CN102734394B - Harmonic speed reducer with flexible felly - Google Patents
Harmonic speed reducer with flexible felly Download PDFInfo
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- CN102734394B CN102734394B CN 201210205955 CN201210205955A CN102734394B CN 102734394 B CN102734394 B CN 102734394B CN 201210205955 CN201210205955 CN 201210205955 CN 201210205955 A CN201210205955 A CN 201210205955A CN 102734394 B CN102734394 B CN 102734394B
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- foreign steamer
- annulus
- flexbile gear
- felly
- speed reducer
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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
Technical field
The present invention relates to a kind of improvement of harmonic speed reducer, particularly a kind of number of teeth of engagement is more, precision transmission is higher, output steady, and nothing is impacted, the harmonic speed reducer of the flexible foreign steamer of the band of long service life, belongs to the retarder technical field.
Background technique
Retarder is a kind of power transmission 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 larger torque.Retarder of a great variety, model is different, variety classes has different purposes, wherein harmonic speed reducer is a kind of a kind of Novel reducer that utilizes the Planetary Gear Transmission principle to grow up, because its bearing capacity is high, velocity ratio is large, and volume is little, lightweight, stable drive and high these particular advantages of transmission accuracy, makes harmonic speed reducer be widely used in the industries such as electronics, space flight and aviation, robot.
Existing harmonic speed reducer as shown in Figure 1, comprises wave-generator 1, flexbile gear 2, foreign steamer 3; Described flexbile gear 2 comprises flexbile gear body 4, flexbile gear annulus 5; Described flexbile gear body 4 is roughly in the form of annular discs; Described flexbile gear annulus 5 is arranged on the excircle of flexbile gear body 4 with one heart; Be provided with the first tooth 6 on the excircle of described flexbile gear annulus 5; Described foreign steamer 3 also is just wheel, becomes circular setting; Establish on the inner circumference of described foreign steamer 3 and only have the second tooth 7; Described wave-generator 1 is located on the inner circumference of flexbile gear annulus 5; The excircle of described flexbile gear annulus 5 is located on the inner circumference of foreign steamer 3, and described the first tooth 6 and the second tooth 7 are intermeshing; Described wave-generator 1 ovalize; Described flexbile gear body 4 is thicker, and good rigidly is not yielding; Flexbile gear body 4, flexbile gear annulus 5 on described flexbile gear are all thinner, elastic strain occurs under the effect of wave-generator 1, the first tooth 6 of flexbile gear 2 just enters (engagement) or withdraws from 7, the second tooth that (nibble from) just taken turns in the process of distortion, major axis at wave-generator 1 meshes in the first tooth 6 and the second tooth 7 everywhere fully, and the first tooth 6 of its short-axis direction and the 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 output 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 in order to overcome the deficiencies in the prior art, the precision of transmission is higher, output steadily, without impact, the harmonic speed reducer of the flexible foreign steamer of band of long service life.
For achieving the above object, the technical solution used in the present invention is: a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator, flexbile gear, foreign steamer; Described flexbile gear comprises flexbile gear body, flexbile gear annulus; Described flexbile gear body is roughly in the form of annular discs; Described flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; Be provided with the first tooth on the excircle of described flexbile gear annulus; Described foreign steamer comprises foreign steamer body, foreign steamer annulus; Described foreign steamer body is into circular setting; Described foreign steamer annulus is arranged on the end face of foreign steamer body; Be provided with the second tooth on the inner circumference of described foreign steamer annulus; Described wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of described flexbile gear annulus is located on the inner circumference of foreign steamer annulus, and described the first tooth and the second tooth are intermeshing; Described foreign steamer annulus is out of shape with the flexbile gear annulus.
Preferably, described foreign steamer annulus arranges with the foreign steamer body is concentric.
Preferably, described foreign steamer annulus is arranged on the inner circumference of foreign steamer body.
Preferably, described foreign steamer annulus is arranged in the inner circumference of foreign steamer body; One end of described foreign steamer annulus is connected with the foreign steamer body by a plate.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
The harmonic speed reducer of the flexible foreign steamer of band of the present invention, under the effect of wave-generator, the second tooth of the foreign steamer that the first tooth of the flexbile gear at transverse two ends coordinates with it is in complete engagement, and because deformation also can occur along with the distortion of flexbile gear the foreign steamer of flexibility, 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 regular distortion between flexible foreign steamer and flexbile gear, makes output steadily, without impacting, can also dwindle the gap of between cog; The present invention program not only can improve output loads can also increase rigidity, and working life is also long.
Description of drawings
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
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 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, the first tooth; 7, the second tooth; 11, wave-generator; 12, flexbile gear; 13, foreign steamer; 14, flexbile gear body; 15, flexbile gear annulus; 16, the first tooth; 17, the second tooth; 18, foreign steamer body; 19, foreign steamer annulus.
Embodiment
The present invention is described in further detail below in conjunction with drawings and the specific embodiments.
The harmonic speed reducer of the flexible foreign steamer of band of the present invention as shown in Figure 2, a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator 11, flexbile gear 12, foreign steamer 13; Described flexbile gear 12 comprises flexbile gear body 14, flexbile gear annulus 15; Described flexbile gear body 14 is roughly in the form of annular discs; Described flexbile gear annulus 15 is arranged on the excircle of flexbile gear body 14 with one heart; Be provided with the first tooth 16 on the excircle of described flexbile gear annulus 15; Described foreign steamer 13 comprises foreign steamer body 18, foreign steamer annulus 19; Described foreign steamer body 18 is into circular setting; Described foreign steamer annulus 19 is arranged on the end face of foreign steamer body 18; Described foreign steamer annulus 19 and the concentric setting of foreign steamer body 18; Be provided with the second tooth 17 on the inner circumference of described foreign steamer annulus 19; Described wave-generator 11 is located on the inner circumference of flexbile gear annulus 15; The excircle of described flexbile gear annulus 15 is located on the inner circumference of foreign steamer annulus 19, and described the first tooth 16 and the second tooth 17 are intermeshing; The wall of described foreign steamer annulus 19 is thinner, and when oval-shaped wave-generator 11 rotation, described foreign steamer annulus 19 is with 15 distortion of flexbile gear annulus.
In the present embodiment, described foreign steamer annulus 19 is arranged in the inner circumference of foreign steamer body 18; One end of described foreign steamer annulus 19 is connected with foreign steamer body 18 by a plate (not marking).
Certainly, described 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, the second tooth of the foreign steamer that the first tooth of the flexbile gear at transverse two ends coordinates with it is in complete engagement, and because deformation also can occur along with the distortion of flexbile gear the foreign steamer of flexibility, 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 regular distortion between flexible foreign steamer and flexbile gear, makes output steadily, without impacting, can also dwindle the gap of between cog; The present invention program not only can improve output loads can also increase rigidity, and working life is also long.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics; its purpose is to allow person skilled in the art scholar can understand content of the present invention and be implemented; can not limit protection scope of the present invention with this; all equivalences that Spirit Essence 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; Described flexbile gear comprises flexbile gear body, flexbile gear annulus; Described flexbile gear body is roughly in the form of annular discs; Described flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; Be provided with the first tooth on the excircle of described flexbile gear annulus; Described foreign steamer comprises foreign steamer body, foreign steamer annulus; Described foreign steamer body is into circular setting; Described foreign steamer annulus is arranged on the end face of foreign steamer body; Be provided with the second tooth on the inner circumference of described foreign steamer annulus; Described wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of described flexbile gear annulus is located on the inner circumference of foreign steamer annulus, and described the first tooth and the second tooth are intermeshing; Described 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, it is characterized in that: described foreign steamer annulus arranges 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, it is characterized in that: described 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, it is characterized in that: described foreign steamer annulus is arranged in the inner circumference of foreign steamer body; One end of described foreign steamer annulus is connected with the foreign steamer body by a plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210205955 CN102734394B (en) | 2012-06-21 | 2012-06-21 | Harmonic speed reducer with flexible felly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210205955 CN102734394B (en) | 2012-06-21 | 2012-06-21 | Harmonic speed reducer with flexible felly |
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| CN102734394A CN102734394A (en) | 2012-10-17 |
| CN102734394B true CN102734394B (en) | 2013-11-06 |
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| 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 |
| 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 |
| CN106141667B (en) * | 2016-07-29 | 2018-03-20 | 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 |
| CN106141666B (en) * | 2016-07-29 | 2018-03-16 | 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 |
| 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 |
| CN111373173B (en) * | 2017-11-29 | 2023-03-14 | 谐波传动系统有限公司 | Wave gear device |
| CN109139855A (en) * | 2018-10-03 | 2019-01-04 | 凌子龙 | Double flexbile gear harmonic wave speed reducing machines |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| 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 |
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2012
- 2012-06-21 CN CN 201210205955 patent/CN102734394B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN102734394A (en) | 2012-10-17 |
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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. |
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