CN106015515A - Cycloid-pin gear harmonic-wave reducer - Google Patents
Cycloid-pin gear harmonic-wave reducer Download PDFInfo
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- CN106015515A CN106015515A CN201610572139.2A CN201610572139A CN106015515A CN 106015515 A CN106015515 A CN 106015515A CN 201610572139 A CN201610572139 A CN 201610572139A CN 106015515 A CN106015515 A CN 106015515A
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- Prior art keywords
- gear
- flexible
- speed reducer
- teeth
- harmonic speed
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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
Abstract
The invention relates to a cycloid-pin gear harmonic-wave reducer, which comprises a rigid gear. 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 flexible bearing and the cam form a harmonic-wave generator; the gear engagement manner of the rigid gear and the flexible gear is cycloid-pin gear engagement. The cycloid-pin gear harmonic-wave reducer provided by the invention is high in precision retaining ability and transmission efficiency, and long in service life.
Description
Technical field
The present invention relates to decelerator, be specifically related to a kind of cycloidal pin teeth harmonic speed reducer.
Background technology
Harmonic speed reducer is also known as harmonic wave speed reducing machine or claims harmonic wave drive speed reducer, is a kind of Novel reducer utilizing planetary gear principle to grow up.With reference to Fig. 1,2, harmonic speed reducer is mainly made up of rigid gear 1', flexible gear 2', three basic building blocks of wave producer, wave producer is made up of cam 3' and flexible bearing 4', make flexible gear 2' produce controlled elasticity by wave producer to deform, and engage the gear drive of transmitting movement and power with rigid gear 1'.
With reference to Fig. 3, rigid gear 1' and the flexible gear 2' wheel between cog gear motion of existing harmonic speed reducer is for sliding, and the field of conjugate action of the gear teeth forms sliding friction, and sliding frictional wear is big, reduces precision holding capacity, transmission efficiency and the service life of decelerator.
Simultaneously, owing to harmonic speed reducer is that the radial circulation elastic deformation by flexible gear 2' makes the flexible gear gear teeth and the rigid gear gear teeth alternately engage successively to realize the purpose of transmitting movement and power, and the gear teeth meshing degree of depth of existing harmonic speed reducer rigid gear 1' and flexible gear 2' is deep, cause the elastic deformation amount of flexible gear 2' and flexible bearing 4' big, in order to reduce the resistance of deformation of flexible gear 2' elastic deformation, harmonic speed reducer flexible gear 2' is usually thin-walled tubular structure, although this structure reduces resistance of deformation, but the torsional rigidity of flexible gear 2' transmission moment is reduced, have impact on the transmission accuracy of harmonic speed reducer；And the elastic deformation of flexible gear 2' and flexible bearing 4' makes flexible gear 2', flexible bearing 4' circumferentially be iteratively produced diametric(al) flexural deformation, this flexural deformation makes harmonic speed reducer flexible gear 2' and flexible bearing 4' fatigue rupture, affect the service life (generally, flexible gear 2' and flexible bearing 4' is the most flimsy part of harmonic speed reducer) of flexible gear 2' and flexible bearing 4'；Thus affect the service life of harmonic speed reducer.
Summary of the invention
The technical problem to be solved is, overcomes the deficiency of above-mentioned background technology, it is provided that a kind of precision holding capacity and transmission efficiency are high, service life length cycloidal pin teeth harmonic speed reducer.
The present invention solves its technical problem and employed technical scheme comprise that, a kind of cycloidal pin teeth harmonic speed reducer, including rigid gear, it is provided with flexible gear in described rigid gear, being provided with flexible bearing in described flexible gear, be provided with cam in flexible bearing, flexible bearing constitutes harmonic oscillator with cam；The gear teeth meshing mode of described rigid gear and flexible gear is cycloidal pin teeth engagement.
Further, the gear teeth of described rigid gear are the needle roller gear teeth, and the gear teeth of described flexible gear are cycloidal gear teeth.
Further, described cam includes that cam body, the outer circumferential edges of described cam body are provided with elastic compensating device.
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 first slot is all had between intrados left part and right part and the cam body of arc block, the second slot is all had between both sides and the cam body of arc block, first slot and second slot of homonymy are interconnected, and the extrados of arc block is higher than the extrados of cam body.
Compared with prior art, advantages of the present invention is as follows: (1) effectively reduces rigid gear and the abrasion of transmitting movement (or power) wheel between cog during flexible gear gear teeth meshing of harmonic speed reducer, improves harmonic speed reducer precision holding capacity and transmission efficiency；(2) flexible gear and flexible bearing are reduced because of the produced fatigue load of deformation, raising flexible gear and the service life of flexible bearing, the service life of raising harmonic speed reducer；(3)
The selection space of flexible gear wall thickness is big, can strengthen the torsional rigidity of flexible gear transmission moment by increasing the wall thickness of flexible gear, thus strengthen anti-twisting property, improve harmonic speed reducer transmission accuracy.
Accompanying drawing explanation
Fig. 1 is the end view of existing harmonic speed reducer.
Fig. 2 is the axial cross-sectional view of existing harmonic speed reducer.
Fig. 3 is rigid gear and flexible gear tooth profiles and the partial enlarged drawing A of engagement of existing harmonic speed reducer.
Fig. 4 is the end view of the embodiment of the present invention 1.
Fig. 5 is the axial cross-sectional view of embodiment illustrated in fig. 4.
Fig. 6 is rigid gear and the flexible gear tooth profiles of embodiment illustrated in fig. 4 and the local of engagement is sent out and schemed greatly B.
Fig. 7 is rigid gear and the flexible gear tooth profiles of embodiment illustrated in fig. 4 and the local of non-engagement is sent out and schemed greatly C.
Fig. 8 is the end view of the rigid gear of embodiment illustrated in fig. 4.
Fig. 9 is the partial enlarged drawing D of the tooth profiles of rigid gear shown in Fig. 8.
Figure 10 is the end view of the flexible gear of embodiment illustrated in fig. 4.
Figure 11 is the partial enlarged drawing E of the tooth profiles of flexible gear shown in Figure 10.
Figure 12 is the end view of the embodiment of the present invention 2.
Figure 13 is the structural representation of the cam of embodiment illustrated in fig. 12.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is described in further detail by specific embodiment.
Embodiment 1
With reference to Fig. 4-11, the present embodiment includes rigid gear 1, is provided with flexible gear 2 in rigid gear 1, is provided with flexible bearing 4 in flexible gear 2, is provided with cam 3 in flexible bearing 4, and flexible bearing 4 and cam 3 constitute harmonic oscillator；The gear teeth meshing mode of rigid gear 1 and flexible gear 2 is cycloidal pin teeth engagement, and rigid gear 1 predominantly rolls with the wheel between cog gear motion of flexible gear 2, and the gear teeth of rigid gear 1 are the needle roller gear teeth, and the gear teeth of flexible gear 2 are cycloidal gear teeth.
Embodiment 2
Under same transmission accuracy, the Gear Processing required precision of the Gear Processing ratio of precision harmonic speed reducer of planet-cycloid reducer is higher, and processing and manufacturing difficulty is bigger；The gear tooth size of big speed ratio harmonic speed reducer is more small than other kinds of decelerator (including planet-cycloid reducer) gear tooth size, and under same transmission accuracy, processing and manufacturing difficulty is bigger；The flexible gear 2 of harmonic speed reducer is non-rigid bodies, and the cycloid gear of planet-cycloid reducer is rigid body, and for the cycloid gear of rigid body, non-rigid bodies flexible gear 2 adds and is easily deformed man-hour, and processing and manufacturing difficulty is bigger.And under existing technical conditions, harmonic speed reducer uses the mode of cycloidal pin teeth engagement, machining accuracy is difficult to reach necessary requirement, if machining accuracy does not reaches necessary requirement, then easily produces interference between the gear teeth engaged, and the stationarity affecting transmission is even killed；For avoiding affecting the stationarity of transmission or killing phenomenon, need to leave gap between driving wheel tooth, but leave gap and can affect again transmission accuracy.
The present embodiment can solve the problems referred to above further.
With reference to Figure 12,13, the present embodiment differs only in embodiment 1: be additionally provided with elastic compensating device 5, and cam 3 includes that cam body, elastic compensating device 5 are located at the outer circumferential edges of cam body.
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 first slot 7 is all had between intrados left part and right part and the cam body of arc block, the second slot 8 is all had between both sides and the cam body of arc block, first slot 7 of homonymy and the second slot 8 are interconnected, and the extrados of arc block is higher than the extrados of cam body.Elastic compensating device 5 can effectively eliminate the gap between driving wheel tooth, and the gear teeth can be made not interfere when transmission is engaged.
Cycloidal pin teeth engagement and elastic compensating device 5 are combined by the present embodiment, under conditions of not reducing transmission accuracy, effectively avoid the parts microstoning difficult problem needed for high accuracy Cycloidal pin-wheel drive, reduce and manufacture difficulty of processing, reduce manufacturing cost, realize rigid gear 1 on high accuracy harmonic speed reducer and flexible gear 2 gear teeth transmission with economic manufacturing process and become cycloidal pin teeth rolling and engage from slidably engaging.
The cycloidal pin teeth of planet-cycloid reducer is engaged and is applied on harmonic speed reducer by the present invention, the kind of drive of former harmonic speed reducer is changed into by sliding friction transmission the roll friction transmission of cycloidal-pin wheel, the field of conjugate action of the gear teeth forms rolling friction, rolling friction abrasion is little, it is possible to significantly improve harmonic speed reducer precision holding capacity, transmission efficiency and service life.
Simultaneously, cycloidal pin teeth engagement can reduce the gear teeth meshing degree of depth between rigid gear 1 and flexible gear 2, reduce harmonic speed reducer flexible gear 2 and the elastic deformation amount of flexible bearing 4, the fatigue load that reduction harmonic speed reducer flexible gear, flexible bearing 4 are born, improve flexible gear 2, the fatigue life of flexible bearing 4, namely improve the fatigue life of harmonic speed reducer.
As described in the background art, existing harmonic speed reducer rigid gear 1 is deep with the gear teeth meshing degree of depth of flexible gear 2, cause the elastic deformation amount of flexible gear 2 and flexible bearing 4 big, in order to reduce the resistance of deformation of flexible gear 2 elastic deformation, harmonic speed reducer flexible gear is usually thin-walled tubular structure, although this structure reduces resistance of deformation, reduce flexible gear 2 and transmit the torsional rigidity of moment, have impact on the transmission accuracy of harmonic speed reducer.It practice, in order to make the resistance of deformation of flexible gear 2 elastic deformation and meet requirement fatigue life, existing harmonic speed reducer can only reduce flexible gear 2 wall thickness and realize.Between rigid gear 1 of the present invention and flexible gear 2, the gear teeth meshing degree of depth is little, and the elastic deformation amount of flexible gear 2 and flexible bearing 4 is little, therefore does not has the requirement of harshness to harmonic speed reducer flexible gear 2 wall thickness, and the selection significant spatial of flexible gear 2 wall thickness improves.Under identical elastic deformation amount, flexible gear 2 wall thickness of harmonic speed reducer of the present invention than traditional harmonic speed reducer flexible gear 2 wall thickness thickness much, and flexible gear 2 wall thickness is the thickest, the torsional rigidity that flexible gear 2 transmits moment is the highest, flexible gear 2 anti-twisting property is the highest, and harmonic speed reducer transmission accuracy is the highest.Therefore, when design, the present invention can improve harmonic speed reducer transmission accuracy by increasing the wall thickness of flexible gear 2.
Those skilled in the art can carry out various modifications and variations to 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 amendments and modification are also within protection scope of the present invention.
The prior art that the content not described in detail in description is known to the skilled person.
Claims (4)
1. a cycloidal pin teeth harmonic speed reducer, including rigid gear (1), flexible gear (2) it is provided with in described rigid gear (1), described flexible gear (2) is provided with flexible bearing (4), being provided with cam (3) in flexible bearing (4), flexible bearing (4) constitutes harmonic oscillator with cam (3)；It is characterized in that: the gear teeth meshing mode of described rigid gear (1) and flexible gear (2) is cycloidal pin teeth engagement.
2. cycloidal pin teeth harmonic speed reducer as claimed in claim 1, it is characterised in that: the gear teeth of described rigid gear (1) are the needle roller gear teeth, and the gear teeth of described flexible gear (2) are cycloidal gear teeth.
3. cycloidal pin teeth harmonic speed reducer as claimed in claim 1 or 2, it is characterised in that: described cam (3) includes that cam body, the outer circumferential edges of described cam body are provided with elastic compensating device (5).
4. cycloidal pin teeth harmonic speed reducer as claimed in claim 3, 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 first slot (7) is all had between intrados left part and right part and the cam body of arc block, the second slot (8) is all had between both sides and the cam body of arc block, first slot (7) and second slot (8) of homonymy are interconnected, and the extrados of arc block is higher than the extrados of cam body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610572139.2A CN106015515A (en) | 2016-07-20 | 2016-07-20 | Cycloid-pin gear harmonic-wave reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610572139.2A CN106015515A (en) | 2016-07-20 | 2016-07-20 | Cycloid-pin gear harmonic-wave reducer |
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| CN106015515A true CN106015515A (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610572139.2A Pending CN106015515A (en) | 2016-07-20 | 2016-07-20 | Cycloid-pin gear harmonic-wave reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
| CN114263722A (en) * | 2021-12-31 | 2022-04-01 | 浙江如川谐波传动科技有限公司 | Combined harmonic speed reducer |
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| JPS60143247A (en) * | 1983-12-29 | 1985-07-29 | Mitsubishi Electric Corp | Harmonic gear device |
| CN2122973U (en) * | 1992-03-23 | 1992-11-25 | 江苏省国营岗埠农机修造厂 | Harmonic geared reduction unit |
| CN1283756A (en) * | 1999-08-09 | 2001-02-14 | 侯金网 | Speed reducer for harmonic cycloidal chain drive (mechanical scheme) |
| CN1592073A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | End face harmonic motor |
| CN1592074A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | Harmonic motor |
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| CN204153065U (en) * | 2014-10-15 | 2015-02-11 | 宜兴市联众智能科技发展有限公司 | The harmonic speed reducer of torque is allowed in a kind of raising instantaneously |
| 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 |
| CN104776168A (en) * | 2015-04-14 | 2015-07-15 | 上海鑫君传动科技有限公司 | Novel structural ultrathin harmonic speed reducer |
| CN104832622A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Harmonic reducer of improved structure |
| CN105020381A (en) * | 2015-07-30 | 2015-11-04 | 湖南同晟精传技术有限公司 | Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation |
| CN204755835U (en) * | 2015-05-13 | 2015-11-11 | 东莞市鑫拓智能机械科技有限公司 | Be applied to S -shaped tooth flexbile gear structure of harmonic speed reducer ware |
| CN105276093A (en) * | 2014-06-16 | 2016-01-27 | 上银科技股份有限公司 | Harmonic speed reducer capable of improving occlusion rate |
| CN105570437A (en) * | 2016-03-12 | 2016-05-11 | 深圳市领略数控设备有限公司 | Low-back-clearance robot speed reducer |
| 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 |
| CN205806388U (en) * | 2016-07-20 | 2016-12-14 | 湖南同晟精传技术有限公司 | Cycloidal pin teeth harmonic speed reducer |
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2016
- 2016-07-20 CN CN201610572139.2A patent/CN106015515A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS60143247A (en) * | 1983-12-29 | 1985-07-29 | Mitsubishi Electric Corp | Harmonic gear device |
| CN2122973U (en) * | 1992-03-23 | 1992-11-25 | 江苏省国营岗埠农机修造厂 | Harmonic geared reduction unit |
| CN1283756A (en) * | 1999-08-09 | 2001-02-14 | 侯金网 | Speed reducer for harmonic cycloidal chain drive (mechanical scheme) |
| CN1592073A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | End face harmonic motor |
| CN1592074A (en) * | 2003-09-02 | 2005-03-09 | 辛洪兵 | Harmonic motor |
| US20140326583A1 (en) * | 2011-08-11 | 2014-11-06 | Mol Belting Systems, Inc. | Cyclo reducer arrangement |
| CN105276093A (en) * | 2014-06-16 | 2016-01-27 | 上银科技股份有限公司 | Harmonic speed reducer capable of improving occlusion rate |
| CN204153065U (en) * | 2014-10-15 | 2015-02-11 | 宜兴市联众智能科技发展有限公司 | The harmonic speed reducer of torque is allowed in a kind of raising instantaneously |
| 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 |
| CN104776168A (en) * | 2015-04-14 | 2015-07-15 | 上海鑫君传动科技有限公司 | Novel structural ultrathin harmonic speed reducer |
| CN204755835U (en) * | 2015-05-13 | 2015-11-11 | 东莞市鑫拓智能机械科技有限公司 | Be applied to S -shaped tooth flexbile gear structure of harmonic speed reducer ware |
| CN104832622A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Harmonic reducer of improved structure |
| CN105020381A (en) * | 2015-07-30 | 2015-11-04 | 湖南同晟精传技术有限公司 | Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation |
| 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 |
| CN105570437A (en) * | 2016-03-12 | 2016-05-11 | 深圳市领略数控设备有限公司 | Low-back-clearance robot speed reducer |
| CN205806388U (en) * | 2016-07-20 | 2016-12-14 | 湖南同晟精传技术有限公司 | Cycloidal pin teeth harmonic speed reducer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
| CN114263722A (en) * | 2021-12-31 | 2022-04-01 | 浙江如川谐波传动科技有限公司 | Combined harmonic speed reducer |
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Application publication date: 20161012 |
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