CN105840765A - Delta-tooth-shaped harmonic reducer - Google Patents

Delta-tooth-shaped harmonic reducer Download PDF

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Publication number
CN105840765A
CN105840765A CN201610355158.XA CN201610355158A CN105840765A CN 105840765 A CN105840765 A CN 105840765A CN 201610355158 A CN201610355158 A CN 201610355158A CN 105840765 A CN105840765 A CN 105840765A
Authority
CN
China
Prior art keywords
flute profile
flexbile gear
tooth
bearing
speed reducer
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
Application number
CN201610355158.XA
Other languages
Chinese (zh)
Inventor
袁安富
张�杰
杨燃
张瀚
袁恒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
Original Assignee
ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd filed Critical ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
Priority to CN201610355158.XA priority Critical patent/CN105840765A/en
Publication of CN105840765A publication Critical patent/CN105840765A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • 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 the field of harmonic reducers, in particular to a delta-tooth-shaped harmonic reducer. The delta-tooth-shaped harmonic reducer comprises a flexible wheel, a rigid wheel and a wave generator, wherein the wave generator is arranged in the flexible wheel, and outer teeth of the flexible wheel are meshed with inner teeth of the rigid wheel; the outer teeth of the flexible wheel and the inner teeth of the rigid wheel are delta-tooth-shaped. By the adoption of the scheme, the harmonic reducer has the characteristics of steady operation, high bearing capacity and long effective service life.

Description

A kind of harmonic speed reducer of δ flute profile
Technical field
The present invention relates to harmonic speed reducer field, refer in particular to the harmonic speed reducer of a kind of δ flute profile.
Background technology
Development along with industrial technology, industrial robot serves vital effect aborning, decelerator of a great variety, model is different, different decelerators is needed in different occasions, current robot, crucial joint part is all to use harmonic speed reducer, harmonic speed reducer is that a kind of special Planetary Gear Transmission principle develops, compare the decelerator of transmission, it is high that it has bearing capacity, gearratio is big, volume is little, lightweight, stable drive and transmission accuracy these particular advantages high, robot can be widely used in, Digit Control Machine Tool, space flight and aviation, the industries such as semiconductor equipment.In harmonic speed reducer, the flute profile of flexbile gear and just wheel has directly impact to the performance of harmonic speed reducer, the most general flute profile is involute tooth type, the feature of this flute profile is exactly that cutter making is the easiest, but for high-performance harmonic speed reducer, this flute profile has the shortcoming that it is intrinsic, is worn the most in use, thus produce vibrations, affect the precision of harmonic speed reducer.
Therefore, this is made further research by the present inventor, develops the harmonic speed reducer of a kind of δ flute profile, and this case thus produces.
Summary of the invention
It is an object of the invention to provide the harmonic speed reducer of a kind of δ flute profile, smooth running, bearing capacity are strong, and Acceptable life is long.
To achieve these goals, technical scheme is as follows:
The harmonic speed reducer of a kind of δ flute profile, including flexbile gear, just wheel, wave producer, described wave producer is arranged in flexbile gear, and the external tooth of described flexbile gear is meshed with the internal tooth of described firm wheel, and the external tooth of flexbile gear is δ flute profile with the internal tooth just taken turns.
Further, the internal tooth of the external tooth of described flexbile gear or just wheel is all made up of continuous print monodentate, and described monodentate includes symmetrical outside circle, δ flute profile curve, tooth root circular arc, and described δ flute profile curve is a high order curve.
Further, in smoothing junction between described outside circle, δ flute profile curve, tooth root circular arc, the δ flute profile curve tooth of described firm wheel forms conjugation with the δ flute profile curve of flexbile gear.
Further, also including bearing, the outer ring of described firm wheel and bearing is fixed, and the inner ring of described flexbile gear and bearing is fixed.
Further, described bearing is right-angled intersection needle bearing.
Being provided with flexible bearing between wave producer described further and flexbile gear, the side of described flexible bearing is provided with baffle plate.
Further, also including cushion block, offer through hole in described cushion block, the through hole of cushion block and the motor axis hole axiality of wave producer, described cushion block is fixed together with the inner ring of flexbile gear, bearing.
After using such scheme, the present invention compared with prior art, has the advantage that
Harmonic speed reducer can be made to be in good working order all the time, and the gap (back clearance of harmonic speed reducer) between δ flute profile curve and the δ flute profile curve just taken turns of flexbile gear can be adjusted easily according to the actual working state of harmonic speed reducer；Compared with common involute tooth type, same specification, the bearing capacity of this flute profile to exceed about 30%, and Acceptable life is also long than involute tooth type, and the most in actual use, after running 5000 hours, the retentivity of precision is the best.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is flexbile gear and just take turns the schematic diagram engaged；
Label declaration
Flexbile gear 1, has just taken turns 2, wave producer 3, right-angled intersection needle bearing 4, flexible bearing 5,
Baffle plate 6, cushion block 7, outside circle 8, δ flute profile curve 9, tooth root circular arc 10.
Detailed description of the invention
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
As it can be seen, the harmonic speed reducer of a kind of δ flute profile, including flexbile gear 1, just take turns 2, wave producer 3, wave producer 3 is arranged in flexbile gear 1, and wave producer 3 is oval structure, and centre offers the axis hole coordinated with motor shaft；The external tooth of flexbile gear 1 is meshed with the internal tooth of just wheel 2, and just wheel 2 is as the structure design of firm wheel 2 casing integrated with bodies, both also serves as housing as gear, and the external tooth of flexbile gear 1 is δ flute profile with the internal tooth just taking turns 2.Just wheel 2 is connected by screw with the outer ring of right-angled intersection needle bearing 4, and flexbile gear 1 is thin-wall tube-shaped structure, is connected with the inner ring of right-angled intersection needle bearing 4.
Flexible bearing 5 is arranged on wave producer 3, inside overall to wave producer 3 and flexible bearing 5 endoporus loading flexbile gear 1, by the inner ring of right-angled intersection needle bearing 4, as the output of harmonic speed reducer；The side of flexible bearing 5 is provided with baffle plate 6, for limiting moving axially of flexible bearing 5 retainer.
The external tooth of flexbile gear 1 or the internal tooth of firm wheel 2 are all made up of continuous print monodentate, monodentate includes symmetrical outside circle 8, δ flute profile curve 9, tooth root circular arc 10, δ flute profile curve 9 is a high order curve, its shape is along with flexbile gear 1(or has just taken turns 2) the difference of concrete specification and different, along with flexbile gear 1(or just taken turns 2) difference of Equivalent modulus and different, for a certain concrete specification, the concrete shape of δ flute profile curve 9 is the position by its center of curvature and radius of curvature decision；Smooth connection between outside circle 8, δ flute profile curve 9, tooth root circular arc 10, just δ flute profile curve 9 tooth of wheel 2 is conjugated with δ flute profile curve 9 formation of flexbile gear 1.
As preferably, it is additionally provided with cushion block 7 in flexbile gear 1, cushion block 7 offers through hole, by the location of cushion block 7 in flexbile gear 1, ensureing the axiality of flexbile gear 1 and right-angled intersection needle bearing 4, in flexbile gear 1, cushion block 7 is fixed on right-angled intersection needle bearing 4 by high-strength trip bolt.
During invention work, power is inputted by motor, and motor shaft is arranged on wave producer 3, utilizes harmonic principle to reduce the input speed of motor, improves output moment of torsion simultaneously, and output moment of torsion exports at right-angled intersection needle bearing 4.
Above are only the specific embodiment of the present invention, but the design concept of the present invention is not limited thereto, all changes utilizing this design that the present invention carries out unsubstantiality, the behavior invading scope all should be belonged to.

Claims (7)

1. the harmonic speed reducer of a δ flute profile, it is characterised in that: including flexbile gear, just wheel, wave producer, described wave producer is arranged in flexbile gear, and the external tooth of described flexbile gear is meshed with the internal tooth of described firm wheel, and the external tooth of flexbile gear is δ flute profile with the internal tooth just taken turns.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 1, it is characterized in that: the external tooth of described flexbile gear or the internal tooth of firm wheel are all made up of continuous print monodentate, described monodentate includes symmetrical outside circle, δ flute profile curve, tooth root circular arc, and described δ flute profile curve is a high order curve.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 2, it is characterised in that: in smoothing junction between described outside circle, δ flute profile curve, tooth root circular arc, the δ flute profile curve tooth of described firm wheel forms conjugation with the δ flute profile curve of flexbile gear.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 1, it is characterised in that: also including bearing, the outer ring of described firm wheel and bearing is fixed, and the inner ring of described flexbile gear and bearing is fixed.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 4, it is characterised in that: described bearing is right-angled intersection needle bearing.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 1, it is characterised in that: being provided with flexible bearing between wave producer described further and flexbile gear, the side of described flexible bearing is provided with baffle plate.
The harmonic speed reducer of a kind of δ flute profile the most according to claim 4, it is characterized in that: also include cushion block, offering through hole in described cushion block, the through hole of cushion block and the motor axis hole axiality of wave producer, described cushion block is fixed together with the inner ring of flexbile gear, bearing.
CN201610355158.XA 2016-05-25 2016-05-25 Delta-tooth-shaped harmonic reducer Pending CN105840765A (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108591416A (en) * 2018-03-16 2018-09-28 大族激光科技产业集团股份有限公司 a kind of harmonic speed reducer
CN110242710A (en) * 2019-06-05 2019-09-17 南通振康机械有限公司 A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type
CN113309842A (en) * 2021-05-24 2021-08-27 温州大学 Cycloidal pin gear harmonic speed reducer

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0767325A2 (en) * 1995-10-06 1997-04-09 Teijin Seiki Boston, Inc. Harmonic drive devices, and a method of generating tooth profiles therefor
CN101135357A (en) * 2006-08-31 2008-03-05 辛洪兵 Harmonic gear power transmission with double circular arc tooth outline
CN104074948A (en) * 2014-07-02 2014-10-01 天津工业大学 Cup-shaped harmonic gear with common tangent type double-circular arc tooth profile and tooth profile design method of gear
CN104455316A (en) * 2014-11-21 2015-03-25 南京信息工程大学 Harmonic reducer gear with beta type gear shape and machining method thereof
CN105587840A (en) * 2016-02-29 2016-05-18 浙江来福谐波传动股份有限公司 Flexible gear delta-shaped tooth of harmonic reducer
CN205780699U (en) * 2016-05-25 2016-12-07 浙江来福谐波传动股份有限公司 A kind of harmonic speed reducer of δ flute profile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0767325A2 (en) * 1995-10-06 1997-04-09 Teijin Seiki Boston, Inc. Harmonic drive devices, and a method of generating tooth profiles therefor
CN101135357A (en) * 2006-08-31 2008-03-05 辛洪兵 Harmonic gear power transmission with double circular arc tooth outline
CN104074948A (en) * 2014-07-02 2014-10-01 天津工业大学 Cup-shaped harmonic gear with common tangent type double-circular arc tooth profile and tooth profile design method of gear
CN104455316A (en) * 2014-11-21 2015-03-25 南京信息工程大学 Harmonic reducer gear with beta type gear shape and machining method thereof
CN105587840A (en) * 2016-02-29 2016-05-18 浙江来福谐波传动股份有限公司 Flexible gear delta-shaped tooth of harmonic reducer
CN205780699U (en) * 2016-05-25 2016-12-07 浙江来福谐波传动股份有限公司 A kind of harmonic speed reducer of δ flute profile

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108591416A (en) * 2018-03-16 2018-09-28 大族激光科技产业集团股份有限公司 a kind of harmonic speed reducer
CN110242710A (en) * 2019-06-05 2019-09-17 南通振康机械有限公司 A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type
CN113309842A (en) * 2021-05-24 2021-08-27 温州大学 Cycloidal pin gear harmonic speed reducer

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Application publication date: 20160810