator through the inner ring of the first-stage bearing.

Optionally, the first-stage wave generator includes a first-stage cam and a first-stage flexible bearing sleeved on the first-stage cam, and the first-stage rigid wheel is sleeved on the first-stage flexible bearing.

Optionally, a key slot for connecting an external driver is arranged on the first-stage cam.

Optionally, the second-stage harmonic reduction device further comprises a connecting bearing, a first snap ring and a second snap ring, and an outer ring of the connecting bearing is fixed in an inner ring of the first-stage bearing through the first snap ring; the connecting bearing is fixed and sleeved on the first-stage cam through the second clamping ring, and is located between the first-stage cam and the first-stage bearing along the radial direction of the first-stage rigid wheel.

Optionally, the second-stage wave generator includes a second-stage cam and a second-stage flexible bearing sleeved on the second-stage cam, and the second-stage flexible gear is sleeved on the second-stage flexible bearing.

Optionally, the reduction ratio of the second harmonic reduction device is 12000: 1.

In the invention, a second-stage rigid gear is sleeved on a second-stage flexible gear, and the second-stage flexible gear is sleeved on a second-stage wave generator; the first-stage wave generator, the first-stage flexible gear, the second-stage flexible gear and the second-stage wave generator are all positioned between a first plane and a second plane; the first plane is a plane where one end of the first-stage rigid wheel, which is far away from the second-stage rigid wheel, is located, and the second plane is a plane where one end of the second-stage rigid wheel, which is far away from the first-stage rigid wheel, is located. All parts of the second-stage harmonic speed reduction equipment are positioned between the first plane and the second plane, and the first plane and the second plane are two opposite outer side surfaces of the second-stage harmonic speed reducer, so that the internal space of the second-stage harmonic speed reduction equipment is fully utilized, the axial size of the second-stage harmonic speed reduction equipment is shortened, the volume of the second-stage harmonic speed reduction equipment is reduced, and the weight of the second-stage harmonic speed reduction equipment is reduced; and the second-stage harmonic speed reduction equipment integrates the speed reduction ratio of the first-stage harmonic speed reducer and the speed reduction ratio of the second-stage harmonic speed reducer, so that the speed reduction ratio of the second-stage harmonic speed reduction equipment is greatly improved. In the invention, the two-stage speed reduction equipment has the advantages of large speed reduction ratio, small axial size, light weight and the like, and the practicability and the applicability of the two-stage speed reduction equipment are improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of a second harmonic speed reduction device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of another perspective view of a second harmonic reduction apparatus according to an embodiment of the present invention;

FIG. 3 is a front view of the second harmonic reduction apparatus of FIG. 1;

FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is a cross-sectional view taken at B-B of FIG. 3;

FIG. 6 is a schematic diagram of a second stage flexspline of the second stage harmonic reduction apparatus of FIG. 1;

fig. 7 is a perspective cross-sectional view of the second harmonic reduction apparatus of fig. 1.

The reference numerals in the specification are as follows:

1. a first stage harmonic reducer; 11. a first stage wave generator; 111. a first-stage cam; 1111. a keyway; 112. a first stage compliant bearing; 12. a first stage flexspline; 13. a first stage rigid wheel; 131. a first plane; 14. a first stage bearing; 2. a second harmonic reducer; 21. a second stage wave generator; 211. a second-stage cam; 212. a second stage compliant bearing; 22. a second stage flexspline; 221. a cylinder; 222. a connecting disc; 23. a second stage rigid wheel; 231. a second plane; 24. a second stage bearing; 25. sealing the framework; 26. connecting a bearing; 27. a first snap ring; 28. a second snap ring; 3. a first fixing member; 4. a second fixing member; 5. a third fixing member; 6. a fourth fixing member; 7. and a fifth fixing member.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention.

As shown in fig. 1 to 4 and fig. 6, a second-stage harmonic reducer apparatus according to an embodiment of the present invention includes a first-stage harmonic reducer 1 and a second-stage harmonic reducer 2; the first-stage harmonic reducer 1 comprises a first-stage wave generator 11, a first-stage flexible gear 12 and a first-stage rigid gear 13 sleeved on the first-stage flexible gear 12; the first-stage flexible gear 12 is sleeved on the first-stage wave generator 11; it can be understood that internal teeth are arranged on the first-stage rigid gear 13, external teeth are arranged on the first-stage flexible gear 12, and the internal teeth of the first-stage rigid gear 13 are meshed with the external teeth of the first-stage flexible gear 12.

The second-stage harmonic reducer 2 comprises a second-stage wave generator 21, a second-stage flexible gear 22 and a second-stage rigid gear 23 sleeved on the second-stage flexible gear 22; the second-stage flexible gear 22 is sleeved on the second-stage wave generator 21, the first-stage rigid gear 13 is connected with the second-stage flexible gear 22, and the first-stage flexible gear 12 is connected with the second-stage wave generator 21; it can be understood that the second stage rigid gear 23 is provided with internal teeth, the second stage flexible gear 22 is provided with external teeth, the internal teeth of the second stage rigid gear 23 are meshed with the external teeth of the second stage flexible gear 22, and the first stage wave generator 11 is connected with the second stage wave generator 21.

The first stage wave generator 11, the first stage flexspline 12, the second stage flexspline 22 and the second stage wave generator 21 are all located between a first plane 131 and a second plane 231; the first plane 131 is a plane where one end of the first-stage rigid gear 13, which is far away from the second-stage rigid gear 23, is located, and the second plane 231 is a plane where one end of the second-stage rigid gear 23, which is far away from the first-stage rigid gear 13, is located. It is understood that the first plane 131 and the second plane 231 are two opposite outer side surfaces of the second-stage harmonic reduction device along the axial direction of the first-stage rigid gear 13.

In the embodiment of the present invention, the first stage flexible gear 12 and the first stage rigid gear 13 of the first stage harmonic reducer 1 are two independent pieces, so as to facilitate the processing of the external teeth on the first stage flexible gear 12 and the processing of the internal teeth on the first steel gear 13; and simultaneously, second level harmonic speed reducer ware 2 the second level flexbile gear 22 with the second level rigid gear 23 is two independent pieces, thereby is convenient for the processing of the interior external tooth on the second level flexbile gear 22, and be convenient for the processing of internal tooth on the second steel wheel 23, and then reduced this second level harmonic speed reduction equipment's the manufacturing degree of difficulty and manufacturing cost.

Further, the axis of the primary wave generator 11, the axis of the primary flexible gear 12, the axis of the primary rigid gear 13, the axis of the secondary wave generator 21, the axis of the secondary flexible gear 22 and the axis of the secondary steel gear 23 are all coincident.

Preferably, the plane on which the end of the primary wave generator 11 away from the second rigid wheel 23 is located is aligned with the first plane 131 (i.e., the plane on which the end of the first rigid wheel 13 away from the second rigid wheel 23 is located); the plane where one end of the second-stage rigid wheel 23 is far away from the first-stage rigid wheel 13 is located, and the plane where one end of the second-stage wave generator 21 is far away from the first-stage rigid wheel 13 is all aligned with the second plane 231 (that is, the plane where one end of the second-stage rigid wheel 23 is far away from the first-stage rigid wheel 13 is located).

Specifically, first order wave generator 11's rotation will drive first order flexbile gear 12 takes place elastic deformation, first order flexbile gear 12's external tooth will with first order rigid gear 13's internal gearing, thereby first order flexbile gear 12 with first order rigid gear 13 will take place relative rotation, because first order flexbile gear 12 with second order wave generator 21 is connected, works as when first order steel gear 13 is fixed, first order flexbile gear 12's rotation will drive second order wave generator 21 rotates, second order wave generator 21's rotation will drive second order flexbile gear 22 takes place elastic deformation, thereby makes second order flexbile gear 22's external tooth with second order rigid gear 23's internal gearing, and then drive second order rigid gear 23 rotates, and final power is followed second order rigid gear 23 outputs. In the invention, the second-stage harmonic speed reduction equipment can integrate the speed reduction ratio of the first-stage harmonic speed reducer 1 and the speed reduction ratio of the second-stage harmonic speed reducer 2, thereby greatly improving the speed reduction ratio of the second-stage harmonic speed reduction equipment.

In the invention, a second-stage rigid gear 23 is sleeved on the second-stage flexible gear 22, and the second-stage flexible gear 22 is sleeved on the second-stage wave generator 21; the first stage wave generator 11, the first stage flexspline 12, the second stage flexspline 22 and the second stage wave generator 21 are all located between a first plane 131 and a second plane 231; the first plane 131 is a plane where one end of the first-stage rigid gear 13, which is far away from the second-stage rigid gear 23, is located, and the second plane 231 is a plane where one end of the second-stage rigid gear 23, which is far away from the first-stage rigid gear 13, is located. All parts of the second-stage harmonic speed reduction device are positioned between the first plane 131 and the second plane 231, and the first plane 131 and the second plane 231 are two opposite outer side faces of the second-stage harmonic speed reducer, so that the internal space of the second-stage harmonic speed reduction device is fully utilized, the axial size of the second-stage harmonic speed reduction device is shortened, the volume of the second-stage harmonic speed reduction device is reduced, and the weight of the second-stage harmonic speed reduction device is reduced; and, this second harmonic speed reduction equipment integrates the reduction ratio of first harmonic speed reducer 1 and the reduction ratio of second harmonic speed reducer 2 to greatly improve this second harmonic speed reduction equipment's reduction ratio. In the invention, the two-stage speed reduction equipment has the advantages of large speed reduction ratio, small axial size, light weight and the like, and the practicability and the applicability of the two-stage speed reduction equipment are improved.

In an embodiment, as shown in fig. 3 to 5 and 6, the second-stage harmonic reducer further includes a second-stage bearing 24 sleeved on the second-stage flexspline 22, and the second-stage bearing 24 is located between the first-stage rigid spline 13 and the second-stage rigid spline 23 along the axial direction of the first-stage rigid spline 13; the first-stage rigid gear 13 is connected with the second-stage flexible gear 22 through the outer ring of the second-stage bearing 24. It can be understood that the first-stage rigid gear 13 and the second-stage flexible gear 22 can be connected through the first fixing part 3 such as a screw and a bolt to the outer ring of the second-stage bearing 24, and the second-stage steel gear 23 can be connected through the second fixing part 4 such as a screw and a bolt to the inner ring of the second-stage bearing 24, so that the technical effect that the first-stage rigid gear 13 is connected through the outer ring of the second-stage bearing 24 to the second-stage flexible gear 22 is achieved, and meanwhile, the first-stage rigid gear 13 and the second-stage rigid gear 23 can rotate relatively through the second-stage bearing 24. In this embodiment, the second-stage bearing 24 is also located between the first plane 131 and the second plane 231, so that the axial dimension of the second-stage harmonic reduction device is further shortened, and the compactness thereof is improved.

Preferably, the second-stage bearing 24 is a second-stage cross roller bearing having high strength and rigidity. Meanwhile, since the inner ring or the outer ring of the second-stage cross roller bearing is of a two-split structure, the bearing clearance can be adjusted, and even if a preload is applied, a high-precision rotational motion can be obtained.

In an embodiment, as shown in fig. 4 and 7, the second stage flexible gear 22 includes a cylinder 221 sleeved on the second stage wave generator 21 and a connecting disc 222 connected to the cylinder 221, the cylinder 221 and the connecting disc 222 are coaxially disposed, an outer ring of the second stage bearing 24 is connected to the first stage rigid gear 13 and the connecting disc 222, and inner rings of the second stage rigid gear 23 and the second stage bearing 24 are both sleeved on the cylinder 221. It can be understood that the center line of the cylinder 221 is perpendicular to the connecting disc 222, and the outer diameter of the cylinder 221 is smaller than that of the connecting disc 221, that is, the connecting disc 222 is a flange outward of the cylinder 221. In addition, the connecting disc 222 and the cylinder 221 are integrally formed, and in this embodiment, the connecting disc 222 is designed to facilitate the connection of the first fixing member 3, such as a screw or a bolt, with the first-stage rigid wheel 13, the connecting disc 222, and the outer ring of the second-stage bearing 24. Due to the design of the cylindrical column 221, the second-stage rigid gear 23 and the second-stage bearing 24 are sleeved on the outer wall of the cylindrical column 221, and the second-stage wave generator 21 and the first-stage flexible gear 12 are located in the inner ring of the cylindrical column 221, so that the compactness of the second-stage harmonic speed reduction device is improved, and the assembly of the second-stage harmonic speed reduction device is facilitated.

In one embodiment, as shown in fig. 1 and 6, the second harmonic speed reduction device further comprises a sealing frame 25 for sealing the second stage bearing 24, and the sealing frame 25 is connected with the second stage bearing 24. It can be understood that, the sealing frame 25 can prevent the lubricating oil, the lubricating grease and other substances in the second bearing from leaking, and can also prevent impurities in the external environment from entering the interior of the second-stage harmonic speed reduction device through the second-stage bearing 24, so as to improve the service life of the second-stage harmonic speed reduction device.

In an embodiment, as shown in fig. 3 to 5 and fig. 6, the first-stage harmonic reducer further includes a first-stage bearing 14 sleeved on the first-stage wave generator 11, and the first-stage bearing 14 is located between the first-stage wave generator 11 and the second-stage wave generator 21 along an axial direction of the first-stage rigid gear 13; the first-stage flexible gear 12 is connected with the inner ring of the first-stage bearing 14, the first-stage rigid gear 13 is connected with the outer ring of the first-stage bearing 14, and the first-stage flexible gear 12 is connected with the second-stage wave generator 21 through the inner ring of the first-stage bearing 14. It will be appreciated that the first stage bearing 14 is also located in the inner race of the second stage flexspline 22, thereby further improving the compactness of the second stage harmonic reduction unit and reducing the axial dimension of the second stage reduction unit; specifically, the first-stage flexible gear 12 may be connected to the outer ring of the first-stage bearing 14 by a third fixing member 5 such as a screw or a bolt, the first-stage rigid gear 13 may be connected to the outer ring of the first-stage bearing 14 by a fourth fixing member 6 such as a screw or a bolt, the second-stage wave generator 21 may be connected to the inner ring of the first-stage bearing 14 by a fifth fixing member 7 such as a screw or a bolt, and the first-stage flexible gear 12 may be connected to the inner ring of the first-stage bearing 14 by the third fixing member 5 such as a screw or a bolt; the fifth fixing member 7 may connect the first-stage wave generator 11 and the inner ring of the first-stage bearing 14 at one side of the second plane 231, the fourth fixing member 6 may connect the outer ring of the first-stage bearing 14 and the first-stage steel wheel 13 at one side of the second plane, and the third fixing member 5 may connect the first-stage flexible wheel 12 and the inner ring of the first-stage bearing 14 at one side of the first plane 131, so that the second-stage harmonic speed reduction apparatus may be conveniently installed, and the third fixing member 5, the fourth fixing member 6, and the fifth fixing member 7 may be hidden inside the second-stage harmonic speed reduction apparatus, thereby extending the lifespan of the second-stage harmonic speed reduction apparatus. Further, the design of the first-stage bearing 14 ensures the relative movement of the first-stage rigid gear 13 and the first-stage flexible gear 12, and also ensures the fixed connection of the first-stage flexible gear 12 and the second-stage wave generator 21.

Preferably, the first-stage bearing 14 is a first-stage cross roller bearing having high strength and rigidity. Meanwhile, since the inner ring or the outer ring of the first-stage cross roller bearing is of a two-split structure, the bearing clearance can be adjusted, and even if preload is applied, high-precision rotational motion can be obtained.

In a specific embodiment, the first stage flexible gear 12 includes a sleeve and a disk connected to the sleeve, the sleeve and the disk are coaxially disposed, the inner diameter of the sleeve is greater than the inner diameter of the disk (i.e., the first disk is bent toward the inside of the first sleeve), the sleeve is connected to the first steel gear 13 (i.e., the outer wall of the first sleeve is provided with outer teeth engaged with the inner teeth of the first steel gear 13), and the disk is connected to the inner ring of the first stage bearing 14. In this embodiment, the structural design of the first stage flexible gear 12 not only can realize the self-deceleration effect of the first stage harmonic reducer 1, but also can transmit the rotation of the first stage harmonic reducer 1 to the second stage harmonic reducer 2 (that is, the rotation of the first stage flexible gear 12 drives the rotation of the second stage wave generator 21), and further improves the compactness of the second stage harmonic reduction device.

In an embodiment, as shown in fig. 3 to 5, the first-stage wave generator 11 includes a first-stage cam 111 and a first-stage flexible bearing 112 sleeved on the first-stage cam 111, and the first-stage rigid wheel 13 is sleeved on the first-stage flexible bearing 112. It can be understood that, the rotation of the first-stage cam 111 can drive the first-stage flexible gear 12 to generate elastic deformation through the first-stage flexible bearing 112, so as to drive the first-stage rigid gear 13 to rotate sequentially through the first-stage flexible bearing 112 and the first-stage flexible gear 12. And, the first stage flexible bearing 112 ensures the relative rotation of the first stage cam 111 and the first stage rigid gear 13.

In one embodiment, as shown in fig. 2, the first-stage cam 111 is provided with a key slot 1111 for connecting an external driver (motor, etc.). It will be appreciated that the first stage cam 111 is a drive wheel and the keyway 1111 facilitates the connection of the first stage cam 111 to an external drive.

In one embodiment, as shown in fig. 3 to 5, the second harmonic speed reduction device further includes a connecting bearing 26, a first snap ring 27, and a second snap ring 28, wherein an outer ring of the connecting bearing 26 is fixed in an inner ring of the first stage bearing 14 by the first snap ring 27; the connecting shaft 26 is fixed and sleeved on the first-stage cam 111 through the second snap ring 28, and along the radial direction of the first-stage rigid wheel 13, the connecting shaft 26 is located between the first-stage cam 111 and the first-stage bearing 14. It is understood that the connecting bearing 26 includes, but is not limited to, a deep groove ball bearing, etc., the first snap ring 27 is a hole C-shaped snap ring, and the second snap ring 28 is a shaft C-shaped snap ring. Specifically, the two opposite ends of the connecting bearing 26 are fixed between the first-stage cam 111 and the inner ring of the first-stage bearing 14 through the first snap ring 27 and the second snap ring 28, so that the first-stage cam 111 can rotate relative to the inner ring of the first-stage bearing 14 (i.e., the first-stage rigid gear 13), and axial play generated when the first-stage cam 111 rotates is avoided, thereby improving the stability of the second-stage harmonic speed reduction device.

In an embodiment, as shown in fig. 3 to 5, the second-stage wave generator 21 includes a second-stage cam 211 and a second-stage flexible bearing 212 sleeved on the second-stage cam 211, and the second-stage flexible gear 22 is sleeved on the second-stage flexible bearing 212. It can be understood that, the rotation of the second-stage cam 211 can drive the second-stage flexible gear 22 to generate elastic deformation through the second-stage flexible bearing 212, so as to drive the second-stage rigid gear 23 to rotate through the second-stage flexible bearing 212 and the second-stage flexible gear 22 in sequence. And, the second stage flexible bearing 212 ensures the relative rotation of the second stage cam 211 and the second stage rigid wheel 23.

In one embodiment, the reduction ratio of the second harmonic reduction device is 12000: 1. Alternatively, the second harmonic reduction device may have the reduction ratios described in the following table.

In the above table, the reduction ratio of the first-stage speed reducer is 30: 1. 50: 1. 80: 1 and 100: 1; the reduction ratio of the second-stage speed reducer is 50: 1. 80: 1. 100, and (2) a step of: 1 and 120: 1; and the reduction ratio of the two-stage reduction device is as follows: 1500:1, 5000:1, 8000:1, 10000:1, 12000:1, etc.

The above description is only exemplary of the second harmonic speed reduction device and should not be construed as limiting the present invention, and 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.

Claims

1. A two-stage harmonic deceleration device is characterized in that, comprising a first-stage harmonic decelerator and a second-stage harmonic decelerator; the first-stage harmonic decelerator comprises a first-stage wave generator, a second-stage harmonic decelerator, and a a first-stage flexible wheel and a first-stage rigid wheel sleeved on the first-stage flexible wheel; the first-stage flexible wheel is sleeved on the first-stage wave generator;

The second-stage harmonic reducer includes a second-stage wave generator, a second-stage flexible wheel, and a second-stage rigid wheel sleeved on the second-stage flexible wheel; the second-stage flexible wheel is sleeved On the second-stage wave generator, the first-stage rigid wheel is connected to the second-stage flexible wheel, and the first-stage flexible wheel is connected to the second-stage wave generator;

The first-stage wave generator, the first-stage flexible wheel, the second-stage flexible wheel and the second-stage wave generator are all located between the first plane and the second plane; the first plane is the plane where the end of the first-stage rigid wheel is located away from the second-stage rigid wheel, and the second plane is the plane where the end of the second-stage rigid wheel is located away from the first-stage rigid wheel.

2 . The second-stage harmonic deceleration device according to claim 1 , wherein the second-stage harmonic decelerator further comprises a second-stage bearing sleeved on the second-stage flexible wheel, and along the In the axial direction of the first-stage rigid wheel, the second-stage bearing is located between the first-stage rigid wheel and the second-stage rigid wheel; the first-stage rigid wheel passes through the outside of the second-stage bearing. A ring connects the second-stage flex wheel.

3. The second-stage harmonic deceleration device according to claim 2, wherein the second-stage flexible wheel comprises a cylindrical column sleeved on the second-order wave generator and a connection connecting the cylindrical column plate, the cylindrical column and the connecting plate are coaxially arranged, the outer ring of the second-stage bearing connects the first-stage rigid wheel and the connecting plate, the second-stage rigid wheel and the second-stage rigid wheel The inner rings of the stage bearings are all sleeved on the cylindrical column.

4 . The second-stage harmonic deceleration device according to claim 2 , wherein the second-stage harmonic deceleration device further comprises a sealing frame for sealing the second-stage bearing, and the sealing frame is connected to the second-stage bearing. 5 . Secondary bearing.

5. The second-stage harmonic deceleration device according to claim 1, wherein the first-stage harmonic decelerator further comprises a first-stage bearing sleeved on the first-stage wave generator, and along the In the axial direction of the first-stage rigid wheel, the first-stage bearing is located between the first-stage wave generator and the second-stage wave generator; the first-stage flexible pulley is connected to the first-stage The inner ring of the first-stage bearing, the first-stage rigid wheel is connected to the outer ring of the first-stage bearing, and the first-stage flexible wheel is connected to the second-stage wave generator through the inner ring of the first-stage bearing .

6. The second-stage harmonic deceleration device according to claim 5, wherein the first-stage wave generator comprises a first-stage cam and a first-stage flexible bearing sleeved on the first-stage cam, The first-stage rigid wheel is sleeved on the first-stage flexible bearing.

7 . The second-stage harmonic deceleration device according to claim 6 , wherein the first-stage cam is provided with a keyway for connecting to an external driver. 8 .

8 . The secondary harmonic deceleration device according to claim 6 , wherein the secondary harmonic deceleration device further comprises a connecting bearing, a first snap ring and a second snap ring, and the outer ring of the connecting bearing passes through the outer ring of the connecting bearing. 9 . The first snap ring is fixed in the inner ring of the first stage bearing; the connecting bearing is fixed by the second snap ring and is sleeved on the first stage cam, along the first stage In the radial direction of the rigid wheel, the connecting bearing is located between the first-stage cam and the first-stage bearing.

9. The second-stage harmonic deceleration device according to claim 1, wherein the second-stage wave generator comprises a second-stage cam and a second-stage flexible bearing sleeved on the second-stage cam, The second-stage flexible wheel is sleeved on the second-stage flexible bearing.

10 . The secondary harmonic deceleration device according to claim 1 , wherein the deceleration ratio of the secondary harmonic deceleration device is 12000:1. 11 .