Planetary harmonic combined speed reducer

Abstract

The invention belongs to the technical field of speed reducers, and relates to a planetary harmonic combined speed reducer. A gear shaft, a planetary gear, a planet carrier, a rigid wheel and a pin shaft form a one-stage planetary reduction gear train, the rigid wheel is fixed, the gear shaft is used for being connected with external input equipment as an input part, and plays a role in a sun wheel at the same time, the planetary gear is meshed with a first inner gear ring of the rigid wheel and a gear part of the gear shaft at the same time so as to rotate around the pin shaft and rotates around the gear shaft at the same time, and the planet carrier serves as an output part and transmits the output to a wave generator. The wave generator, a flexible wheel, the rigid wheel and a first bearing form a secondary harmonic reduction gear train, under the action of the wave generator, the flexible wheel is deformed forcibly, an outer gear ring is in meshed transmission with a second inner gear ring, and the first bearing is connected with external output equipment so as to output power. The first inner gear ring and the second inner gear ring are arranged on the rigid wheel, so that a planetary reduction train and the harmonic reduction train share an inner gear, the number of parts is reduced, and the reducer has the advantages of being simple and compact in structure, convenient to assemble, high in speed reduction ratio, small in size, high in transmission precision and the like.

Description

technical field [0001] The invention belongs to the technical field of reducers, and more specifically relates to a planetary harmonic combination reducer. Background technique [0002] Existing harmonic reducers are widely used in robotics, aerospace, precision machine tools and other fields due to their advantages of high transmission precision and small backlash. Due to the limitation of the gear modulus, it cannot be applied to more fields. The planetary reducer has the advantages of small size and compact structure. Therefore, combining the planetary reducer and the harmonic reducer to form a planetary harmonic combination reducer can realize precision transmission, High reduction ratio, small size, etc.; the existing planetary harmonic combination reducer processes internal teeth on the inner hole of the cam as the internal gear of the planetary reducer. Internal teeth are more difficult, and at the same time make it difficult to assemble the planetary gears in the fi...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a planetary harmonic combination reducer to solve the technical problems of the existing planetary harmonic combination reducer, which are difficult to process the inner teeth of the cam inner hole and difficult to assemble the planetary gear in the harmonic drive.

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