CN102734394A - Harmonic speed reducer with flexible felly - Google Patents

Abstract

The invention discloses a harmonic reducer with a flexible outer wheel, which comprises a wave generator, a flexspline, and an outer wheel; the flexspline includes a flexspline body and a flexspline ring; the flexspline body is roughly disc-shaped ; The flexspline ring is concentrically arranged on the outer circumference of the flexspline body; the outer circumference of the flexspline ring is provided with first teeth; the outer wheel includes the outer wheel body and the outer wheel ring; the outer wheel The body is arranged in a ring shape; the outer ring is arranged on the end face of the outer ring body; the second tooth is arranged on the inner circumference of the outer ring; the wave generator is arranged on the inner circumference of the flexspline ring The outer circumference of the flexspline ring is set on the inner circumference of the outer ring, and the first teeth and the second teeth mesh with each other; the outer ring deforms together with the flexspline ring; the meshing of the present invention The number of teeth is more, the transmission accuracy is higher, the output is stable, no impact, and the service life is long.

Description

A kind of harmonic reducer with flexible outer wheel

technical field

The invention relates to an improvement of a harmonic reducer, in particular to a harmonic reducer with a flexible outer wheel, which has more meshing teeth, higher transmission precision, stable output, no impact and long service life, belonging to reducers technology field. the

Background technique

The reducer is a power transmission mechanism that uses the speed conversion of the gear set to reduce the number of revolutions of the motor to the desired number of revolutions and obtain a larger torque mechanism. There are many types of reducers with different models, and different types have different uses. Among them, the harmonic reducer is a new type of reducer developed by using the principle of planetary gear transmission. The unique advantages of small size, light weight, stable transmission and high transmission precision make harmonic reducers widely used in electronics, aerospace, robotics and other industries.

The existing harmonic reducer, as shown in Figure 1, includes a wave generator 1, a flexspline 2, and an outer wheel 3; the flexspline 2 includes a flexspline body 4, a flexspline ring 5; the flexspline The body 4 is roughly disc-shaped; the flexspline ring 5 is concentrically arranged on the outer circumference of the flexspline body 4; the outer circumference of the flexspline ring 5 is provided with first teeth 6; the outer wheel 3 It is also called a rigid wheel, which is arranged in a ring shape; the inner circumference of the outer wheel 3 is provided with only the second tooth 7; the wave generator 1 is arranged on the inner circumference of the flexspline ring 5; the flexspline ring The outer circumference of 5 is arranged on the inner circumference of the outer wheel 3, and the first teeth 6 and the second teeth 7 mesh with each other; the wave generator 1 is oval; deformation; the flexspline body 4 and the flexspline ring 5 on the flexspline are relatively thin, and elastic deformation occurs under the action of the wave generator 1, and the first tooth 6 of the flexspline 2 enters ( between the second teeth 7 of the rigid wheel, the first teeth 6 and the second teeth 7 are completely meshed at the long axis of the wave generator 1, and the first teeth 6 and the second teeth 7 in the direction of the short axis of the wave generator 1 The second tooth 7 is in a fully disengaged state. As a result, the number of meshing teeth is small, the precision of the transmission is low, and the number of teeth that can bear the load is also small; there will be sudden changes in the meshing and meshing of the teeth, making the output unstable and impactful; and its service life is also short.

Contents of the invention

The object of the present invention is to overcome the disadvantages of the prior art and provide a harmonic reducer with a flexible outer wheel with more meshing teeth, higher transmission precision, stable output, no impact and long service life.

In order to achieve the above object, the technical solution adopted in the present invention is: a harmonic reducer with a flexible outer wheel, including a wave generator, a flex wheel, and an outer wheel; the flex wheel includes a flex wheel body and a flex wheel ring; The flexspline body is roughly disc-shaped; the flexspline ring is concentrically arranged on the outer circumference of the flexspline body; the outer circumference of the flexspline ring is provided with first teeth; the outer wheel includes an outer wheel Body, outer wheel ring; the outer wheel body is arranged in a ring shape; the outer wheel ring is arranged on the end face of the outer wheel body; the inner circumference of the outer wheel ring is provided with second teeth; the wave generator is set On the inner circumference of the flexspline ring; the outer circumference of the flexspline ring is arranged on the inner circumference of the outer wheel ring, and the first teeth and the second teeth mesh with each other; the outer ring follows the flexspline circle The ring deforms together.

Preferably, the ring of the outer wheel is arranged concentrically with the body of the outer wheel.

Preferably, the outer wheel ring is arranged on the inner circumference of the outer wheel body.

Preferably, the outer wheel ring is arranged within the inner circumference of the outer wheel body; one end of the outer wheel ring is connected to the outer wheel body through a connecting plate.

Due to the application of the above-mentioned technical solution, the present invention has the following advantages compared with the prior art:

In the harmonic reducer with a flexible outer wheel of the present invention, under the action of the wave generator, the first tooth of the flexible wheel at both ends of the ellipse major axis is in a fully meshed state with the second tooth of the outer wheel that cooperates with it, and due to the flexible outer wheel It will also deform with the deformation of the flexible spline, and some teeth between the short axis and the long axis of the ellipse will also mesh, which is more sufficient than the traditional harmonic reducer, and the meshing teeth are more; thus making The transmission accuracy is higher, and the number of teeth that can bear the load is also higher, so the movement accuracy is higher than that of the harmonic reducer; the meshing and meshing of the teeth are regular deformations between the flexible outer wheel and the flexible wheel, making the output stable. There is no impact, and the gap between the teeth can also be reduced; the scheme of the invention can not only improve the output load but also increase the rigidity, and the service life is also long.

Description of drawings

Below in conjunction with accompanying drawing, technical solution of the present invention will be further described:

Accompanying drawing 1 is the sectional view of the harmonic speed reducer of prior art;

Accompanying drawing 2 is the sectional view of the harmonic reducer with flexible outer wheel of the present invention;

Among them: 1. Wave generator; 2. Flexspline; 3. Outer wheel; 4. Flexspline body; 5. Flexspline ring; 6. First tooth; 7. Second tooth; 11. Wave generator; 12. 13, the outer wheel; 14, the body of the flexspline; 15, the ring of the flexspline; 16, the first tooth; 17, the second tooth; 18, the body of the outer wheel; 19, the ring of the outer wheel. the

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. the

The harmonic reducer with flexible outer wheel of the present invention as shown in accompanying drawing 2, a kind of harmonic reducer with flexible outer wheel, comprises wave generator 11, flexible wheel 12, outer wheel 13; Said flexible wheel 12 , including a flexspline body 14 and a flexspline ring 15; the flexspline body 14 is roughly disc-shaped; the flexspline ring 15 is concentrically arranged on the outer circumference of the flexspline body 14; The outer circumference of the ring 15 is provided with a first tooth 16; the outer wheel 13 includes an outer wheel body 18 and an outer wheel ring 19; the outer wheel body 18 is arranged in an annular shape; the outer wheel ring 19 is arranged on the outer wheel body 18; the outer ring 19 is concentrically arranged with the outer ring body 18; the inner circumference of the outer ring 19 is provided with a second tooth 17; the wave generator 11 is arranged on the inner circumference of the flexspline ring 15 above; the outer circumference of the flexspline ring 15 is set on the inner circumference of the outer ring 19, and the first teeth 16 and the second teeth 17 are meshed with each other; the wall of the outer ring 19 is relatively thin, and when the ellipse When the shaped wave generator 11 rotates, the outer ring 19 deforms together with the flexspline ring 15 .

In this embodiment, the outer wheel ring 19 is disposed within the inner circumference of the outer wheel body 18; one end of the outer wheel ring 19 is connected to the outer wheel body 18 through a connecting plate (not shown).

Of course, the outer ring 19 can also be directly arranged on the inner circumference of the outer wheel body 18 .

In the harmonic reducer with a flexible outer wheel of the present invention, under the action of the wave generator, the first tooth of the flexible wheel at both ends of the ellipse major axis is in a fully meshed state with the second tooth of the outer wheel that cooperates with it, and due to the flexible outer wheel It will also deform with the deformation of the flexible spline, and some teeth between the short axis and the long axis of the ellipse will also mesh, which is more sufficient than the traditional harmonic reducer, and the meshing teeth are more; thus making The transmission accuracy is higher, and the number of teeth that can bear the load is also higher, so the movement accuracy is higher than that of the harmonic reducer; the meshing and meshing of the teeth are regular deformations between the flexible outer wheel and the flexible wheel, making the output stable. There is no impact, and the gap between the teeth can also be reduced; the scheme of the invention can not only improve the output load but also increase the rigidity, and the service life is also long.

The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention. Substantial equivalent changes or modifications shall fall within the protection scope of the present invention.

Claims (4)

1. A harmonic reducer with a flexible outer wheel, characterized in that: comprises a wave generator, a flexspline, and an outer wheel; the flexspline includes a flexspline body and a flexspline ring; the flexspline body is roughly round Disc-shaped; the flexspline ring is concentrically arranged on the outer circumference of the flexspline body; the first tooth is arranged on the outer circumference of the flexspline ring; the outer wheel includes the outer wheel body and the outer wheel ring; the The outer wheel body is arranged in a ring shape; the outer wheel ring is arranged on the end face of the outer wheel body; the second tooth is arranged on the inner circumference of the outer wheel ring; the wave generator is arranged in the inner ring of the flexspline on the circumference; the outer circumference of the flexspline ring is set on the inner circumference of the outer ring, and the first teeth and the second teeth mesh with each other; the outer ring deforms together with the flexspline ring. 2. The harmonic reducer with a flexible outer wheel according to claim 1, wherein the ring of the outer wheel is arranged concentrically with the body of the outer wheel. 3. The harmonic reducer with a flexible outer wheel according to claim 1 or 2, characterized in that: the outer wheel ring is arranged on the inner circumference of the outer wheel body. 4. The harmonic reducer with a flexible outer wheel according to claim 1 or 2, characterized in that: the outer wheel ring is arranged in the inner circumference of the outer wheel body; one end of the outer wheel ring is connected to the outer ring through a connecting plate The outer wheel body is connected.

Images