CN105003625A - High-load harmonic speed reducer - Google Patents
High-load harmonic speed reducer Download PDFInfo
- Publication number
- CN105003625A CN105003625A CN201510234151.8A CN201510234151A CN105003625A CN 105003625 A CN105003625 A CN 105003625A CN 201510234151 A CN201510234151 A CN 201510234151A CN 105003625 A CN105003625 A CN 105003625A
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- CN
- China
- Prior art keywords
- flexbile gear
- external tooth
- gear external
- harmonic wave
- reducing machine
- 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
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Classifications
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a high-load harmonic speed reducer. The high-load harmonic speed reducer comprises a rigid wheel, a flexible wheel and a wave generator, wherein the thin wall thickness d of an outer tooth of the flexible wheel is as follows: when the reduction ratio R is lower than 80, d is not smaller than (0.5237*1n(R)-1.3226)*m and not bigger than (0.8728*1n(R)-2.2014)*m; when the reduction ratio R is not lower than 80, d is not smaller than (1.5499*1n(R)-5.8099)*m and not bigger than (2.5832*1n(R)-9.6832)*m; and the effective tooth width n of the outer tooth of the flexible wheel is not smaller than 21.5%D and not bigger than 29.6%D. The high-load harmonic speed reducer is reasonable in structure and high in loading capacity.
Description
Technical field
The present invention relates to a kind of harmonic wave speed reducing machine.
Background technique
It is high that harmonic wave speed reducing machine has precision, and volume is little, the feature that bearing torque is high, is widely used in industrial robot field.Fig. 1 has the harmonic wave speed reducing machine structure diagram of cup type flexbile gear.This harmonic wave speed reducing machine has three basic elements of character, has namely just taken turns A, flexbile gear B and wave-generator C.Flexbile gear B is bent to ellipse by wave-generator C, and the external tooth of flexbile gear B engages with the internal tooth of just taking turns A at the two-end part of oval long axis direction.Fig. 2 is harmonic wave speed reducing machine gear engagement states schematic diagram.Fig. 3 is the harmonic wave speed reducing machine structure diagram with carnival hat type flexbile gear.
Fig. 4-Fig. 6 is that the opening portion of cup type flexbile gear external tooth is bent to oval schematic cross-section by wave-generator.Wherein Fig. 4 is the shape before the distortion of flexbile gear external tooth opening portion; Fig. 5 is the shape that flexbile gear external tooth opening portion comprises transverse; Fig. 6 is the shape that flexbile gear external tooth opening portion comprises ellipse short shaft.When the opening portion of flexbile gear external tooth is bent to ellipse by wave-generator, in oval long axis view the flexbile gear external tooth be set up and the internal tooth corresponding part engagement just taken turns.The flexbile gear external tooth of cup type or carnival hat type by alternating bending, its amount of bow from bottom flexbile gear to opening portion along with leave bottom the proportional increase of distance, the Bending Deformation that flexbile gear external tooth bears is called " taper effect ".
Oval wave-generator causes the alternating bending of flexbile gear external tooth, and transmits load with firm wheel in internal tooth engagement process.In order to improve load capacity, just must improve the fatigue resistance at the bottom of flexbile gear external tooth tooth, flexbile gear external tooth walled thickness and the fatigue resistance at the bottom of its tooth have important relationship.In order to improve the fatigue resistance at the bottom of flexbile gear external tooth tooth, best flexbile gear external tooth walled thickness should be selected.
On the other hand, in cup type or carnival hat type flexbile gear harmonic wave speed reducing machine, the amount of bow that flexbile gear external tooth and just wheel internal tooth produce when engaging, in trace direction, is along with the proportional change of the distance left bottom flexbile gear.So, the load capacity of harmonic wave speed reducing machine be improved, should select and the best effective facewidth of just taking turns the flexbile gear external tooth that internal tooth engages.The facewidth of flexbile gear external tooth is larger, and the fatigue resistance of gear is higher.But, due to " taper effect ", if the unlimited facewidth increasing flexbile gear external tooth, otherwise, not only in the facewidth of whole flexbile gear external tooth, can not get good load distribution, and add the difficulty that flexbile gear external tooth is deformed into ellipse, reduce the fatigue resistance at the bottom of flexible external tooth tooth on the contrary.
In view of the above circumstances, the present invention, by selecting best flexbile gear external tooth walled thickness and effective facewidth, realizes cup type or the carnival hat type flexbile gear harmonic wave speed reducing machine of original unavailable high-intensity performance.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, there is the high capacity harmonic wave speed reducing machine of high load capability.
Technical solution of the present invention is:
A kind of high capacity harmonic wave speed reducing machine, comprises firm wheel, compliant wheel, wave-generator, it is characterized in that: the walled thickness d of flexbile gear external tooth is:
As reduction speed ratio R < 80:
（0.5237×ln(R)－1.3226）×m≤d≤（0.8728×ln(R) －2.2014）×m；
When reduction speed ratio R >=80:
（1.5499×ln(R) －5.8099）×m≤d≤（2.5832×ln(R) －9.6832）×m；
The effective facewidth n of flexbile gear external tooth is:
21.5%D≤n≤29.6%D
R is the reduction speed ratio of harmonic wave speed reducing machine, and m is the modulus of flexbile gear external tooth, and D is flexbile gear external tooth pitch diameter.
The material hardness of flexbile gear external tooth is between HRC36 ~ HRC42.
The present invention is rational in infrastructure, can improve flexbile gear external tooth position fatigue resistance bottom the flexbile gear tooth bearing oval bending deflection and " taper effect ".Meanwhile, by selecting the optimal selection of flexbile gear external tooth effective facewidth and material hardness, can realize significantly improving harmonic wave speed reducing machine load capacity and working life.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 has the harmonic wave speed reducing machine structure diagram of cup type flexbile gear.
Fig. 2 is harmonic wave speed reducing machine gear engagement states schematic diagram.
Fig. 3 is the harmonic wave speed reducing machine structure diagram with carnival hat type flexbile gear.
Fig. 4-Fig. 6 is that the opening portion of cup type flexbile gear external tooth is bent to oval schematic cross-section by wave-generator.Wherein Fig. 4 is the shape before the distortion of flexbile gear external tooth opening portion; Fig. 5 is the shape that flexbile gear external tooth opening portion comprises transverse; Fig. 6 is the shape that flexbile gear external tooth opening portion comprises ellipse short shaft.
Fig. 7 is flexbile gear profile of tooth schematic diagram of the present invention.
Fig. 8 is flexbile gear schematic cross-section of the present invention.
Embodiment
A kind of high capacity harmonic wave speed reducing machine, comprise firm wheel, compliant wheel, wave-generator, the walled thickness d of flexbile gear external tooth is:
As reduction speed ratio R < 80:
（0.5237×ln(R)－1.3226）×m≤d≤（0.8728×ln(R) －2.2014）×m；
When reduction speed ratio R >=80:
（1.5499×ln(R) －5.8099）×m≤d≤（2.5832×ln(R) －9.6832）×m；
The effective facewidth n of flexbile gear external tooth is:
21.5%D≤n≤29.6%D
R is the reduction speed ratio of harmonic wave speed reducing machine, and m is the modulus of flexbile gear external tooth, and D is flexbile gear external tooth pitch diameter.
The material hardness of flexbile gear external tooth is between HRC36 ~ HRC42.
Claims (2)
1. a high capacity harmonic wave speed reducing machine, comprises firm wheel, compliant wheel, wave-generator, it is characterized in that: the walled thickness d of flexbile gear external tooth is:
As reduction speed ratio R < 80:
（0.5237×ln(R)－1.3226）×m≤d≤（0.8728×ln(R) －2.2014）×m；
When reduction speed ratio R >=80:
（1.5499×ln(R) －5.8099）×m≤d≤（2.5832×ln(R) －9.6832）×m；
The effective facewidth n of flexbile gear external tooth is:
21.5%D≤n≤29.6%D
R is the reduction speed ratio of harmonic wave speed reducing machine, and m is the modulus of flexbile gear external tooth, and D is flexbile gear external tooth pitch diameter.
2. high capacity harmonic wave speed reducing machine according to claim 1, is characterized in that: the material hardness of flexbile gear external tooth is between HRC36 ~ HRC42.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234151.8A CN105003625A (en) | 2015-05-11 | 2015-05-11 | High-load harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234151.8A CN105003625A (en) | 2015-05-11 | 2015-05-11 | High-load harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105003625A true CN105003625A (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510234151.8A Pending CN105003625A (en) | 2015-05-11 | 2015-05-11 | High-load harmonic speed reducer |
Country Status (1)
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| CN (1) | CN105003625A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061144A (en) * | 2018-02-05 | 2018-05-22 | 深圳市山卓谐波传动科技有限公司 | A kind of flexbile gear of harmonic gear reducer |
Citations (5)
| 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 |
| JP2008180259A (en) * | 2007-01-24 | 2008-08-07 | Harmonic Drive Syst Ind Co Ltd | Flat type wave gear device |
| CN101813167A (en) * | 2009-02-20 | 2010-08-25 | 谐波传动系统有限公司 | Wave gear device |
| US8888374B1 (en) * | 2013-05-08 | 2014-11-18 | Hiwin Technologies Corp. | Bearing with antiskid design |
| CN204739190U (en) * | 2015-05-11 | 2015-11-04 | 上海鑫君传动科技有限公司 | High capacity harmonic speed reducer machine |
-
2015
- 2015-05-11 CN CN201510234151.8A patent/CN105003625A/en active Pending
Patent Citations (5)
| 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 |
| JP2008180259A (en) * | 2007-01-24 | 2008-08-07 | Harmonic Drive Syst Ind Co Ltd | Flat type wave gear device |
| CN101813167A (en) * | 2009-02-20 | 2010-08-25 | 谐波传动系统有限公司 | Wave gear device |
| US8888374B1 (en) * | 2013-05-08 | 2014-11-18 | Hiwin Technologies Corp. | Bearing with antiskid design |
| CN204739190U (en) * | 2015-05-11 | 2015-11-04 | 上海鑫君传动科技有限公司 | High capacity harmonic speed reducer machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061144A (en) * | 2018-02-05 | 2018-05-22 | 深圳市山卓谐波传动科技有限公司 | A kind of flexbile gear of harmonic gear reducer |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151028 |