CN103939532A - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
- Publication number
- CN103939532A CN103939532A CN201310025650.7A CN201310025650A CN103939532A CN 103939532 A CN103939532 A CN 103939532A CN 201310025650 A CN201310025650 A CN 201310025650A CN 103939532 A CN103939532 A CN 103939532A
- Authority
- CN
- China
- Prior art keywords
- gear
- harmonic speed
- speed changer
- speed reducer
- coupled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
Abstract
The invention relates to a harmonic speed reducer which comprises a shell, a first gear, a second gear, an eccentric shaft and a power output unit. The first gear is fixed onto the shell, and the first gear is provided with a first number of internal meshing teeth. The second gear is meshed with the first gear and provided with a second number of external meshing teeth, and the second number is different from the first number. The eccentric shaft is connected to the second gear in a coupled mode and used for driving the second gear to conduct eccentric rotation relative to the first gear. The power output unit is connected to the second gear in a coupled mode and used for converting eccentric rotation of the second gear into rotation power.
Description
Technical field
The present invention relates to a kind of harmonic speed changer, espespecially a kind of rigidity harmonic speed changer strong and that easily manufacture.
Background technique
Harmonic speed reducer is the harmonic speed changer of the high reduction speed ratio of a kind of tool.Existing harmonic speed reducer comprises a rigid gear conventionally, a flexible gear, and a wave-generator.Wave-generator is coupled to a power source (for example motor), and flexible gear is coupled to a pto＝power take-off with outputting power.The engaging tooth number of rigid gear is different from the engaging tooth number of flexible gear, and wave-generator pushing tow flexible gear distortion while being used to rotate, to drive the engaging tooth of diverse location and the corresponding engaging tooth engagement of rigid gear of flexible gear.Because the engaging tooth number of rigid gear and flexible gear is different, therefore when continuing to rotate, wave-generator can make flexible gear rotate a little.Generally speaking, the reduction speed ratio of harmonic speed reducer is poor divided by the engaging tooth number of rigid gear and flexible gear of the engaging tooth number of rigid gear, when the engaging tooth number engaging tooth number difference more and rigid gear and flexible gear of rigid gear is less, harmonic speed reducer can obtain quite high reduction speed ratio.
Yet the flexible gear of existing harmonic speed reducer easily damages compared with soft because of material, and the processing procedure of flexible gear is complicated and be difficult for processing.Therefore moreover the engaging tooth number of the rigid gear of existing harmonic speed reducer and flexible gear can only differ 2 multiple, the reduction speed ratio of existing harmonic speed reducer is not more had elasticity.
Summary of the invention
Object of the present invention, is providing a kind of harmonic speed changer, comprises a housing, one first gear, one second gear, an eccentric shaft, and a power output unit.This first gear is fixed on this housing, and this first gear has the interior engaging tooth of one first number.This second gear and the engagement of this first gear, this second gear has the outer gearing tooth of one second number, and this second number is different from this first number.This eccentric shaft is coupled to this second gear, in order to drive this second gear with respect to this first gear eccentric rotary.This power output unit is coupled to this second gear, in order to convert the eccentric rotary of this second gear to rotating power.
Compared to existing harmonic speed reducer, harmonic speed changer of the present invention utilizes rigid gear to reach high reduction speed ratio, so harmonic speed changer of the present invention is fragile by force and not compared with rigidity.In addition, the processing procedure of rigid gear is simpler, the therefore easy manufacturing of harmonic speed changer of the present invention, and yield is higher.Moreover the number that the first gear of harmonic speed reducer of the present invention and the engaging tooth of the second gear differ can be odd number or even number, so the reduction speed ratio of harmonic speed reducer of the present invention is compared with tool elasticity.
Accompanying drawing explanation
Fig. 1 is the first embodiment's of harmonic speed changer of the present invention explosive view.
Fig. 2 is the schematic diagram of the internal structure of Fig. 1 harmonic speed changer.
Fig. 3 is that the second gear of harmonic speed changer of the present invention is with respect to the schematic diagram of the first gear eccentric rotary.
description of reference numerals
100 harmonic speed changers
110 housings
120 first gears
130 second gears
132 holes
140 eccentric shafts
150 power output units
152 rotating units
154 coupling units
The C1 first gear center of circle
The C2 second gear center of circle
Embodiment
Please also refer to Fig. 1 and Fig. 2.Fig. 1 is the explosive view of harmonic speed changer of the present invention.Fig. 2 is the constitutional diagram of Fig. 1 harmonic speed changer.As shown in the figure, harmonic speed changer 100 of the present invention comprises housing 110, one first gear 120, one second gear 130, one eccentric shafts 140, and a power output unit 150.The first gear 120 is fixed on housing 110, and the first gear 120 has the interior engaging tooth of one first number.The second gear 130 and the first gear 120 engagements, and the second gear 130 has the outer gearing tooth of one second number.This second number is different from this first number.Eccentric shaft 140 is coupled to the second gear 130, in order to drive the second gear 130 with respect to the first gear 120 eccentric rotary.Power output unit 150 comprises a rotating unit 152, and most coupling units 154.Rotating unit 152 is fixed on housing 110 in rotatable mode.Coupling unit 154 is coupled between rotating unit 152 and the second gear 130, in order to the eccentric rotary of transmitting the second gear 130, to rotating unit 152, and then drives rotating unit 152 to rotate with outputting rotary power.The first end of coupling unit 154 can be fixed on rotating unit 152, and the second end of coupling unit 154 can insert the corresponding hole 132 of the second gear 130, with the eccentric rotary of transmitting the second gear 130 to rotating unit 152.
In addition, the first gear 120 is internal gear, and the second gear 130 is external gear.The standard pitch diameter of the second gear 130 is less than the standard pitch diameter of the first gear 120, and the first gear 120 and the second gear 130 center do not overlap and parallel.The first gear 120 and the second gear 130 are all rigid gear.Eccentric shaft 140 can be coupled to a power source (for example motor), and rotating unit 152 can be coupled to a pto＝power take-off with outputting power.
According to the configuration of above-described embodiment, when power source drives eccentric shaft 140 to rotate, can change the engaging position of the second gear 130 and the first gear 120, and then drive the second gear 130 with respect to the first gear 120 eccentric rotary.For instance, please refer to Fig. 3, and in the lump with reference to figure 1 and Fig. 2.Fig. 3 is that the second gear of harmonic speed changer of the present invention is with respect to the schematic diagram of the first gear eccentric rotary.As shown in Figure 3, when eccentric shaft 140 clockwise rotates, the engaging position of the second gear 130 and the first gear 120 also can change in a clockwise direction, and the center of circle C2 of the second gear 130 can carry out circular movement around the center of circle C1 of the first gear 120.Suppose that the first number and the second number differ 4, when eccentric shaft 140 turns around, because the first gear 120 is fixed on housing 110 and does not rotate, and the first gear 120 and the second gear 130 differ 4 engaging tooths, the second gear 120 can rotate relative to the first gear 120 angle of circumference of 4 engaging tooths, and the eccentric rotary of further transmitting the second gear 130 via coupling unit 154 is to rotating unit 152, to drive rotating unit 152 to rotate.Therefore the reduction speed ratio of harmonic speed changer 100 is that the engaging tooth number of the first gear 120 is poor divided by the total number of teeth in engagement object of the first gear 120 and the second gear 130, when the engaging tooth number engaging tooth number difference more and the first gear 120 and the second gear 130 of the first gear 120 is less, harmonic speed changer 100 of the present invention can obtain quite high reduction speed ratio.
In embodiments of the present invention, the I of the first number and the second number differs 1, and the number that the first number and the second number differ can be odd number or even number.
Compared to existing harmonic speed reducer, harmonic speed changer of the present invention utilizes rigid gear to reach high reduction speed ratio, so harmonic speed changer of the present invention is fragile by force and not compared with rigidity.In addition, the processing procedure of rigid gear is simpler, so the easy manufacturing of harmonic speed changer of the present invention, and yield is higher.Moreover the number that the first gear of harmonic speed reducer of the present invention and the engaging tooth of the second gear differ can be odd number or even number, so the reduction speed ratio of harmonic speed reducer of the present invention is compared with tool elasticity.
The foregoing is only the preferred embodiments of the present invention, all equalizations of doing according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (6)
1. a harmonic speed changer, comprises:
One housing;
One first gear, is fixed on this housing, and this first gear has the interior engaging tooth of one first number;
One second gear, and this first gear engagement, this second gear has the outer gearing tooth of one second number, and this second number is different from this first number;
One eccentric shaft, is coupled to this second gear, in order to drive this second gear with respect to this first gear eccentric rotary; And
One power output unit, is coupled to this second gear, in order to convert the eccentric rotary of this second gear to rotating power.
2. harmonic speed changer as claimed in claim 1, is characterized in that: wherein this power output unit comprises:
One rotating unit, is fixed on this housing in rotating mode; And
Most coupling units, are coupled between this rotating unit and this second gear, in order to the eccentric rotary of transmitting this second gear to this rotating unit.
3. harmonic speed changer as claimed in claim 1, is characterized in that: wherein the standard pitch diameter of this second gear is less than the standard pitch diameter of this first gear.
4. harmonic speed changer as claimed in claim 1, is characterized in that: wherein the center line of this first gear and this second gear does not overlap.
5. harmonic speed changer as claimed in claim 1, is characterized in that: wherein the center line of this first gear and this second gear parallels.
6. harmonic speed changer as claimed in claim 1, is characterized in that: wherein this first gear and this second gear are rigid gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310025650.7A CN103939532A (en) | 2013-01-21 | 2013-01-21 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310025650.7A CN103939532A (en) | 2013-01-21 | 2013-01-21 | Harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103939532A true CN103939532A (en) | 2014-07-23 |
Family
ID=51187346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310025650.7A Pending CN103939532A (en) | 2013-01-21 | 2013-01-21 | Harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103939532A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105402327A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear speed reducing device |
| CN105402326A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear device |
| CN105508553A (en) * | 2015-11-30 | 2016-04-20 | 綦江精锐达重型齿轮有限公司 | Gear |
| CN106321792A (en) * | 2015-06-26 | 2017-01-11 | 上银科技股份有限公司 | Lubrication type harmonic drive |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN113217587A (en) * | 2021-06-02 | 2021-08-06 | 田应雄 | Variable diameter gear stepless speed changer |
| CN113683000A (en) * | 2021-08-31 | 2021-11-23 | 山东塞克尔矿山设备有限公司 | Piston type pneumatic hoist |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195656Y (en) * | 1994-09-02 | 1995-04-26 | 郭俊福 | Toothed planet-gear speed reducer |
| CN202674185U (en) * | 2012-07-20 | 2013-01-16 | 浙江顺天减速机制造有限公司 | Small-tooth-difference engagement type gear speed reducer |
| CN203257991U (en) * | 2013-01-21 | 2013-10-30 | 苏州悍猛谐波机电有限公司 | Harmonic wave speed reducer |
| CN103883696A (en) * | 2013-01-08 | 2014-06-25 | 江苏赛格汽车部件有限公司 | Linear actuating device using harmonic reducer |
-
2013
- 2013-01-21 CN CN201310025650.7A patent/CN103939532A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195656Y (en) * | 1994-09-02 | 1995-04-26 | 郭俊福 | Toothed planet-gear speed reducer |
| CN202674185U (en) * | 2012-07-20 | 2013-01-16 | 浙江顺天减速机制造有限公司 | Small-tooth-difference engagement type gear speed reducer |
| CN103883696A (en) * | 2013-01-08 | 2014-06-25 | 江苏赛格汽车部件有限公司 | Linear actuating device using harmonic reducer |
| CN203257991U (en) * | 2013-01-21 | 2013-10-30 | 苏州悍猛谐波机电有限公司 | Harmonic wave speed reducer |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106321792A (en) * | 2015-06-26 | 2017-01-11 | 上银科技股份有限公司 | Lubrication type harmonic drive |
| CN105402327A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear speed reducing device |
| CN105402326A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear device |
| CN105508553A (en) * | 2015-11-30 | 2016-04-20 | 綦江精锐达重型齿轮有限公司 | Gear |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN113217587A (en) * | 2021-06-02 | 2021-08-06 | 田应雄 | Variable diameter gear stepless speed changer |
| CN113683000A (en) * | 2021-08-31 | 2021-11-23 | 山东塞克尔矿山设备有限公司 | Piston type pneumatic hoist |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140723 |