CN100408883C - Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator - Google Patents
Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator Download PDFInfo
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- CN100408883C CN100408883C CNB2003101133286A CN200310113328A CN100408883C CN 100408883 C CN100408883 C CN 100408883C CN B2003101133286 A CNB2003101133286 A CN B2003101133286A CN 200310113328 A CN200310113328 A CN 200310113328A CN 100408883 C CN100408883 C CN 100408883C
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- wheel support
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Abstract
The present invention provides a method for making a flexible wheel and a rigid wheel closely contact in harmonic transmission and a floating wave generator. In the method, a working part which forces the flexible wheel to deform in the traditional wave generator is made into a floating pressure device separated from structures in the wave generator in the harmonic transmission so as to be an independent part; under the action of the floating pressure device, the wave generator makes the flexible wheel and the rigid wheel closely contact. The present invention has the advantages that the floating wave generator can automatically adjust the dimension of the part which forces the flexible wheel to deform so that the flexible wheel and the rigid wheel closely contact; the present invention fit the changes of ambient conditions caused by external load, the engagement of the flexible wheel and the rigid wheel, or the change of the perimeter of the working part, etc., and can also compensate the eccentricity of an installation shaft of the wave generator, an installation shaft line of the flexible wheel, an installation shaft line of the rigid wheel, etc. so that a harmonic transmission device can work stably and reliably; in harmonic friction transmission, the flexible wheel and the rigid wheel can closely contact so as to realize transmission; in harmonic gear transmission, wheel teeth of the flexible wheel and the rigid wheel are engaged without side gaps.
Description
Technical field
The present invention relates to a kind of wave-generator, particularly a kind of method and floating type wave-generator that flexbile gear and firm wheel are closely contacted.
Background technique
Technology of Harmonic Wave Transmission is the development along with space science, aerospace flight technology in twentieth century mid-term, a kind of novel drive technology that occurs on the basis of elastic thin shell theory.It has the kinematic accuracy height, velocity ratio is big, in light weight, volume is little, bearing capacity is big, and can be under the operating mode of confined space and working medium radiation advantage such as proper functioning, be successfully applied in the fields such as space technology, instrument and apparatus, robot, printing machinery and medical apparatus.
Harmonic drive is made up of members such as wave-generator, flexbile gear and firm wheels usually, is commonly called as " three-major-items ".Its kinology can be summarized as follows.
The harmonic driving with built-in wave-generator as shown in Figure 1, under the effect of wave-generator 1, cross section is that resiliently deformable takes place circular elastic thin-wall member flexbile gear 2.In the major axis of wave generator direction, the outer wall of flexbile gear 2 is pressed on the inwall of cross section for circular firm wheel 3.When wave-generator 1 rotation, flexbile gear 2 along then just the inwall of wheel 3 roll.If be nonslipping rolling, then flexbile gear 2 turns over the angles that determined by its girth difference mutually with firm wheel 3.Suppose that the radius before flexbile gear 2 outer walls are not out of shape is r, the radius of just having taken turns 3 inwalls is R, and its girth difference is 2 π (R-r)=2 π w
0Wave-generator 1 is whenever goed around, and the corner that two-wheeled turns over relatively is: when firm wheel 3 fixedly the time, flexbile gear 2 turns over φ=2 π w along the sense of rotation of wave-generator 1
0The angle of/r; When flexbile gear 2 fixedly the time, just taken turns 3 opposite directions and turned over φ=-2 π w along wave-generator 1 rotation
0The angle of/R.In these cases, 2 velocity ratio is from wave-generator 1 to flexbile gear
Velocity ratio from wave-generator 1 to firm wheel 3 is
In common friction driving, velocity ratio equals two friction wheel diameter ratios, and in the harmonic wave friction driving, velocity ratio is the ratio of follower radius to the difference of two-wheeled radius.If flexbile gear 2 is shaped on the gear teeth respectively with the just surface of contact of wheel 3, then above-mentioned ratio should be for the ratio of the number of teeth with number of teeth difference, and the harmonic wave friction driving promptly develops into Harmonic Gears.For the harmonic wave friction driving of steel flexbile gear, its single staged transmission ratio scope is about 30-1000, and for the Harmonic Gears of steel flexbile gear, its single staged transmission ratio is about 30-38.
At present, in harmonic driving, what be most widely used is the double wave harmonic gear transmission, and its generator form has cammingly, disc type, two roller types, four roller types and planetary etc.For three ripple Harmonic Gears, its generator form mainly contains three-roller type, planetary, disc type or disk cam formula three wave-generator (Xin Hongbings, disc type three wave-generators, Chinese patent: ZL02205522.3,2002-16-10) and equidistant curve (F.ReuleauxTriagle) formula three wave-generators etc.The characteristics of these several wave-generators are: the major axis dimension of generator remains unchanged at work, existing adjustable planetary wave generator (Shen Yunwen, Ye Qingtai. the theory of Harmonic Gears and design [M] Beijing: China Machine Press, 1985:196,198) characteristics are: the major axis dimension of generator remains unchanged at work, and the adjusting of major axis must be carried out when not working.Therefore, being necessary to provide a kind of makes flexbile gear and just takes turns method and the floating type wave-generator that closely contacts in the harmonic driving continuous operation.
Summary of the invention
The object of the invention provides a kind of method and floating type wave-generator that flexbile gear and firm wheel are closely contacted, this wave-generator in the course of the work, because the variation of the ambient conditionss such as change of external load, flexbile gear and engagement of just having taken turns or working position girth, can accomplish to force in the wave-generator portion size of deformation of flexible wheel to change, flexbile gear is closely contacted with firm wheel, and it is simple in structure.
For achieving the above object the present invention by the following technical solutions:
A kind of flexbile gear that makes in harmonic driving is that the working portion that will force deformation of flexible wheel in the contact type wave-generator becomes a unsteady pressurization device with just taking turns the method that closely contacts, and separate with other structure of wave-generator in the harmonic driving, be independently parts, under the effect of the pressurization device that floats, wave-generator makes flexbile gear closely contact with firm wheel.
Described unsteady pressurization device is for internal wave generator, and its major axis part can be stretched; For external wave generator, its minor axis part can be stretched; For the end face wave-generator, its projection that compresses flexbile gear can stretch.
Utilize and make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the above-mentioned harmonic driving, it comprises rolling wheel support, rolling wheel support be equipped with respectively on the major axis of wave generator bearing I that contacts with flexbile gear and with rolling wheel support on the contacted bearing I I of side grooves, bearing I and bearing I I together are assemblied on the back shaft, there is conical surface at the two ends of back shaft, conical surface is supported on the conical surface of two awl dishes that are positioned at the rolling wheel support both sides, there is pressure spring two awl dish both sides, a spring withstands on the support, another spring outside has a nut to fix, and described rolling wheel support and input shaft are with mechanical connection.Described mechanical connection can be interference fit or profile cooperation or key, spline etc.
Utilize and make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the above-mentioned harmonic driving, it comprises rolling wheel support, rolling wheel support has back shaft, work roller face on major axis of wave generator, there is the awl dish rolling wheel support both sides, and awl dish and input shaft are with mechanical connection.Described mechanical connection can be interference fit or profile cooperation or key, spline etc.
Utilize and make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the above-mentioned harmonic driving, it comprises rolling wheel support, rolling wheel support is equipped with two groups or three groups or four groups of pressurization devices respectively on major axis of wave generator, every group of pressurization device comprises: the pressure spring that is positioned at rack groove, spring housing is in the periphery of guide rod or the inside of guide rod, and the guide rod end is fixed with the bearing that uses as roller.
Advantage of the present invention: floating type wave-generator can be adjusted the size that forces the deformation of flexible wheel part automatically, and flexbile gear is closely contacted with firm wheel.It is applicable to because the variation of the ambient conditionss such as change of external load, flexbile gear and engagement of just having taken turns or working position girth, all right compensation wave generator installation shaft, flexbile gear are installed axis, just wheel is installed the off-centre of axis etc., makes the harmonic drive stable working reliable.For the harmonic wave friction driving, flexbile gear is closely contacted with firm wheel, realize transmission:, can make the flexbile gear and the gear teeth of just having taken turns realize no sideshake engagement for Harmonic Gears.
Description of drawings
Below in conjunction with drawings and embodiments the present invention is described in further detail.
Fig. 1 is the harmonic driving sketch:
Fig. 2 is floating type internal wave generator sketch;
Fig. 3 is floating type external wave generator sketch:
Fig. 4 is floating type end face harmonic generator sketch;
Fig. 5 is the harmonic drive with floating type wave-generator:
Fig. 6 to Fig. 9 is several floating type internal wave generator structure that realizes according to the said mechanism sketch.Wherein:
Fig. 6 is the floating type wave-generator structural drawing that generator rolling wheel support both sides have the pressure cone dish;
Fig. 7 is the floating type planetary wave generator architecture figure that the generator rolling wheel support does not rotate with input shaft;
Fig. 8 has two pressurization devices and roller to be contained in wave-generator structural drawing on the rolling wheel support;
Fig. 9 has four pressurization devices and roller to be contained in wave-generator structural drawing on the rolling wheel support;
Be easy to make external wave generator and floating type end face harmonic generator according to same method.
Embodiment
Fig. 5 is the harmonic drive sketch with floating type wave-generator of the present invention's proposition.
The critical piece name is called among the figure: input shaft 7, rolling wheel support 8, back shaft 9, bearing 1110, bearing 1 11, flexbile gear 12, awl dish 13, key 14, pressure spring 15, nut 16, check device 17.Wherein rolling wheel support 8, back shaft 9, bearing 11 10, bearing I 11, awl dish 13, pressure spring 15 etc. constitute floating type wave-generator.
Pressure spring 15, awl dish 13 and nut 16 etc. constitute pressurization device.
Be equipped with respectively on the rolling wheel support 8 bearing 111 that contacts with flexbile gear 12 and with rolling wheel support 8 on side grooves 19 contacted bearings 1110, bearing I I and bearing I together are assemblied on the back shaft 9.There is conical surface at the two ends of back shaft 9, and conical surface is supported on two awl dishes 13.Constituted pressurization device by pressure spring 15, awl dish 13 and nut 16 etc.Check device 17 prevents that nut 16 is loosening in the work, check device can be used resilient pad, pin etc., and in the structure of designed this floating type wave-generator, the center hole of rolling wheel support 8 has keyway, it rotates with input shaft 7, so the rotating speed of wave-generator is consistent with the rotating speed of input shaft 7.For fear of moving in relating to, the awl dish 13 of both sides is supported on two bearings, and like this, under the frictional force action on the conical surface, awl dish 13 can be around input shaft 7 rotations.
Motion or power are by input shaft 7 inputs, and two awl dishes 13 are pressed to flexbile gear 12 by the bearing 11 that two conical surfaces will be assemblied on the back shaft 9 under the effect of pressure at both sides spring 15, and then flexbile gear is pressed to the firm wheel bore area that is positioned at its outside.Rolling wheel support 8 drive back shafts 9 and bearing 11, bearing 10 are with input shaft 7 rotations.
According to this method, the multiple type of belt drive such as airtight harmonic driving that can also design the external wave harmonic driving with floating type wave-generator, end face harmonic transmission and have floating type wave-generator with floating type wave-generator.
Fig. 6 is the wave-generator structure that generator rolling wheel support 8 both sides have pressure cone dish 13.
Fig. 7 is that generator rolling wheel support 8 is not with the structure of the planetary wave generator of input shaft 7 rotation.In this structure, the center hole of rolling wheel support 8 is unthreaded holes, does not rotate with input shaft 7.Its effect is to keep back shaft 9 and work roller face 9 ' to be positioned on the major axis.And the awl dish 13 of rolling wheel support 8 both sides connects with input shaft 7 usefulness keys 14, and therefore two awl dishes 13 are with input shaft 7 rotations.Two silver plates 13 drive back shaft 9 by conical surface and roll with the internal surface of work roller face 9 ' along flexbile gear 12, form floating type planetary wave generator architecture thus.In this structure, owing to Gear Planet Transmission work surface of contact partly can move up and down along with the move left and right of firm wheel 9 in speed regulation process, therefore, the stepless within the specific limits variation of velocity ratio of Gear Planet Transmission part.The velocity ratio of whole harmonic driving is the velocity ratio of harmonic driving and the product of Gear Planet Transmission part stepless change velocity ratio.
Fig. 8 has the floating type wave-generator structure that roller that pressurization device that two (is three for three ripple harmonic driving) pressure springs 24, guide rod 22 constitute and bearing 21 make is contained in major axis two ends on the rolling wheel support 8 respectively.
Fig. 9 has the floating type wave-generator structure that roller that pressurization device that four pressure springs 24, guide rod 22 constitute and bearing 21 make is contained in major axis two ends on the rolling wheel support 8.It installs axis with respect to the major axis of wave generator symmetry, with the angle of major axis of wave generator be α, the α excursion is that bearing 21 outer shroud radiuses institute is to central angle to 35.
Among Fig. 2, Fig. 3, Fig. 4,6 for the conventional wave generator makes the working portion of deformation of flexible wheel, and 4 is other structure of wave-generator, and 5 are the pressurization device that floats.
Claims (9)
1. one kind makes flexbile gear and just takes turns the method that closely contacts in harmonic driving, it is characterized in that: the working portion that forces deformation of flexible wheel in the contact type wave-generator is become a unsteady pressurization device, and separate with other structure of wave-generator in the harmonic driving, be independently parts, under the effect of the pressurization device that floats, wave-generator makes flexbile gear closely contact with firm wheel.
2. a kind of method that flexbile gear and firm wheel are closely contacted according to claim 1, it is characterized in that: described unsteady pressurization device is for internal wave generator, its major axis part can be stretched or for external wave generator, its minor axis part can be stretched or for the end face wave-generator, its projection that compresses flexbile gear can stretch.
3. one kind is utilized the floating type wave-generator that makes flexbile gear in the described harmonic driving of claim 1 and just take turns the tight method that contacts, it is characterized in that: it comprises rolling wheel support, rolling wheel support be equipped with respectively on the major axis of wave generator bearing I that contacts with flexbile gear and with rolling wheel support on the contacted bearing I I of side grooves, bearing I and bearing I I together are assemblied on the back shaft, there is conical surface at the two ends of back shaft, conical surface is supported on the conical surface of two awl dishes that are positioned at the rolling wheel support both sides, there is pressure spring two awl dish both sides, a spring withstands on the support, another spring outside has a nut to fix, described rolling wheel support and input shaft be with mechanical connection, is connected with bearing between described awl dish and the input shaft.
4. make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the harmonic driving according to claim 3, it is characterized in that: described rolling wheel support center hole has a keyway, with key rolling wheel support is connected with axle.
5. make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the harmonic driving according to claim 3, it is characterized in that: outer side joint one check device of described nut.
6. one kind is utilized the floating type wave-generator that makes flexbile gear in the described harmonic driving of claim 1 and just take turns the tight method that contacts, it is characterized in that: it comprises rolling wheel support, rolling wheel support has back shaft, work roller face on major axis of wave generator, there is the awl dish rolling wheel support both sides, between awl dish and the input shaft with mechanical connection.
7. one kind is utilized and makes the flexbile gear and the just floating type wave-generator of the method that closely contact of wheel in the described harmonic driving of claim 6, it is characterized in that: described awl dish with go into spool to be connected with key.
8. one kind is utilized the floating type wave-generator that makes flexbile gear in the described harmonic driving of claim 1 and just take turns the tight method that contacts, it is characterized in that: it comprises rolling wheel support, rolling wheel support is equipped with two groups or three groups or four groups of pressurization devices respectively on major axis of wave generator, every group of pressurization device comprises: the pressure spring that is positioned at rack groove, spring housing is in the periphery of guide rod or the inside of guide rod, and the guide rod end is fixed with the bearing that uses as roller.
9. make flexbile gear and the floating type wave-generator of just taking turns the method that closely contacts in the harmonic driving according to claim 8, it is characterized in that: in described four groups of pressurization devices, each two groups up and down, it installs axis with respect to the major axis of wave generator symmetry, with the angle of major axis of wave generator be α, the excursion of α is the corresponding central angle to 35 of outer race radius °, and the frame center hole has a keyway, with key rolling wheel support is connected with axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101133286A CN100408883C (en) | 2003-11-14 | 2003-11-14 | Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2003101133286A CN100408883C (en) | 2003-11-14 | 2003-11-14 | Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator |
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| CN1616847A CN1616847A (en) | 2005-05-18 |
| CN100408883C true CN100408883C (en) | 2008-08-06 |
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| CN102927241B (en) * | 2012-11-13 | 2015-05-20 | 常州大学 | Tooth matching method for harmonic gear transmission with external wave generator |
| CN102927211B (en) * | 2012-11-13 | 2015-04-01 | 常州大学 | Method used to determine number of teeth in transmission of harmonic gear |
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| US9677657B2 (en) * | 2014-05-30 | 2017-06-13 | Spectrum Diversified Designs, Llc | Circular wave drive |
| CN104791474A (en) * | 2015-04-24 | 2015-07-22 | 重庆洋迪机电有限公司 | Clearance automatic adjustment wave generator of harmonic wave reducer |
| CN106438919A (en) * | 2016-11-15 | 2017-02-22 | 淮南市福地环保科技有限公司 | Gear-free harmonic reducer |
| CN114341524A (en) | 2019-06-13 | 2022-04-12 | 圆波驱动合作伙伴公司 | Circular wave driver |
| EP4100664A1 (en) | 2020-03-31 | 2022-12-14 | Circular Wave Drive Partners Inc. | Circular wave drive |
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| DE10024908A1 (en) * | 2000-05-16 | 2001-11-29 | Brose Fahrzeugteile | Reducing gear has internal geared wheel, inner and outer toothing, ring in several parts with inner casing surface and outer cogging, drive core, drive shaft. |
| CN2526592Y (en) * | 2002-03-04 | 2002-12-18 | 辛洪兵 | Disc-type three-wave generator |
| CN2658477Y (en) * | 2003-11-14 | 2004-11-24 | 辛洪兵 | Floatnig wave generator for harmonic driven |
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2003
- 2003-11-14 CN CNB2003101133286A patent/CN100408883C/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1033680A (en) * | 1987-12-23 | 1989-07-05 | 鲍侃 | Infinitely variable speed machine with harmonic gear |
| JPH0454359A (en) * | 1990-06-20 | 1992-02-21 | Harmonic Drive Syst Ind Co Ltd | Friction transmission type harmonic change gear |
| CN2133565Y (en) * | 1992-09-01 | 1993-05-19 | 朱国昌 | Moving tooth harmonic transmission drawing machine |
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| DE10024908A1 (en) * | 2000-05-16 | 2001-11-29 | Brose Fahrzeugteile | Reducing gear has internal geared wheel, inner and outer toothing, ring in several parts with inner casing surface and outer cogging, drive core, drive shaft. |
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| CN2658477Y (en) * | 2003-11-14 | 2004-11-24 | 辛洪兵 | Floatnig wave generator for harmonic driven |
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Effective date of registration: 20090206 Address after: No. 11, Fucheng Road, Beijing, Haidian District Patentee after: Beijing Technology and Business University Address before: No. 11, Cheng Cheng Road, Beijing, Haidian District, College of mechanical automation, Beijing Technology and Business University Patentee before: Xin Hongbing |
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