CN100436867C - Harmonic gear assembly having active teeth end - Google Patents
Harmonic gear assembly having active teeth end Download PDFInfo
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- CN100436867C CN100436867C CNB2004100129926A CN200410012992A CN100436867C CN 100436867 C CN100436867 C CN 100436867C CN B2004100129926 A CNB2004100129926 A CN B2004100129926A CN 200410012992 A CN200410012992 A CN 200410012992A CN 100436867 C CN100436867 C CN 100436867C
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- oscillating tooth
- face
- sheave
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Abstract
The present invention relates to harmonic gear transmission apparatus of an active tooth end surface, which comprises a case (5), a wave generator (6), a driving shaft (7), a driven shaft (1), an end surface gear (2) and a plurality of movable teeth (4), wherein the wave generator (6) and the driving shaft (7) are connected into a whole; the movable teeth are distributed in sheave holes (3); a sheave is arranged between the end surface gear and the wave generator; the movable teeth are caused to do axial reciprocating motion in the sheave holes under an end surface of the wave generator action, the movable teeth are mutually joggled with the end surface gear to do joggle-in/out interlocking tooth motion so as to cause the relative rotation of the sheave and the end surface gear, and simultaneously, power is outward transmitted by the driven shaft. The present invention is base on the reservation of the advantages of large single stage transmission ratio, high motion accuracy, small volume, light weight, etc. of the existing harmonic gear transmission apparatus, tooth numbers which are simultaneously joggled and the applicable tooth range are caused to be totally increased, and the transmitted power reaches to hundreds of kw and even thousands of kw. Thus, the present invention has broad application perspective.
Description
Technical field
The present invention relates to gear drive, particularly a kind of oscillating tooth contrate harmonic gear transmission device.
Background technique
Harmonic gear transmission device commonly used at present, usually the interior external toothing of employing is in the form that radially meshes, and the thin-walled flexbile gear produces distortion under the effect of wave-generator, and its external tooth and the internal tooth of just having taken turns are radially being meshed, and the meshing zone is periodically change along the circumferential direction, thereby transmitting movement and power.Because flexbile gear must produce periodic distortion, so the modulus of its gear teeth is very little, can not transmit bigger power, transmitted power is usually less than 30kW.In order to address this problem, the structure of flexbile gear has appearred replacing with oscillating tooth, but existing active-tooth transmission, its oscillating tooth is in radially engagement, structure more complicated with the internal tooth of just taking turns.
Existing contrate harmonic gear transmission device, owing to have flexible plane flexbile gear, the power that is transmitted is very restricted, can only be applied in the low power transmission system, and because the stressed and distortion situation of plane flexbile gear is very complicated, cause Design Theory to calculate quite difficulty, so its application is very limited.
Summary of the invention
Technical problem to be solved by this invention is: a kind of oscillating tooth contrate harmonic gear transmission device is provided, this device can overcome the distortion of flexbile gear in the existing Harmonic Gears and the contradiction between its bearing capacity, and can increase the number of teeth of engagement simultaneously, enlarge the range of numbers of teeth that is suitable for, and the gear that adopts big modulus, make its power that transmits increase tens of times.
The technical solution adopted in the present invention is as follows:
This device mainly is made up of face gear, sheave, oscillating tooth and four basic building blocks of wave-generator, and sheave is between face gear and wave-generator, and some oscillating tooths are distributed in the hole of sheave.The gear teeth of oscillating tooth and face gear, its flank of tooth is a helicoid, and the flank of tooth is carried out correction of the flank shape, utilizes the principle of non-steady lift face to carry out transmission.
The present invention combines existing contrate harmonic gear transmission owing to having adopted with Oscillating Tooth Gear Reducer, the technology of utilizing non-steady lift foliation opinion to carry out transmission, therefore can be big in the existing harmonic gear transmission device single staged transmission ratio of reservation, Nie He the number of teeth is many simultaneously, the kinematic accuracy height, volume is little, on the basis of advantage such as in light weight, the range of numbers of teeth that can make the number of teeth of engagement simultaneously and be suitable for all increases to some extent, and owing to adopt the gear of big modulus, also can make the power of its transmission reach hundreds of kW and even thousands of kW, therefore be with a wide range of applications, need be specially adapted to big speed ratio, the machinery of high-power retarder, the mine, metallurgical, multiple industry such as building materials.
Description of drawings
Fig. 1 is the structural representation (face gear 2 is fixing) of a kind of monolateral transmission of the present invention.
Fig. 2 is the structural representation (sheave 3 is fixing) of the another kind of monolateral transmission of the present invention.
Fig. 3 is the structural representation of the bilateral transmission of the present invention.
Fig. 4 is the circumferentially deploying figure (eight oscillating tooths 4 of vacancy) of monodentate drive mechanism of the present invention.
Fig. 5 is the circumferentially deploying figure (theoretical total number of teeth of oscillating tooth 4 is less than the number of teeth of face gear 2) of the multiple tooth drive mechanism of the present invention.
Fig. 6 is the circumferentially deploying figure (the theoretical total number of teeth of oscillating tooth 4 is greater than the number of teeth of face gear 2, and the vacancy gear teeth not produce interference at A place between the oscillating tooth 4) of the multiple tooth drive mechanism of the present invention.
Fig. 7 is the circumferentially deploying figure (theoretical total number of teeth of oscillating tooth 4 is greater than the number of teeth of face gear 2, and gear teeth of vacancy do not produce interference between the oscillating tooth 4) of the multiple tooth drive mechanism of the present invention.
Fig. 8 is the circumferentially deploying figure of double wave drive mechanism of the present invention.
Fig. 9 is the circumferentially deploying figure that adopts the oscillating tooth contrate harmonic gear transmission device of axial modification.
Figure 10 is the enlarged diagram at B place among Fig. 9.
Figure 11 is the circumferentially deploying figure that adopts the oscillating tooth contrate harmonic gear transmission device of the asymmetric flank of tooth.
Embodiment
The advantage of comprehensive existing contrate harmonic gear transmission of the present invention and Oscillating Tooth Gear Reducer constitutes, mainly form by four basic building blocks such as face gear, wave-generator, oscillating tooth and sheaves, according to the difference of purposes, can adopt the pattern of monolateral transmission or bilateral transmission.This novel oscillating tooth contrate harmonic gear transmission device belongs to the category of planetary gear train, and its main structural feature is: the firm wheel that will have now in the Harmonic Gears changes face gear into, and just the internal tooth of wheel changes the along the circumferential direction equally distributed gear teeth on the end face into; Change wave-generator into axial cylindrical end face cam by radially disk cam; The plane flexbile gear is divided into some oscillating tooths, and places sheave to make it can do axial to-and-fro motion oscillating tooth.One end of every oscillating tooth contacts with the end cam of wave-generator, and its other end has several and the corresponding gear teeth of face gear, utilizes non-steady lift foliation opinion to carry out transmission, can carry out side set motion engaging-in, that nibble out with face gear.In transmission process, oscillating tooth and face gear are the promotions that relies on wave-generator 6 end cams in the engaging-in motion of a lateral tooth flank, and nibbling out motion then is the repulsion that relies on the face gear opposite side flank of tooth.
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2: be provided with casing 5, wave-generator 6 and the driving shaft 7 that is connected as a single entity, driven shaft 1, also be provided with face gear 2 and several and be distributed in oscillating tooth 4 in sheave 3 holes, sheave 3 is between face gear 2 and wave-generator 6, under the effect of wave-generator 6 end faces, oscillating tooth 4 is at the Kong Zhongzuo of sheave 3 axially reciprocating, and be meshing with each other with face gear 2, carry out side set motion engaging-in, that nibble out, make sheave 3 do relative rotation, simultaneously by driven shaft 1 outside transferring power with face gear 2.
One end of wave-generator 6 can be processed to the cylindrical end face cam, and this cam can be designed to single ripple (seeing Fig. 4, Fig. 5, Fig. 7), or the double wave (see figure 8), or the shape of many ripples, and contacts with oscillating tooth 4, constitutes monolateral driving mechanism (seeing Fig. 1, Fig. 2).
As shown in Figure 3: be respectively equipped with one group of face gear 2, sheave 3 and oscillating tooth 4 in the both sides of wave-generator 6, and, wave-generator 6 two ends are processed to the cylindrical end face cam, this cam can be designed to single ripple (seeing Fig. 4, Fig. 5, Fig. 7), or double wave (see figure 8), or the shape of many ripples, and contact with corresponding oscillating tooth 4, constitute bilateral driving mechanism.The sheave 3 of wave-generator 6 both sides can link to each other by the connecting sleeve 9 that is supported on the sliding bearing 11, and spacing with briquetting 10.
Each piece oscillating tooth 4 of this device, with the contacted end of the end cam of wave-generator 6, the form of contact can be to roll (this end is equipped with ball or bearing 8), also can be to slide; With an end of face gear engagement, can have only gear teeth (be called the monodentate transmission, see Fig. 4), a plurality of gear teeth (be called multiple tooth transmission, see Fig. 5) also can be arranged.The theoretical total number of teeth of all oscillating tooths 4 in this device can be less than the number of teeth (referring to Fig. 5) of face gear, also can be greater than the number of teeth (referring to Fig. 6) of face gear.In the structure of monodentate transmission, the width of oscillating tooth must perhaps be taken out some oscillating tooth (see figure 4)s less than the circular pitch of face gear; And in the structure of multiple tooth transmission, for fear of the interference that produces between the oscillating tooth shown in A among Fig. 6, usually must the one or more gear teeth (see figure 7) of vacancy on each oscillating tooth.Oscillating tooth 4 is to slide or roll with the form of face gear 2 engagements, or the combination of the two.Oscillating tooth 4 and face gear 2 are when axially meshing, and its mate is the face contact, or the line contact, or puts contact.The gear teeth of oscillating tooth 4 and face gear 2, its flank of tooth is a helicoid, maybe can realize other curved surfaces of the constant or approximately constant of instantaneous transmission ratio, and the flank of tooth is carried out correction of the flank shape (seeing Fig. 9, Figure 10).The gear teeth of oscillating tooth 4 and face gear 2 can be designed to symmetrical flank of tooth (see figure 4); In order to improve the number of teeth of engagement simultaneously, also can be designed to the asymmetrical flank of tooth (seeing Figure 11).
When wave-generator 6 rotates as driving shaft, both face gear 2 can be fixed on the casing 5, make sheave 3 as driven shaft output (see figure 1), also sheave 3 can be fixed on the casing 5, make face gear 2 as driven shaft output (see figure 2).Wave-generator 6 can also be fixed on the casing 5, use as differential attachment.Casing 5 can be designed to integral form, or the form that is designed to divide in the level.
The working principle of the oscillating tooth contrate harmonic gear transmission device of monolateral transmission is: when the wave-generator 6 on being installed in driving shaft 7 rotates, under the effect of its end cam, oscillating tooth 4 can be made axially reciprocating in sheave 3, and be meshing with each other with face gear 2, do relative rotation thereby drive sheave 3 with face gear 2.When face gear 2 fixedly the time, be packed in sheave 3 rotations on the driven shaft 1 (sheave 3 fixedly time, face gear 2 rotates), reach the purpose of transferring power.In transmission process, utilize non-steady lift face principle, an end of oscillating tooth 4 is contacted with wave-generator 6 all the time, the other end then correspondingly is in state engaging-in or that nibble out with face gear 2.Oscillating tooth 4 is the promotion that relies on wave-generator 6 end cams with face gear 2 in the engaging-in motion of a lateral tooth flank, and it nibbles out motion then is the reverse impetus that relies on the face gear 2 opposite side flank of tooth.
The working principle of the oscillating tooth contrate harmonic gear of bilateral transmission is: in transmission process, each oscillating tooth 4 in the two ends sheave 3, under the promotion of wave-generator 6, be meshed with the face gear 2 that is fixed on casing 5 two ends respectively, the sheave 3 (as a whole by 9 one-tenth of connecting sleeves) that drives two ends is done synchronous revolution in the same way, by driven shaft 1 outputting power.
Claims (6)
1. oscillating tooth contrate harmonic gear transmission device, mainly form by face gear (2), sheave (3), oscillating tooth (4) and (6) four basic building blocks of wave-generator, sheave (3) is positioned between face gear (2) and the wave-generator (6), some oscillating tooths (4) are distributed in the hole of sheave (3), it is characterized in that: the gear teeth of oscillating tooth (4) and face gear (2), its flank of tooth is a helicoid, and the flank of tooth is carried out correction of the flank shape, utilizes the principle of non-steady lift face to carry out transmission.
2. oscillating tooth contrate harmonic gear transmission device according to claim 1, it is characterized in that described oscillating tooth (4), one end contacts with the cylindrical end face cam of wave-generator (6) by rolling or slide type, the other end constitutes monodentate transmission or multiple tooth transmission by an one gear teeth or a plurality of gear teeth and face gear (2) engagement; Oscillating tooth (4) is to slide or roll with the form of face gear (2) engagement, or the combination of the two.
3. oscillating tooth contrate harmonic gear transmission device according to claim 1 and 2 is characterized in that described oscillating tooth (4), its theoretical total number of teeth less than or greater than the number of teeth of face gear (2).
4. oscillating tooth contrate harmonic gear transmission device according to claim 2 is characterized in that: in the structure of multiple tooth transmission, and one of every oscillating tooth (4) vacancy or the above gear teeth.
5. oscillating tooth contrate harmonic gear transmission device according to claim 2 is characterized in that: oscillating tooth (4) and face gear (2) are when axially meshing, and its mate is the face contact, or the line contact.
6. oscillating tooth contrate harmonic gear transmission device according to claim 1 is characterized in that the gear teeth of described oscillating tooth (4) and face gear (2), is designed to the flank of tooth of symmetry, or is designed to the asymmetrical flank of tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100129926A CN100436867C (en) | 2004-04-08 | 2004-04-08 | Harmonic gear assembly having active teeth end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100129926A CN100436867C (en) | 2004-04-08 | 2004-04-08 | Harmonic gear assembly having active teeth end |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1563740A CN1563740A (en) | 2005-01-12 |
| CN100436867C true CN100436867C (en) | 2008-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100129926A Expired - Fee Related CN100436867C (en) | 2004-04-08 | 2004-04-08 | Harmonic gear assembly having active teeth end |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027171B (en) * | 2018-07-30 | 2021-03-16 | 哈尔滨工业大学（威海） | Movable tooth end face harmonic gear device driven by combined mechanism |
| CN112443638B (en) * | 2019-08-28 | 2022-09-23 | 莫德超 | Speed variator |
| CN110645334A (en) * | 2019-09-23 | 2020-01-03 | 天津大学 | Coaxial surface contact oscillating tooth speed reducer |
| CN110701251A (en) * | 2019-09-23 | 2020-01-17 | 天津大学 | Multistage coaxial surface contact oscillating tooth precision speed reducer |
| CN115854002A (en) * | 2022-12-07 | 2023-03-28 | 浙江夏厦精密制造股份有限公司 | Combined two-stage speed reducer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619156A (en) * | 1983-10-26 | 1986-10-28 | Mitsubishi Denki Kabushiki Kaisha | Harmonic gear apparatus |
| CN2081013U (en) * | 1990-10-26 | 1991-07-17 | 姚传志 | Harmonic speed reducer |
| GB2266354A (en) * | 1992-04-20 | 1993-10-27 | Jupitor Corp | Rotor rotating apparatus for inspection of a jet engine |
| CN2517907Y (en) * | 2001-12-31 | 2002-10-23 | 吴庆国 | Rigid mobile harmonic gear driving gear |
| CN1378047A (en) * | 2002-01-08 | 2002-11-06 | 姚传志 | Strong speed reducer |
-
2004
- 2004-04-08 CN CNB2004100129926A patent/CN100436867C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619156A (en) * | 1983-10-26 | 1986-10-28 | Mitsubishi Denki Kabushiki Kaisha | Harmonic gear apparatus |
| CN2081013U (en) * | 1990-10-26 | 1991-07-17 | 姚传志 | Harmonic speed reducer |
| GB2266354A (en) * | 1992-04-20 | 1993-10-27 | Jupitor Corp | Rotor rotating apparatus for inspection of a jet engine |
| CN2517907Y (en) * | 2001-12-31 | 2002-10-23 | 吴庆国 | Rigid mobile harmonic gear driving gear |
| CN1378047A (en) * | 2002-01-08 | 2002-11-06 | 姚传志 | Strong speed reducer |
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| Publication number | Publication date |
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| CN1563740A (en) | 2005-01-12 |
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Granted publication date: 20081126 Termination date: 20100408 |