CN102734394A - Harmonic speed reducer with flexible felly - Google Patents

Harmonic speed reducer with flexible felly Download PDF

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Publication number
CN102734394A
CN102734394A CN2012102059551A CN201210205955A CN102734394A CN 102734394 A CN102734394 A CN 102734394A CN 2012102059551 A CN2012102059551 A CN 2012102059551A CN 201210205955 A CN201210205955 A CN 201210205955A CN 102734394 A CN102734394 A CN 102734394A
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CN
China
Prior art keywords
foreign steamer
annulus
flexbile gear
felly
circumference
Prior art date
Application number
CN2012102059551A
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Chinese (zh)
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CN102734394B (en
Inventor
左昱昱
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苏州绿的谐波传动科技有限公司
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Priority to CN 201210205955 priority Critical patent/CN102734394B/en
Publication of CN102734394A publication Critical patent/CN102734394A/en
Application granted granted Critical
Publication of CN102734394B publication Critical patent/CN102734394B/en

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Abstract

The invention discloses a harmonic speed reducer with a flexible felly. The harmonic speed reducer comprises a wave generator, a flexible gear and the felly, wherein the flexible gear comprises a gear body and a gear ring; the gear body is substantially disc-shaped and concentrically arranged on the outer circumference of the gear body; first teeth are formed on the outer circumference of the gear ring; the felly comprises a felly body and a felly ring; the felly body is circular; the felly ring is arranged on the end surface of the felly body; second teeth are formed on the inner circumference of the felly ring; the wave generator is arranged on the inner circumference of the gear ring; the outer circumference of the gear ring is arranged on the inner circumference of the felly ring; the first teeth are meshed with the second teeth; and the felly ring is deformed along with the gear ring. According to the scheme, the number of meshed teeth is relatively large, the transmission precision is relatively high, the output is stable, an impact is not generated, and the service life is long.

Description

A kind of harmonic speed reducer with flexible foreign steamer
Technical field
The present invention relates to a kind of improvement of harmonic speed reducer, particularly a kind of number of teeth of engagement precision more, transmission are higher, output is steady, do not have the harmonic speed reducer of the flexible foreign steamer of band of impact, long service life, belong to the retarder technical field.
Background technique
Retarder is that a kind of power is passed on mechanism, utilizes the rate conversion of gear train, the winding number of electric motor is decelerated to desired winding number, and obtain the mechanism of big torque.Retarder of a great variety; Model is different, and variety classes has different purposes, and wherein harmonic speed reducer is a kind of a kind of new type speed reducer that utilizes the planetary pinion transmission principle to grow up; Because its bearing capacity is high; Velocity ratio is big, and volume is little, in light weight, stable drive and high these distinct advantages of transmission accuracy, makes harmonic speed reducer be widely used in industries such as electronics, space flight and aviation, robot.
Existing harmonic speed reducer shown in accompanying drawing 1, comprises wave-generator 1, flexbile gear 2, foreign steamer 3; Said flexbile gear 2 comprises flexbile gear body 4, flexbile gear annulus 5; Said flexbile gear body 4 is roughly in the form of annular discs; Said flexbile gear annulus 5 is arranged on the excircle of flexbile gear body 4 with one heart; The excircle of said flexbile gear annulus 5 is provided with first tooth 6; Said foreign steamer 3 also is wheel just, becomes circular setting; Establish on the inner circumference of said foreign steamer 3 and have only second tooth 7; Said wave-generator 1 is located on the inner circumference of flexbile gear annulus 5; The excircle of said flexbile gear annulus 5 is located on the inner circumference of foreign steamer 3, and said first tooth 6 and second tooth 7 are meshing with each other; Said wave-generator 1 ovalize; Said flexbile gear body 4 is thicker, and good rigidly is not yielding; Flexbile gear body 4, flexbile gear annulus 5 on the said flexbile gear are all thinner; Elastic strain takes place under the effect of wave-generator 1; First tooth 6 of flexbile gear 2 just gets into (engagement) or withdraws from 7 in (nibble and leave) firm second tooth of taking turns in the process of distortion; Major axis at wave-generator 1 meshes in first tooth 6 and second tooth 7 everywhere fully, and first tooth 6 of its short-axis direction and second tooth 7 just are in disengaged condition completely.Thereby cause the number of teeth of engagement few, and the precision of transmission is low, and the number of teeth that can bear carrying is also few; Tooth engaging-in, nibble out and have sudden change, make that output is not steady, impact is arranged; And its working life is also short.
Summary of the invention
The present invention seeks to provide a kind of number of teeth of engagement more for the deficiency that overcomes existing technology, precision transmission is higher, output steadily, do not have impact, the harmonic speed reducer of the flexible foreign steamer of band of long service life.
For achieving the above object, the technological scheme that the present invention adopts is: a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator, flexbile gear, foreign steamer; Said flexbile gear comprises flexbile gear body, flexbile gear annulus; Said flexbile gear body is roughly in the form of annular discs; Said flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; The excircle of said flexbile gear annulus is provided with first tooth; Said foreign steamer comprises foreign steamer body, foreign steamer annulus; Said foreign steamer body is into circular setting; Said foreign steamer annulus is arranged on the end face of foreign steamer body; The inner circumference of said foreign steamer annulus is provided with second tooth; Said wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of said flexbile gear annulus is located on the inner circumference of foreign steamer annulus, and said first tooth and second tooth are meshing with each other; Said foreign steamer annulus is out of shape with the flexbile gear annulus.
Preferably, said foreign steamer annulus is provided with the foreign steamer body is concentric.
Preferably, said foreign steamer annulus is arranged on the inner circumference of foreign steamer body.
Preferably, said foreign steamer annulus is arranged in the inner circumference of foreign steamer body; One end of said foreign steamer annulus links to each other with the foreign steamer body through a plate.
Because the utilization of technique scheme, the present invention compared with prior art has advantage:
The harmonic speed reducer of the flexible foreign steamer of band of the present invention; Under the effect of wave-generator; Second tooth of the foreign steamer that first tooth of the flexbile gear at transverse two ends cooperates with it then is in complete engagement, and owing to deformation also can take place along with the distortion of flexbile gear flexible foreign steamer, then the part tooth between ellipse short shaft and major axis also can mesh; More abundant than the engagement of traditional harmonic speed reducer like this, the tooth of engagement is also just more; Thereby make the precision of transmission higher, the number of teeth that can bear carrying is also more, thereby higher than the kinematic accuracy of harmonic speed reducer; Tooth engaging-in, to nibble out be distortion clocklike between flexible foreign steamer and flexbile gear, makes output steadily, do not have and impact, and can also dwindle the gap of between cog; The present invention program not only can improve output load can also increase rigidity, and working life is also long.
Description of drawings
Below in conjunction with accompanying drawing technological scheme of the present invention is described further:
Accompanying drawing 1 is the sectional view of the harmonic speed reducer of existing technology;
Accompanying drawing 2 is the sectional view of the harmonic speed reducer of the flexible foreign steamer of band of the present invention;
Wherein: 1, wave-generator; 2, flexbile gear; 3, foreign steamer; 4, flexbile gear body; 5, flexbile gear annulus; 6, first tooth; 7, second tooth; 11, wave-generator; 12, flexbile gear; 13, foreign steamer; 14, flexbile gear body; 15, flexbile gear annulus; 16, first tooth; 17, second tooth; 18, foreign steamer body; 19, foreign steamer annulus.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further detailed description.
The harmonic speed reducer of the flexible foreign steamer of band of the present invention shown in accompanying drawing 2, a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator 11, flexbile gear 12, foreign steamer 13; Said flexbile gear 12 comprises flexbile gear body 14, flexbile gear annulus 15; Said flexbile gear body 14 is roughly in the form of annular discs; Said flexbile gear annulus 15 is arranged on the excircle of flexbile gear body 14 with one heart; The excircle of said flexbile gear annulus 15 is provided with first tooth 16; Said foreign steamer 13 comprises foreign steamer body 18, foreign steamer annulus 19; Said foreign steamer body 18 is into circular setting; Said foreign steamer annulus 19 is arranged on the end face of foreign steamer body 18; Said foreign steamer annulus 19 and the 18 concentric settings of foreign steamer body; The inner circumference of said foreign steamer annulus 19 is provided with second tooth 17; Said wave-generator 11 is located on the inner circumference of flexbile gear annulus 15; The excircle of said flexbile gear annulus 15 is located on the inner circumference of foreign steamer annulus 19, and said first tooth 16 and second tooth 17 are meshing with each other; The wall of said foreign steamer annulus 19 is thinner, and when oval-shaped wave-generator 11 rotated, said foreign steamer annulus 19 was with 15 distortion of flexbile gear annulus.
In the present embodiment, said foreign steamer annulus 19 is arranged in the inner circumference of foreign steamer body 18; One end of said foreign steamer annulus 19 links to each other with foreign steamer body 18 through a plate (not marking).
Certainly, said foreign steamer annulus 19 also can be set directly on the inner circumference of foreign steamer body 18.
The harmonic speed reducer of the flexible foreign steamer of band of the present invention; Under the effect of wave-generator; Second tooth of the foreign steamer that first tooth of the flexbile gear at transverse two ends cooperates with it then is in complete engagement, and owing to deformation also can take place along with the distortion of flexbile gear flexible foreign steamer, then the part tooth between ellipse short shaft and major axis also can mesh; More abundant than the engagement of traditional harmonic speed reducer like this, the tooth of engagement is also just more; Thereby make the precision of transmission higher, the number of teeth that can bear carrying is also more, thereby higher than the kinematic accuracy of harmonic speed reducer; Tooth engaging-in, to nibble out be distortion clocklike between flexible foreign steamer and flexbile gear, makes output steadily, do not have and impact, and can also dwindle the gap of between cog; The present invention program not only can improve output load can also increase rigidity, and working life is also long.
The foregoing description only is explanation technical conceive of the present invention and characteristics; Its purpose is to let the personage that is familiar with this technology can understand content of the present invention and implements; Can not limit protection scope of the present invention with this; All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.

Claims (4)

1. the harmonic speed reducer with flexible foreign steamer is characterized in that: comprise wave-generator, flexbile gear, foreign steamer; Said flexbile gear comprises flexbile gear body, flexbile gear annulus; Said flexbile gear body is roughly in the form of annular discs; Said flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; The excircle of said flexbile gear annulus is provided with first tooth; Said foreign steamer comprises foreign steamer body, foreign steamer annulus; Said foreign steamer body is into circular setting; Said foreign steamer annulus is arranged on the end face of foreign steamer body; The inner circumference of said foreign steamer annulus is provided with second tooth; Said wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of said flexbile gear annulus is located on the inner circumference of foreign steamer annulus, and said first tooth and second tooth are meshing with each other; Said foreign steamer annulus is out of shape with the flexbile gear annulus.
2. the harmonic speed reducer of the flexible foreign steamer of band according to claim 1 is characterized in that: said foreign steamer annulus is provided with the foreign steamer body is concentric.
3. the harmonic speed reducer of the flexible foreign steamer of band according to claim 1 and 2 is characterized in that: said foreign steamer annulus is arranged on the inner circumference of foreign steamer body.
4. the harmonic speed reducer of the flexible foreign steamer of band according to claim 1 and 2 is characterized in that: said foreign steamer annulus is arranged in the inner circumference of foreign steamer body; One end of said foreign steamer annulus links to each other with the foreign steamer body through a plate.
CN 201210205955 2012-06-21 2012-06-21 Harmonic speed reducer with flexible felly CN102734394B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN102734394A true CN102734394A (en) 2012-10-17
CN102734394B CN102734394B (en) 2013-11-06

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105317941A (en) * 2014-06-12 2016-02-10 捷奥机械(上海)有限公司 Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator
CN106141667A (en) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 A kind of method for processing and assembling of rescuing robot for fire control driver
CN106141666A (en) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 The method for processing and assembling of intelligent nursing machine people's decelerator
CN106181222A (en) * 2016-07-29 2016-12-07 柳州福能机器人开发有限公司 The method for processing and assembling of public service robot driver
CN107676456A (en) * 2017-08-31 2018-02-09 成都瑞迪机械科技有限公司 long-life harmonic speed reducer
WO2018040978A1 (en) * 2016-08-31 2018-03-08 比亚迪股份有限公司 Rigid gear for harmonic reducer, harmonic reducer, and robot
WO2020069660A1 (en) * 2018-10-03 2020-04-09 爱磁科技(深圳)有限公司 Double-flexible-wheel harmonic speed reducer

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62225911A (en) * 1986-03-27 1987-10-03 Kobe Steel Ltd Pulse encoder
JPS63180751A (en) * 1987-01-19 1988-07-25 Mitsubishi Electric Corp Harmonic speed reducer
CN1235251A (en) * 1998-05-09 1999-11-17 中国科学院长春光学精密机械研究所 Friction harmonic driving device
CN1616847A (en) * 2003-11-14 2005-05-18 辛洪兵 Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator
CN101126436A (en) * 2006-08-15 2008-02-20 李维农 Harmonic teeth-driving stage-less speed variator
CN102042365A (en) * 2011-01-28 2011-05-04 青岛创想机器人制造有限公司 Single row crossed roller bearing harmonic speed reducer
CN202732859U (en) * 2012-06-21 2013-02-13 苏州绿的谐波传动科技有限公司 Harmonic reducer with flexibility felly

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62225911A (en) * 1986-03-27 1987-10-03 Kobe Steel Ltd Pulse encoder
JPS63180751A (en) * 1987-01-19 1988-07-25 Mitsubishi Electric Corp Harmonic speed reducer
CN1235251A (en) * 1998-05-09 1999-11-17 中国科学院长春光学精密机械研究所 Friction harmonic driving device
CN1616847A (en) * 2003-11-14 2005-05-18 辛洪兵 Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator
CN101126436A (en) * 2006-08-15 2008-02-20 李维农 Harmonic teeth-driving stage-less speed variator
CN102042365A (en) * 2011-01-28 2011-05-04 青岛创想机器人制造有限公司 Single row crossed roller bearing harmonic speed reducer
CN202732859U (en) * 2012-06-21 2013-02-13 苏州绿的谐波传动科技有限公司 Harmonic reducer with flexibility felly

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105317941A (en) * 2014-06-12 2016-02-10 捷奥机械(上海)有限公司 Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator
CN106141667A (en) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 A kind of method for processing and assembling of rescuing robot for fire control driver
CN106141666A (en) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 The method for processing and assembling of intelligent nursing machine people's decelerator
CN106181222A (en) * 2016-07-29 2016-12-07 柳州福能机器人开发有限公司 The method for processing and assembling of public service robot driver
CN106181222B (en) * 2016-07-29 2018-02-27 柳州福能机器人开发有限公司 The method for processing and assembling of public service robot driver
WO2018040978A1 (en) * 2016-08-31 2018-03-08 比亚迪股份有限公司 Rigid gear for harmonic reducer, harmonic reducer, and robot
CN107795662A (en) * 2016-08-31 2018-03-13 比亚迪股份有限公司 For the firm gear of harmonic speed reducer, harmonic speed reducer and robot
CN107795662B (en) * 2016-08-31 2020-06-19 比亚迪股份有限公司 Rigid wheel for harmonic reducer, harmonic reducer and robot
CN107676456A (en) * 2017-08-31 2018-02-09 成都瑞迪机械科技有限公司 long-life harmonic speed reducer
WO2020069660A1 (en) * 2018-10-03 2020-04-09 爱磁科技(深圳)有限公司 Double-flexible-wheel harmonic speed reducer

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Address after: 215101 Harmonic Drive Technology Co., Ltd. of Suzhou Green, 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province

Patentee after: Suzhou Green Harmonic Drive Technology Co., Ltd.

Address before: 215101 Harmonic Drive Technology Co., Ltd. of Suzhou Green, 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province

Patentee before: Suzhou Lvdi Harmonic Transmission Technology Co., Ltd.

CP01 Change in the name or title of a patent holder