CN105020381A - Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation - Google Patents
Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation Download PDFInfo
- Publication number
- CN105020381A CN105020381A CN201510457192.3A CN201510457192A CN105020381A CN 105020381 A CN105020381 A CN 105020381A CN 201510457192 A CN201510457192 A CN 201510457192A CN 105020381 A CN105020381 A CN 105020381A
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- China
- Prior art keywords
- gear
- cam
- cam body
- speed reducer
- compensating device
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- 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.)
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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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- 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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a harmonic reducer with a function of eliminating or decreasing clearance between gears through automatic compensation. The harmonic reducer comprises a rigid gear, wherein a flexible gear is arranged in the rigid gear; a flexible bearing is arranged in the flexible gear; a cam is arranged in the flexible bearing; the cam and the flexible bearing jointly form a wave generator; a central hole is formed in the cam; and the cam comprises a cam body and elastic compensation devices which are arranged on the edge of the external circumference of the cam body. The harmonic reducer with the function of eliminating or decreasing clearance between the gears through automatic compensation is high in transmission accuracy, good in transmission stability and long in service life.
Description
Technical field
The present invention relates to harmonic speed reducer, be specifically related to a kind of harmonic speed reducer with clearance automatic compensation elimination or reduction function between gear.
Background technique
Harmonic speed reducer is also known as harmonic wave speed reducing machine or claim harmonic wave drive speed reducer, is a kind of Novel reducer utilizing planetary pinion principle to grow up.With reference to Fig. 1,2, harmonic speed reducer is primarily of wave-generator, flexible gear 2, rigid gear 1 three basic building block compositions, wave-generator is made up of cam 3 and flexible bearing 4, make flexible gear 2 produce controlled elasticity distortion by wave-generator, and engage with rigid gear 1 to transmit and move and the gear transmission of power.With reference to Fig. 4,5,6, cam 3 is a cylindrical structure having center hole.
The major advantage of harmonic driving is as follows:
Velocity ratio is large: single-stage harmonic drive is 70-320 than scope, can reach 1000 in some device; Bearing capacity is high: the number of teeth that harmonic driving middle gear engages simultaneously is many, and the number of teeth that double wave transmission is engaged simultaneously can reach 30%, and is that face contacts between tooth with tooth; Transmission accuracy is high: because harmonic driving multiple toothly to engage simultaneously, gear error equalization, i.e. the compensating action of multiple tooth engagement, therefore transmission accuracy is high; When same accuracy of gear grade, the error of harmonic driving only has 1/4 of Cylindrical gears; Efficiency is high, stable drive: because the gear teeth of flexible gear only do even radial motion, the slip velocity of the gear teeth is very low, therefore transmission efficiency is high, stable drive;
Structure is simple, and number of spare parts is few, installs simple; Volume is little, lightweight; Motion can be transmitted to airtight space.
Although harmonic speed reducer transmission has above-mentioned obvious advantage, but by the impact of precision after harmonic speed reducer gear manufacture precision and gear wear, with reference to Fig. 3, between flexible gear 2 and rigid gear 1, gap is larger, the existence in this gap will affect transmission accuracy and the transmission stability of harmonic speed reducer, also affect the working life of harmonic speed reducer simultaneously.The harmonic speed reducer of current domestic production is still difficult to the demand meeting highi degree of accuracy transmission, as harmonic speed reducer required in robot.
Summary of the invention
Technical problem to be solved by this invention is, overcomes the deficiency of above-mentioned background technology, and provide a kind of transmission accuracy high, transmission stability is good, and the clearance automatic compensation between gear that has of long service life is eliminated or reduces the harmonic speed reducer of function.
The technological scheme that the present invention solves the employing of its technical problem is, a kind of harmonic speed reducer with clearance automatic compensation elimination or reduction function between gear, comprise rigid gear, flexible gear is provided with in described rigid gear, flexible bearing is provided with in described flexible gear, cam is provided with in described flexible bearing, described cam and flexible bearing form wave-generator jointly, cam has center hole, described cam comprises cam body and elastic compensating device, and elastic compensating device is positioned at the outer circumferential edges of cam body.
Further, described elastic compensating device is the arc block having arcuate elongated slot hole in the middle part of in the of, link into an integrated entity with cam body in the middle part of the intrados of arc block, the intrados left part of arc block and all have the first slot between right part and cam body, the second slot is all had between the both sides of arc block and cam body, first slot and second slot of homonymy are interconnected, and the outer arced surface of arc block is higher than the outer arced surface of cam body.
Further, for the harmonic speed reducer of single ripple transmission, the quantity of elastic compensating device is at least 1, and elastic compensating device is positioned at the outer circumferential edges of the longitudinal end of cam body.
Further, the quantity of described elastic compensating device is 2, is all positioned at the outer circumferential edges of the longitudinal end of cam body.
Further, the quantity of described elastic compensating device is 3, is all positioned at the outer circumferential edges of the longitudinal end of cam body.
Further, for the harmonic speed reducer of double wave transmission, the quantity of elastic compensating device is at least 2, lays respectively at the outer circumferential edges at the relative two ends of cam body long axis direction.
Further, the quantity of described elastic compensating device is 4, each two of the outer circumferential edges at the two ends that cam body long axis direction is relative.
Further, the quantity of described elastic compensating device is 6, each 3 of the outer circumferential edges at the two ends that cam body long axis direction is relative.
Compared with prior art, advantage of the present invention is as follows:
Be provided with elastic compensating device, elastic compensating device is radially compressed, flexible bearing and flexible gear is made to engage with rigid gear the resiliently deformable that position produces radial outward dilations along flexible gear by the spring-back force that the elastic compensating device compressed produces, this elastic deformation energy compensates the gap of eliminating or reducing flexible gear and rigid gear gear teeth meshing position, reach the gap of eliminating or reducing because machining accuracy and gear wear producing, thus the transmission accuracy of raising harmonic speed reducer, transmission stability and working life.
Accompanying drawing explanation
Fig. 1 is the plan view of existing harmonic speed reducer.
Fig. 2 is the side sectional view of existing harmonic speed reducer.
Fig. 3 is the enlarged view of the local A of Fig. 1.
Fig. 4 is the structural representation of existing cam.
Fig. 5 is the plan view of Fig. 4.
Fig. 6 is Fig. 4 sectional view longitudinally.
Fig. 7 is the structural representation of the embodiment of the present invention 1.
Fig. 8 is side sectional view embodiment illustrated in fig. 7.
Fig. 9 is the enlarged view of local A embodiment illustrated in fig. 7.
Figure 10 is the enlarged view of local B embodiment illustrated in fig. 7.
Figure 11 is the structural representation of cam embodiment illustrated in fig. 7.
Figure 12 is the plan view of Figure 11.
Figure 13 is the plan view of the cam of the embodiment of the present invention 2.
Figure 14 is the plan view of the cam of the embodiment of the present invention 4.
Figure 15 is the plan view of the cam of the embodiment of the present invention 5.
In figure: 1-rigid gear, 2-flexible gear, 3-cam, 4-flexible bearing, 5-elastic compensating device, 6-arcuate elongated slot hole, the 7-the first slot, the 8-the second slot.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
With reference to Fig. 7,8,9,10, the present embodiment comprises rigid gear 1, flexible gear 2 is provided with in rigid gear 1, flexible bearing 4 is provided with in flexible gear 2, be provided with cam 3 in flexible bearing 4, cam 3 and flexible bearing 4 form wave-generator jointly, and cam 3 has center hole, cam 3 comprises cam body and elastic compensating device 5, and elastic compensating device 5 is positioned at the outer circumferential edges of cam body.
Reference Figure 11,12 elastic compensating devices 5 are the arc block having arcuate elongated slot hole 6 in the middle part of in the of, link into an integrated entity with cam body in the middle part of the intrados of arc block, the intrados left part of arc block and all have the first slot 7 between right part and cam body, the second slot 8 is all had between the both sides of arc block and cam body, first slot 7 of homonymy and the second slot 8 are interconnected, and the outer arced surface of arc block is higher than the outer arced surface of cam body.
In harmonic driving, wave-generator revolves and turns around, and the cycle-index of a certain point deformation of flexible gear 2, is called the wave number of deformation of flexible gear 2, represents with symbol u; Namely wave number of deformation should nibble by flexible gear 2 and rigid gear 1 and number of regions determine.Generally, single ripple (u=1), double wave (u=2), three ripples (u=3), four ripples (u=4) transmission can be adopted.
The present embodiment is the harmonic speed reducer of double wave transmission, and the quantity of elastic compensating device 5 is 4, each two of the outer circumferential edges at the two ends that cam body long axis direction is relative.
Embodiment 2
With reference to Figure 13, the difference of the present embodiment and embodiment 1 is only: the quantity of elastic compensating device 5 is 2, lays respectively at the outer circumferential edges at the relative two ends of cam body long axis direction.All the other are with embodiment 1.
Embodiment 3
The difference of the present embodiment and embodiment 1 is only: the quantity of elastic compensating device 5 is 6, each 3 of the outer circumferential edges at the two ends that cam body long axis direction is relative.All the other are with embodiment 1.
Embodiment 4
With reference to Figure 14, the difference of the present embodiment and embodiment 1 is only: the present embodiment is the harmonic speed reducer of single ripple transmission, and the quantity of elastic compensating device 5 is 1, and elastic compensating device 5 is positioned at the outer circumferential edges of the longitudinal end of cam body.All the other are with embodiment 1.
Embodiment 5
With reference to Figure 15, the difference of the present embodiment and embodiment 3 is only: the quantity of elastic compensating device 5 is 2, is all positioned at the outer circumferential edges of the longitudinal end of cam body.All the other are with embodiment 3.
Embodiment 6
The difference of the present embodiment and embodiment 3 is only: the quantity of elastic compensating device 5 is 3, is all positioned at the outer circumferential edges of the longitudinal end of cam body.All the other are with embodiment 3.
Working principle of the present invention is as follows:
Elastic compensating device 5 is radially compressed, flexible bearing 4 and flexible gear 2 is made to engage with rigid gear 1 resiliently deformable that position produces radial outward dilations along flexible gear 2 by the spring-back force that the elastic compensating device 5 compressed produces, this elastic deformation energy compensates elimination or reduces flexible tooth 2 takes turns the gap with rigid gear 1 gear teeth meshing position, reach the gap of eliminating or reducing because machining accuracy and gear wear producing, thus improve transmission accuracy and the working life of harmonic speed reducer.With reference to Fig. 9, engage between flexible gear 2 with rigid gear 1 closely, the transmission accuracy of harmonic speed reducer is high, and transmission stability is good.
In addition, this elastic compensating device 5 can also sponge fractional harmonic retarder because starting, stopping, commutating the impact energy produced, thus reduce harmonic speed reducer because starting, stopping, commutating the noise produced, reduce the impact force to gear, improve the ability that harmonic speed reducer shock resistance destroys.
Cam 3 of the present invention processes on the architecture basics of existing cam, an arcuate elongated slot hole 6 is opened at the edge of existing cam, first slot 7 is opened respectively in the both sides in arcuate elongated slot hole 6, down either side in arcuate elongated slot hole 6 opens the second slot 8 of an arc respectively, and the first slot 7 of homonymy and the second slot 8 are interconnected.
Those skilled in the art can carry out various modifications and variations to the embodiment of the present invention, if these amendments and modification are within the scope of the claims in the present invention and equivalent technologies thereof, then these revise and modification also within protection scope of the present invention.
The prior art that the content do not described in detail in specification is known to the skilled person.
Claims (8)
1. one kind has the harmonic speed reducer of clearance automatic compensation elimination or reduction function between gear, comprise rigid gear (1), flexible gear (2) is provided with in described rigid gear (1), flexible bearing (4) is provided with in described flexible gear (2), cam (3) is provided with in described flexible bearing (4), described cam (3) and flexible bearing (4) form wave-generator jointly, cam (3) has center hole, it is characterized in that: described cam (3) comprises cam body and elastic compensating device (5), elastic compensating device (5) is positioned at the outer circumferential edges of cam body.
2. there is clearance automatic compensation as claimed in claim 1 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: described elastic compensating device (5) is the arc block having arcuate elongated slot hole (6) in the middle part of in the of, link into an integrated entity with cam body in the middle part of the intrados of arc block, the intrados left part of arc block and all have the first slot (7) between right part and cam body, the second slot (8) is all had between the both sides of arc block and cam body, first slot (7) and second slot (8) of homonymy are interconnected, the outer arced surface of arc block is higher than the outer arced surface of cam body.
3. there is clearance automatic compensation as claimed in claim 1 or 2 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: for the harmonic speed reducer of single ripple transmission, the quantity of elastic compensating device (5) is at least 1, and elastic compensating device (5) is positioned at the outer circumferential edges of the longitudinal end of cam body.
4. there is clearance automatic compensation as claimed in claim 3 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: the quantity of described elastic compensating device (5) is 2, is all positioned at the outer circumferential edges of the longitudinal end of cam body.
5. there is clearance automatic compensation as claimed in claim 3 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: the quantity of described elastic compensating device (5) is 3, is all positioned at the outer circumferential edges of the longitudinal end of cam body.
6. there is clearance automatic compensation as claimed in claim 1 or 2 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: for the harmonic speed reducer of double wave transmission, the quantity of elastic compensating device (5) is at least 2, lays respectively at the outer circumferential edges at the relative two ends of cam body long axis direction.
7. there is clearance automatic compensation as claimed in claim 6 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: the quantity of described elastic compensating device (5) is 4, each two of the outer circumferential edges at the two ends that cam body long axis direction is relative.
8. there is clearance automatic compensation as claimed in claim 6 between gear eliminate or reduce the harmonic speed reducer of function, it is characterized in that: the quantity of described elastic compensating device (5) is 6, each 3 of the outer circumferential edges at the two ends that cam body long axis direction is relative.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510457192.3A CN105020381A (en) | 2015-07-30 | 2015-07-30 | Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510457192.3A CN105020381A (en) | 2015-07-30 | 2015-07-30 | Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation |
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| CN105020381A true CN105020381A (en) | 2015-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510457192.3A Pending CN105020381A (en) | 2015-07-30 | 2015-07-30 | Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation |
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| CN (1) | CN105020381A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105443724A (en) * | 2015-12-11 | 2016-03-30 | 湖南同晟精传技术有限公司 | Zero-backlash low-noise transmission gear |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN107100982A (en) * | 2017-05-16 | 2017-08-29 | 王家梁 | A kind of zero return difference harmonic gear transmission device |
| CN108000175A (en) * | 2017-12-24 | 2018-05-08 | 芜湖洪金机床有限公司 | A kind of adjustable numerical control rotating platform of gap of worm |
| CN108843768A (en) * | 2018-08-27 | 2018-11-20 | 苏州小工匠机器人有限公司 | gear structure |
| CN109505951A (en) * | 2018-11-30 | 2019-03-22 | 吴永德 | A kind of gas-fee gare driving mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105443724A (en) * | 2015-12-11 | 2016-03-30 | 湖南同晟精传技术有限公司 | Zero-backlash low-noise transmission gear |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN107100982A (en) * | 2017-05-16 | 2017-08-29 | 王家梁 | A kind of zero return difference harmonic gear transmission device |
| CN108000175A (en) * | 2017-12-24 | 2018-05-08 | 芜湖洪金机床有限公司 | A kind of adjustable numerical control rotating platform of gap of worm |
| CN108843768A (en) * | 2018-08-27 | 2018-11-20 | 苏州小工匠机器人有限公司 | gear structure |
| CN109505951A (en) * | 2018-11-30 | 2019-03-22 | 吴永德 | A kind of gas-fee gare driving mechanism |
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Application publication date: 20151104 |