CN102392881B - A kind of short cylinder flexbile gear harmonic wave drive speed reducer - Google Patents
A kind of short cylinder flexbile gear harmonic wave drive speed reducer Download PDFInfo
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- CN102392881B CN102392881B CN201110195088.3A CN201110195088A CN102392881B CN 102392881 B CN102392881 B CN 102392881B CN 201110195088 A CN201110195088 A CN 201110195088A CN 102392881 B CN102392881 B CN 102392881B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
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- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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Abstract
The invention discloses a kind of short cylinder flexbile gear harmonic wave drive speed reducer, comprising: wave-generator, it has ellipsoidal structure; Flexbile gear, its ring is located at the periphery of described wave-generator, and described flexbile gear comprises flexbile gear cylindrical shell, is positioned at the bottom of the flexbile gear cylinder of the flexbile gear flange of flexbile gear cylindrical shell side and connection flexbile gear cylindrical shell and flexbile gear flange, and the periphery of described flexbile gear cylindrical shell is provided with flexspline's toothed ring; Firm wheel, its ring is located at the periphery of described flexbile gear, and the inner circumferential of described firm wheel is provided with and just takes turns gear ring, and described firm wheel gear ring and described flexspline's toothed ring can engage each other; Wherein, the axial length of described flexbile gear is 0.45 ~ 0.75 times of its inner ring diameter.Flexbile gear harmonic wave drive speed reducer longitudinal separation of the present invention is shorter than general retarder, can adapt to the installation requirements of some insufficient space positions, and can guarantee the intensity of flexbile gear and the stable of service behaviour.
Description
Technical field
The present invention relates to a kind of harmonic wave drive speed reducer, particularly relate to a kind of short cylinder flexbile gear harmonic wave drive speed reducer.
Background technique
Harmonic wave drive speed reducer is a kind of mechanical drive gear reducer relying on flexible part generation resiliently deformable to come transferring power and motion.
Harmonic driving has that velocity ratio is large, precision is high, bearing capacity is large, volume is little, lightweight, transmission efficiency is high, stable drive, noise are little, can, to advantages such as confined space transmission campaigns, apply more and more extensive in recent years.
Fig. 1 shows a kind of common harmonic wave drive speed reducer, and the core members of harmonic wave drive speed reducer is flexbile gear 1, just wheel 2 and wave-generator 3, is commonly called as three-major-items.Flexbile gear 1 is arranged on the periphery of wave-generator 3, and has just taken turns the periphery that 2 are arranged on flexbile gear, and just wheel 2 and flexbile gear 1 pass through gears meshing.Flexbile gear 1 produces distortion under wave-generator 3 acts on, and the flexbile gear gear teeth at wave-generator 3 major axis two ends place are taken turns the gear teeth engage completely with firm; The flexbile gear gear teeth at minor axis two ends place and just the wheel gear teeth are thrown off completely; In the interval of wave-generator 3 major axis and minor axis, the flexbile gear gear teeth with just taken turns that the gear teeth have be in half engagement; The engagement of then exiting gradually had is in half disengaged condition.Flexbile gear is mainly subject to the acting in conjunction of bending alternating stress and torsional shear stress.
As shown in Figure 3, the axial length of the flexbile gear in harmonic wave drive speed reducer of the prior art is long, and namely axial length and diameter is larger frequently.Cause whole harmonic wave drive speed reducer all long like this.
The shortcoming of long cylinder harmonic wave drive speed reducer of the prior art is axial dimension longer (determining primarily of flexbile gear 1 length), cannot be suitable in the restricted occasion of some installing spaces, the such as field such as Aero-Space, robot building, is therefore necessary to improve.But the axial dimension of simple shortening flexbile gear can increase the distortional stress of flexbile gear cylindrical shell and teeth portion, cause easy-rupturing at the bottom of the flexbile gear gear teeth, flexbile gear cylinder.
Summary of the invention
For this reason, the present invention is directed to the drawback of prior art, propose a kind of short cylinder flexbile gear harmonic wave drive speed reducer.
One object of the present invention is to provide a kind of short cylinder flexbile gear harmonic wave drive speed reducer, and its axial length is shorter, and can guarantee to obtain good Strenth and stress, meets the actual requirements for life used.
Another object of the present invention is to provide a kind of material producing short cylinder flexbile gear, can be met the requirement of short cylinder flexbile gear harmonic wave drive speed reducer by the retarder of this manufacture of materials.
For achieving the above object, the invention provides a kind of short cylinder flexbile gear harmonic wave drive speed reducer, comprising: wave-generator, it has ellipsoidal structure; Flexbile gear, its ring is located at the periphery of described wave-generator, and described flexbile gear comprises flexbile gear cylindrical shell, is positioned at the bottom of the flexbile gear cylinder of the flexbile gear flange of flexbile gear cylindrical shell side and connection flexbile gear cylindrical shell and flexbile gear flange, and the periphery of described flexbile gear cylindrical shell is provided with flexspline's toothed ring; Firm wheel, its ring is located at the periphery of described flexbile gear, and the inner circumferential of described firm wheel is provided with and just takes turns gear ring, and described firm wheel gear ring and described flexspline's toothed ring can engage each other; Wherein, the axial length of described flexbile gear is 0.45 ~ 0.75 times of its inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the axial length of described flexbile gear is 0.5 ~ 0.6 times of its inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the radius of the knuckle of described flexspline's toothed ring and cylindrical shell is 0.25 ~ 0.40 times of flexbile gear inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the radius of described flexbile gear cylindrical shell and the knuckle at the bottom of flexbile gear cylinder is 0.05 ~ 0.15 times of flexbile gear inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the thickness at the bottom of described flexbile gear cylinder is thinning gradually by flexbile gear flange side direction flexbile gear cylindrical shell side direction.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the outer surface at the bottom of described flexbile gear cylinder tilts gradually by flexbile gear flange side direction flexbile gear cylindrical shell side direction, and gradient is 1: 36 ~ 1: 37.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell, by just taking turns gear ring side direction flexbile gear cylinder bottom side to thinning gradually.
Preferably, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell, just taking turns 0.009 ~ 0.011 times that gear ring side is flexbile gear inner ring diameter, is then 0.007 ~ 0.0094 times of flexbile gear inner ring diameter in flexbile gear cylinder bottom side.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the material of described flexbile gear is steel, described steel comprise mass percent: the C of 0.31% ~ 0.45%, the Al of 2% ~ 3.5%, the Si of 0.16% ~ 0.18%, Mg, the Mn of 0.5% ~ 0.6%, Cr, the Mo of 0.1% ~ 0.11%, the Ti of 0.03% ~ 0.05% of 0.03% ~ 0.04% of 0.8% ~ 0.9%, the P of 0.04% ~ 0.05%, all the other are iron and inevitable impurity.Inventor is found by repetition test, the flexbile gear that this steel manufacture, and can realize good working effect.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, described flexbile gear steel, the surface hardness of the firm material in the flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV450 ~ HV470, and tensile strength is between 1700N/mm
2~ 1750N/mm
2between; The surface hardness of the steel in the non-flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV430 ~ HV450, and tensile strength is between 1500N/mm
2~ 1550N/mm
2between, and effective optimization degree of depth of steel be not containing flexspline's toothed ring flexbile gear cylindrical shell inner ring diameter 0.3 ~ 0.35 between.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the tooth depth of described flexspline's toothed ring is 0.016 ~ 0.018 times of flexbile gear inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the transverse tooth thickness of described flexspline's toothed ring is 0.015 ~ 0.020 times of flexbile gear inner ring diameter.
Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the flexbile gear wheel tooth pressure angle of described flexspline's toothed ring is 30 °.
Short cylinder flexbile gear harmonic wave drive speed reducer of the present invention, by the change of reducer structure, can realize the utilization of short cylinder flexbile gear, thus shorten the axial length of flexbile gear harmonic wave drive speed reducer.Particularly, short cylinder flexbile gear in the present invention can utilize specific steel to make, and the short cylinder flexbile gear manufactured by this steel can either guarantee deformation of flexible wheel amount, can guarantee again the wear resistance that flexbile gear cogs, be the present inventor through a large amount of tests, the material developed.
Particularly, short cylinder flexbile gear harmonic wave drive speed reducer of the present invention, when shortening the axial length of flexbile gear harmonic wave drive speed reducer, can also guarantee structure length and the working life of flexbile gear harmonic wave drive speed reducer.
Another beneficial effect of the present invention is, the axial dimension of harmonic wave drive speed reducer shortens, and the working life of flexbile gear can not reduce, and can also improve torsional stiffness, kinematic accuracy and reduction return difference.Therefore, except being widely used in the traditional field of harmonic wave drive speed reducer, being also specially adapted to the field such as Aero-Space, war industry, robot building by installing space restriction, is the Updated product of long cylinder flexbile gear.
Accompanying drawing explanation
Fig. 1 is the structural representation of long cylinder flexbile gear harmonic wave drive speed reducer in prior art;
Fig. 2 is the structural representation of short cylinder flexbile gear harmonic wave drive speed reducer of the present invention;
Fig. 3 is the structural representation of the flexbile gear in long cylinder flexbile gear harmonic wave drive speed reducer of the prior art;
Fig. 4 is the structural representation of the flexbile gear in short cylinder flexbile gear harmonic wave drive speed reducer of the present invention;
Fig. 5 is the structure enlarged diagram of Fig. 4 centre circle part A;
Fig. 6 is the flexbile gear gear teeth of prior art in left side and the contrast schematic diagram of the flexbile gear gear teeth of the present invention on right side.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to specification word to make those skilled in the art.
As shown in Figure 2, Fig. 2 is the structural representation of short cylinder flexbile gear harmonic wave drive speed reducer of the present invention.
In order to solve the aforementioned problems in the prior, the object of this invention is to provide a kind of short cylinder harmonic wave drive speed reducer, the axial dimension of harmonic wave drive speed reducer is shortened, and can not reduce in the working life of flexbile gear, the field by installing space restriction can be widely used in.The weak part of harmonic wave drive speed reducer is flexbile gear, is therefore necessary to improve the structure of flexbile gear.
The improvement of flexbile gear tube structure refers to Fig. 2, Fig. 4 and Fig. 5.
The distribution of flexbile gear barrel stress is uneven, maximum near flange place stress in bottom, and take second place near gear ring place, other position vertically (away from gear ring) reduces gradually.According to loading characteristic, structure is improved as follows: (1) is designed to inclined-plane by the bottom of cylinder, gradient is generally 1: 36 ~ 1: 37 (2) gear rings and cylindrical shell transition position takes orthodrome transition, 13 ~ 15 times of (3) cylindrical shell wall thickness reductions of long cylinder flexbile gear in prior art, being 0.65 ~ 0.84 times (4) reduction cylindrical shell of long cylinder flexbile gear in prior art and the knuckle at the bottom of cylinder, is 0.5 ~ 0.6 times of long cylinder in prior art.After improving, flexbile gear cylindrical shell is close to uniform strength design, thus has given full play to material usefulness.
The improvement of the flexbile gear gear teeth refers to Fig. 6, and Fig. 6 is the flexbile gear gear teeth of prior art in left side and the contrast schematic diagram of the flexbile gear gear teeth of the present invention on right side.
According to loading characteristic, improve as follows gear teeth structure: (1) reduces tooth depth, flexbile gear tooth depth of the present invention is high 0.55 ~ 0.68 times of prior art long cylinder flexbile gear chi; (2) thinning transverse tooth thickness, flexbile gear transverse tooth thickness of the present invention is 0.45 ~ 0.56 times of prior art long cylinder flexbile gear transverse tooth thickness; (3) the flexbile gear gear teeth of the present invention increase the pressure angle of involute profile, avoid gear teeth meshing to interfere, improve force-bearing situation, and in prior art, the pressure angle of the long cylinder flexbile gear gear teeth is 20 °, and the flexbile gear wheel tooth pressure angle after the present invention improves is 30 °.
By above-mentioned corrective measure, the short cylinder flexbile gear harmonic wave drive speed reducer that the present invention produces, utilize test to analyze, fatigue strength fullys meet designing requirement, and is verified in actual applications.Particularly, when adopting following material to manufacture flexbile gear, that is: the material of described flexbile gear is steel, described firm material comprises: the C of 0.31% ~ 0.45%, the Al of 2% ~ 3.5%, the Si of 0.16% ~ 0.18%, the Mg of 0.8% ~ 0.9%, the Mn of 0.5% ~ 0.6%, the Cr of 0.03% ~ 0.04%, the Mo of 0.1% ~ 0.11%, the Ti of 0.03% ~ 0.05%, the P of 0.04% ~ 0.05%, all the other are iron and inevitable impurity, the working life of short cylinder harmonic wave drive speed reducer of the present invention is compared with the long cylinder harmonic wave drive speed reducer of same specification and is not reduced, torsional stiffness, the indexs such as precision have also been obtained raising.
Specifically, the invention provides a kind of short cylinder flexbile gear harmonic wave drive speed reducer, as shown in Figure 2, comprising: wave-generator 3a, it has ellipsoidal structure; Wave-generator is under the drive of motor output shaft, and fast rotational, thus the inner ring supporting flexbile gear 1a circle by the profile of its ellipse, cause flexbile gear 1a to be out of shape, and by flexbile gear 1a amount of deformation, makes flexspline's toothed ring and just take turns gear ring gears meshing to slow down.Flexbile gear 1a, its ring is located at the periphery of described wave-generator 3a, described flexbile gear 1a comprises flexbile gear cylindrical shell 4, is positioned at 6 (as shown in Figure 4) at the bottom of the flexbile gear cylinder of the flexbile gear flange 5 of flexbile gear cylindrical shell side and connection flexbile gear cylindrical shell and flexbile gear flange, and the periphery of described flexbile gear cylindrical shell is provided with flexspline's toothed ring.Just take turns 2a, its ring is located at the periphery of described flexbile gear 1a, and the inner circumferential of the described firm 2a of wheel is provided with and just takes turns gear ring, and described firm wheel gear ring and described flexspline's toothed ring can engage each other; Wherein, the axial length of described flexbile gear 1a is 0.45 ~ 0.75 times of its inner ring diameter.Inner ring diameter is exactly the diameter of the inner chamber of flexbile gear cylindrical shell.Preferably, in described short cylinder flexbile gear harmonic wave drive speed reducer, the axial length of described flexbile gear is 0.5 ~ 0.6 times of its inner ring diameter.The present invention and long cylinder flexbile gear harmonic wave drive speed reducer of the prior art are compared: Fig. 3 is the flexbile gear of harmonic speed reducer of the prior art, L1 is wherein the axial length of the flexbile gear of prior art, L2 in Fig. 4 is the axial length of flexbile gear of the present invention, wherein, L2 is 0.55 ~ 0.65 times of L1.In other words, the axial length of flexbile gear 1a is 0.45 ~ 0.75 times of its inner ring diameter.
Further, in short cylinder flexbile gear harmonic wave drive speed reducer of the present invention, the radius of the knuckle of described flexspline's toothed ring and cylindrical shell is 0.25 ~ 0.40 times of flexbile gear inner ring diameter.The present invention and long cylinder flexbile gear harmonic wave drive speed reducer of the prior art are compared: Fig. 3 is the flexbile gear of harmonic speed reducer of the prior art, R1 is wherein the radius of the flexspline's toothed ring of prior art and the knuckle of cylindrical shell, R3 in Fig. 4 is the radius of the knuckle of flexspline's toothed ring of the present invention and cylindrical shell, wherein, R3 is 13 ~ 15 times of R1.In other words, the radius of the knuckle of described flexspline's toothed ring and cylindrical shell is 0.25 ~ 0.40 times of flexbile gear inner ring diameter.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the radius of described flexbile gear cylindrical shell and the knuckle at the bottom of flexbile gear cylinder is 0.05 ~ 0.15 times of flexbile gear inner ring diameter.The present invention and long cylinder flexbile gear harmonic wave drive speed reducer of the prior art are compared: Fig. 3 is the flexbile gear of harmonic speed reducer of the prior art, R2 is wherein the radius of the flexbile gear cylindrical shell of prior art and the knuckle at the bottom of flexbile gear cylinder, R4 in Fig. 4 is the radius of flexbile gear cylindrical shell of the present invention and the knuckle at the bottom of flexbile gear cylinder, wherein, R4 is 0.5 ~ 0.6 times of R2.That is, the radius of the radius ratio prior art of flexbile gear cylindrical shell of the present invention and the knuckle at the bottom of flexbile gear cylinder is little.In other words, the radius of flexbile gear cylindrical shell and the knuckle at the bottom of flexbile gear cylinder is 0.05 ~ 0.15 times of flexbile gear inner ring diameter.
In described short cylinder flexbile gear harmonic wave drive speed reducer, at the bottom of described flexbile gear cylinder, the thickness of 6 is thinning gradually by flexbile gear flange 5 side direction flexbile gear cylindrical shell 4 side direction, as shown in Figure 4.Described short cylinder flexbile gear harmonic wave drive speed reducer, wherein, the outer surface at the bottom of described flexbile gear cylinder tilts gradually by flexbile gear flange side direction flexbile gear cylindrical shell side direction, and gradient is 1: 36 ~ 1: 37.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell 4, by just taking turns gear ring side direction flexbile gear cylinder bottom side to thinning gradually.Be not provided with the part at knuckle R3 transition end to knuckle R4 place in the part i.e. Fig. 4 of just taking turns gear ring, this part can obviously find out from figure is tilt.Design herein, contribute to eliminating stress.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell, just taking turns 0.009 ~ 0.011 times that gear ring side is flexbile gear inner ring diameter, is then 0.007 ~ 0.0094 times of flexbile gear inner ring diameter in flexbile gear cylinder bottom side.The present invention and long cylinder flexbile gear harmonic wave drive speed reducer of the prior art are compared: Fig. 3 is the flexbile gear of harmonic speed reducer of the prior art, δ 1 is wherein the thickness of the flexbile gear cylindrical shell of prior art, Fig. 5 is the structure enlarged diagram for Fig. 4 centre circle part A, δ 2 in Fig. 5 is the thickness of the part not being provided with just wheel gear ring in firm wheel gear ring side of described flexbile gear cylindrical shell, and δ 3 is the thickness in flexbile gear cylinder bottom side, wherein, δ 2 is 0.65 ~ 0.84 times of δ 1, and δ 3 is 0.78 ~ 0.86 times of δ 2.In other words, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell, just taking turns 0.009 ~ 0.011 times that gear ring side is flexbile gear inner ring diameter, is then 0.007 ~ 0.0094 times of flexbile gear inner ring diameter in flexbile gear cylinder bottom side.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the material of described flexbile gear is steel, described steel comprise mass percent: the C of 0.31% ~ 0.45%, the Al of 2% ~ 3.5%, the Si of 0.16% ~ 0.18%, Mg, the Mn of 0.5% ~ 0.6%, Cr, the Mo of 0.1% ~ 0.11%, the Ti of 0.03% ~ 0.05% of 0.03% ~ 0.04% of 0.8% ~ 0.9%, the P of 0.04% ~ 0.05%, all the other are iron and inevitable impurity.Inventor is found by test repeatedly, and this steel can realize good working effect.
In described short cylinder flexbile gear harmonic wave drive speed reducer, described flexbile gear steel, the surface hardness of the firm material in the flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV450 ~ HV470, and tensile strength is between 1700N/mm
2~ 1750N/mm
2between; The surface hardness of the steel in the non-flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV430 ~ HV450, and tensile strength is between 1500N/mm
2~ 1550N/mm
2between, and effective optimization degree of depth of steel be not containing flexspline's toothed ring flexbile gear cylindrical shell inner ring diameter 0.3 ~ 0.35 between.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the tooth depth of described flexspline's toothed ring is 0.016 ~ 0.018 times of flexbile gear inner ring diameter.As shown in Figure 6, be the flexbile gear gear teeth of prior art on the left of Fig. 6, and right side is the flexbile gear gear teeth of the present invention, both contrast.As shown in Figure 6, in left hand view, H1 is the height that in prior art, flexbile gear cogs, and in right part of flg, H2 is the height that the flexbile gear in the present invention cogs, and usual H2 is 0.55 ~ 0.68 times of H1.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the transverse tooth thickness of described flexspline's toothed ring is 0.015 ~ 0.020 times of flexbile gear inner ring diameter.As shown in Figure 6, be the flexbile gear gear teeth of prior art on the left of Fig. 6, and right side is the flexbile gear gear teeth of the present invention, both contrast.As shown in Figure 6, in left hand view, S1 is the thickness that in prior art, flexbile gear cogs, and in right part of flg, S2 is the thickness that the flexbile gear in the present invention cogs, and usual S2 is 0.45 ~ 0.56 times of S1.
In described short cylinder flexbile gear harmonic wave drive speed reducer, the flexbile gear wheel tooth pressure angle of described flexspline's toothed ring is 30 °.As shown in Figure 6, in left hand view, α 1 is flexbile gear wheel tooth pressure angle in prior art, and in right part of flg, α 2 is the flexbile gear wheel tooth pressure angle in the present invention, and usual α 1 is 20 °.
Although embodiment of the present invention are open as above, but it is not restricted to listed in specification and mode of execution utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.
Claims (1)
1. a short cylinder flexbile gear harmonic wave drive speed reducer, comprising:
Wave-generator, it has ellipsoidal structure;
Flexbile gear, its ring is located at the periphery of described wave-generator, and described flexbile gear comprises flexbile gear cylindrical shell, is positioned at the bottom of the flexbile gear cylinder of the flexbile gear flange of flexbile gear cylindrical shell side and connection flexbile gear cylindrical shell and flexbile gear flange, and the periphery of described flexbile gear cylindrical shell is provided with flexspline's toothed ring;
Firm wheel, its ring is located at the periphery of described flexbile gear, and the inner circumferential of described firm wheel is provided with and just takes turns gear ring, and described firm wheel gear ring and described flexspline's toothed ring can engage each other;
Wherein, the radius of the knuckle of described flexspline's toothed ring and cylindrical shell is 0.25 ~ 0.40 times of flexbile gear inner ring diameter, thickness at the bottom of described flexbile gear cylinder is thinning gradually by flexbile gear flange side direction flexbile gear cylindrical shell side direction, outer surface at the bottom of described flexbile gear cylinder tilts gradually by flexbile gear flange side direction flexbile gear cylindrical shell side direction, gradient is 1: 36 ~ 1: 37, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell, by just taking turns gear ring side direction flexbile gear cylinder bottom side to thinning gradually, the thickness not being provided with the part of just wheel gear ring of described flexbile gear cylindrical shell is just taking turns 0.009 ~ 0.011 times that gear ring side is flexbile gear inner ring diameter, at 0.007 ~ 0.0094 times that flexbile gear cylinder bottom side is then flexbile gear inner ring diameter,
Wherein, the axial length of described flexbile gear is 0.5 ~ 0.6 times of its inner ring diameter; The radius of described flexbile gear cylindrical shell and the knuckle at the bottom of flexbile gear cylinder is 0.05 ~ 0.15 times of flexbile gear inner ring diameter;
Wherein, the material of described flexbile gear is steel, described steel comprise mass percent: the C of 0.31% ~ 0.45%, the Al of 2% ~ 3.5%, the Si of 0.16% ~ 0.18%, Mg, the Mn of 0.5% ~ 0.6%, Cr, the Mo of 0.1% ~ 0.11%, the Ti of 0.03% ~ 0.05% of 0.03% ~ 0.04% of 0.8% ~ 0.9%, the P of 0.04% ~ 0.05%, all the other are iron and inevitable impurity; Described flexbile gear steel, the surface hardness of the firm material in the flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV450 ~ HV470, and tensile strength is between 1700N/mm
2~ 1750N/mm
2between; The surface hardness of the steel in the non-flexspline's toothed ring portion of described flexbile gear cylindrical shell is between HV430 ~ HV450, and tensile strength is between 1500N/mm
2~ 1550N/mm
2between, and effective optimization degree of depth of steel be not containing flexspline's toothed ring flexbile gear cylindrical shell inner ring diameter 0.3 ~ 0.35 between;
Wherein, the tooth depth of described flexspline's toothed ring is 0.016 ~ 0.018 times of flexbile gear inner ring diameter; The transverse tooth thickness of described flexspline's toothed ring is 0.015 ~ 0.020 times of flexbile gear inner ring diameter; The flexbile gear wheel tooth pressure angle of described flexspline's toothed ring is 30 °.
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| CN201110195088.3A CN102392881B (en) | 2011-07-12 | 2011-07-12 | A kind of short cylinder flexbile gear harmonic wave drive speed reducer |
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| CN102889344A (en) * | 2012-09-14 | 2013-01-23 | 苏州绿的谐波传动科技有限公司 | Short barrel high-load hollow harmonic speed reducer |
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| CN104033565B (en) * | 2014-06-03 | 2016-08-17 | 北京航空航天大学 | A kind of ripple type flexbile gear structure |
| CN104595425A (en) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | Harmonic reducer with short barrel-shaped flexible wheel |
| CN104864050A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Highly-efficient harmonic-wave speed reducer |
| US10955039B2 (en) * | 2017-09-15 | 2021-03-23 | Nidec Corporation | Transmission and actuator |
| CN111942237B (en) * | 2020-09-15 | 2024-06-25 | 江苏忠明祥和精工股份有限公司 | Electric height-adjusting device of automobile seat |
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| US5269202A (en) * | 1991-05-20 | 1993-12-14 | Harmonic Drive Systems, Inc. | Cup-type harmonic drive having a short, flexible cup member |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| CN1924397A (en) * | 2006-04-12 | 2007-03-07 | 北京市克美谐波传动精密机械公司 | Three-dimensional harmonic wave gear with involute tooth outline |
-
2011
- 2011-07-12 CN CN201110195088.3A patent/CN102392881B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5269202A (en) * | 1991-05-20 | 1993-12-14 | Harmonic Drive Systems, Inc. | Cup-type harmonic drive having a short, flexible cup member |
| CN2481905Y (en) * | 2001-02-16 | 2002-03-13 | 北京中技克美谐波传动有限责任公司 | Harmonic drive unit with cup flexible wheel |
| CN1924397A (en) * | 2006-04-12 | 2007-03-07 | 北京市克美谐波传动精密机械公司 | Three-dimensional harmonic wave gear with involute tooth outline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102392881A (en) | 2012-03-28 |
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