CN106151449A - A kind of dust-proof harmonic speed reducer - Google Patents
A kind of dust-proof harmonic speed reducer Download PDFInfo
- Publication number
- CN106151449A CN106151449A CN201510187698.7A CN201510187698A CN106151449A CN 106151449 A CN106151449 A CN 106151449A CN 201510187698 A CN201510187698 A CN 201510187698A CN 106151449 A CN106151449 A CN 106151449A
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- China
- Prior art keywords
- joint portion
- flexbile gear
- seal groove
- wall thickness
- dust
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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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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000007789 sealing Methods 0.000 claims description 22
- 239000000428 dust Substances 0.000 claims description 16
- 239000000565 sealant Substances 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
A kind of dust-proof harmonic speed reducer of the present invention, including just take turns, flexbile gear, it is rotatably connected to harmonic oscillator in flexbile gear, harmonic oscillator is fixing with the power output shaft of servomotor to be connected, firm wheel also includes the ring-type joint portion being arranged on motor mount opposite side, the inner side of joint portion is meshed with flexbile gear, it is connected with the first ring-type elastic joint part being coaxially disposed between joint portion and motor mount, the wall thickness of the first elastic joint part is less than the wall thickness of joint portion, firm wheel also includes the installation portion being connected with bearing fixed mount, it is connected with the second ring-type elastic joint part being coaxially disposed between installation portion and joint portion, the wall thickness of the second elastic joint part is less than the wall thickness of joint portion and installation portion.The two ends of the joint portion of this harmonic speed reducer are provided with the first elastic joint part, the second elastic joint part, joint portion and decelerator are fixed and are left gap between seat, when flexbile gear shifts, joint portion can offset in gap, adapt to the side-play amount of flexbile gear, thus the gear in ensureing joint portion coordinates more accurate with the profile of tooth of flexbile gear, substantially realize that zero allowance coordinates, precision is greatly improved.
Description
Technical field
The present invention relates to a kind of dust-proof harmonic speed reducer.
Background technology
Harmonic Drive Reducer is mainly made up of harmonic oscillator, flexible gear and three basic building blocks of rigid gear, harmonic wave drive speed reducer, it is a kind of to make flexible gear produce controlled elasticity deformation by harmonic oscillator, and be meshed with rigid gear to transmit and move and the gear drive of power.Harmonic Drive Reducer is a kind of Novel reducer utilizing Planetary Gear Transmission principle to grow up, after harmonic oscillator loads flexbile gear, the section forcing flexbile gear is become oval by original circle, tooth near its major axis two ends is at a fully engaged with the tooth of firm wheel, and the tooth near short axle two ends is then completely disengaged with firm wheel.On girth, the tooth of other sections is in engagement and the transition state departing from, when harmonic oscillator rotates continuously, the deformation of flexbile gear constantly changes, flexbile gear is made also constantly to change with the engagement of firm wheel, by engaging-in, engage, nibble out, disengage, engaging-in again ..., carry out again and again, thus realize that flexbile gear slow rotates along harmonic oscillator is rightabout relative to just taking turns.The just wheel of present harmonic speed reducer is not high enough with the gear quality of fit of flexbile gear, and easily falls into dust in the just gap between wheel and flexbile gear of present harmonic speed reducer, easily causes flexbile gear abrasion during transmission.
Content of the invention
The invention aims to solve the defect existing for harmonic speed reducer in prior art, provide and a kind of firm take turns the harmonic speed reducer high and dust-proof with flexbile gear quality of fit.
To achieve these goals, the technical solution used in the present invention is:
nullA kind of dust-proof harmonic speed reducer，Including just take turns，Described firm take turns in be connected with flexbile gear，Just wheel one end is fixedly connected with bearing fixed mount，The other end is connected with servomotor，It is rotatably connected to output flange in bearing fixed mount，Output flange is fixing with flexbile gear to be connected，It is rotatably connected to harmonic oscillator in flexbile gear，Harmonic oscillator is fixing with the power output shaft of servomotor to be connected，Described firm wheel also includes the ring-type joint portion being arranged on motor mount opposite side，The inner side of joint portion is meshed with flexbile gear，It is connected with the first ring-type elastic joint part being coaxially disposed between joint portion and motor mount，The wall thickness of the first elastic joint part is less than the wall thickness of joint portion，Firm wheel also includes the installation portion being connected with bearing fixed mount，It is connected with the second ring-type elastic joint part being coaxially disposed between installation portion and joint portion，The wall thickness of the second elastic joint part is less than the wall thickness of joint portion and installation portion.
Above-mentioned a kind of dust-proof harmonic speed reducer, is provided with seal groove at the described firm both sides taking turns inner face corresponding with flexbile gear, is provided with dust cap in seal groove；Seal groove includes seal groove one and seal groove two, and dust cap is provided with sealing ring the first, sealing ring two, and sealing ring one and seal groove one are tightly connected composition the first sealant；Sealing ring two and seal groove two are tightly connected composition the second sealant；
Above-mentioned a kind of dust-proof harmonic speed reducer, is provided with cavity between described sealing ring one and sealing ring two, is filled with dust adsorption layer in this cavity.
The invention have the benefit that the two ends of the joint portion of this harmonic speed reducer are provided with the first elastic joint part, the second elastic joint part, joint portion and decelerator are fixed and are left gap between seat, when flexbile gear shifts, joint portion can offset in gap, adapt to the side-play amount of flexbile gear, thus the gear in ensureing joint portion coordinates more accurate with the profile of tooth of flexbile gear, substantially realize that zero allowance coordinates, precision is greatly improved.
Just being provided with seal groove at the both sides of wheel inner face corresponding with flexbile gear, being provided with dust cap in seal groove, owing to flexbile gear is anti-wear poor, dust cap is effectively prevented dust and drops in the gap just taking turns between flexbile gear, extends the service life of flexbile gear.
Brief description
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the cooperation schematic diagram that the present invention has just taken turns with flexbile gear；
Fig. 3 is the A district enlarged drawing in Fig. 2.
Detailed description of the invention
Understood and understanding by making the architectural feature to the present invention and the effect reached have further, coordinate detailed description in order to preferred embodiment and accompanying drawing, be described as follows:
nullSuch as Fig. 1、Fig. 2、Shown in Fig. 3，A kind of dust-proof harmonic speed reducer，Including just taken turns 1，It just is connected with flexbile gear 2 in wheel 1，Just wheel 1 one end is fixedly connected with bearing fixed mount 3 and seat 16 fixed by decelerator，The other end is connected with servomotor 4，It is rotatably connected to output flange 5 in bearing fixed mount 3，Output flange 5 is fixing with flexbile gear 2 to be connected，It is rotatably connected to harmonic oscillator 6 in flexbile gear 2，Harmonic oscillator 6 is fixing with the power output shaft of servomotor 4 to be connected，Described firm take turns the 4 ring-type joint portions 8 also including being arranged on motor mount 7 opposite side，The inner side of joint portion 8 is meshed with flexbile gear 2，It is connected with the first ring-type elastic joint part 9 being coaxially disposed between joint portion 8 and motor mount 7，The wall thickness of the first elastic joint part 9 is less than the wall thickness of joint portion 8，Just wheel 1 also includes the installation portion 10 being connected with bearing fixed mount 3，It is connected with the second ring-type elastic joint part 11 being coaxially disposed between installation portion 10 and joint portion 8，The wall thickness of the second elastic joint part 11 is less than the wall thickness of joint portion 8 and installation portion 10.
Further, just take turns and be provided with seal groove at the both sides of 1 inner face corresponding with flexbile gear 2, in seal groove, be provided with dust cap；Seal groove includes seal groove 1 and seal groove 2 13, and dust cap is provided with sealing ring 1, sealing ring 2 15, and sealing ring 1 and seal groove 1 are tightly connected composition the first sealant；Sealing ring 2 15 and seal groove 2 13 are tightly connected composition the second sealant；It is provided with cavity between sealing ring 1 and sealing ring 2 15, in this cavity, be filled with dust adsorption layer 17.Just taking turns of this harmonic speed reducer is provided with two sealants between 1 and flexbile gear 2, and is all irregular sealing surface；Improve sealing effectiveness, for preventing extraneous dust or other pollutants from invading, the dust adsorption layer 17 filled in cavity between sealing ring 1 and sealing ring 2 15 has carried out further absorption to the dust accidentally entering in firm wheel 1 and flexbile gear 2 gap, extends service life.
The two ends of the joint portion 8 of this harmonic speed reducer are provided with the first elastic joint part the 9th, the second elastic joint part 11, joint portion 8 and decelerator are fixed and are left gap between seat 16, when flexbile gear 2 shifts, joint portion 8 can offset in gap, adapt to the side-play amount of flexbile gear 2, thus the gear in ensureing joint portion 8 coordinates more accurate with the profile of tooth of flexbile gear 2, substantially realize that zero allowance coordinates, precision is greatly improved.
General principle, principal character and the advantages of the present invention of the present invention have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; the principle of the simply present invention described in above-described embodiment and specification; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, in the range of these changes and improvements both fall within claimed invention.The protection domain of application claims is defined by appending claims and equivalent thereof.
Claims (2)
1. a dust-proof harmonic speed reducer, including just take turns (1), is connected with in described firm wheel (1)
Flexbile gear (2), just wheel (1) one end is fixedly connected with bearing fixed mount (3), and the other end is connected with servo electricity
Machine (4), is rotatably connected to output flange (5), output flange (5) and flexbile gear in bearing fixed mount (3)
(2) fix connection, in flexbile gear (2), be rotatably connected to harmonic oscillator (6), harmonic oscillator (6)
Fix with the power output shaft of servomotor (4) and be connected, it is characterised in that described firm wheel (4) also includes
Be arranged on the ring-type joint portion (8) of motor mount (7) opposite side, the inner side of joint portion (8) with soft
Wheel (2) is meshed, and is connected be coaxially disposed ring-type between joint portion (8) and motor mount (7)
The first elastic joint part (9), the wall thickness of the first elastic joint part (9) less than the wall thickness of joint portion (8),
Just wheel (1) also includes the installation portion (10) being connected with bearing fixed mount (3), installation portion (10) and knot
It is connected with ring-type the second elastic joint part (11) being coaxially disposed, the second elastic connection between conjunction portion (8)
The wall thickness in portion (11) is less than the wall thickness of joint portion (8) and installation portion (10)；
It is provided with seal groove, seal groove at the both sides of described firm wheel (1) inner face corresponding with flexbile gear (2)
It is inside provided with dust cap；Seal groove includes seal groove one (12) and seal groove two (13), and dust cap is provided with
Sealing ring one (14), sealing ring two (15), sealing ring one (14) seals even with seal groove one (12)
Connect composition the first sealant；It is close that sealing ring two (15) and seal groove two (13) are tightly connected composition second
Sealing；
2. a kind of dust-proof harmonic speed reducer according to claim 1, it is characterised in that described close
It is provided with cavity between seal one (14) and sealing ring two (15), in this cavity, be filled with dust adsorption layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187698.7A CN106151449A (en) | 2015-04-15 | 2015-04-15 | A kind of dust-proof harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187698.7A CN106151449A (en) | 2015-04-15 | 2015-04-15 | A kind of dust-proof harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106151449A true CN106151449A (en) | 2016-11-23 |
Family
ID=58057633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510187698.7A Pending CN106151449A (en) | 2015-04-15 | 2015-04-15 | A kind of dust-proof harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106151449A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826926A (en) * | 2017-03-27 | 2017-06-13 | 江苏汇博机器人技术股份有限公司 | A kind of test device of robot Power Component |
| CN113417986A (en) * | 2021-04-26 | 2021-09-21 | 浙江博盟精工轴承有限公司 | Wave generator bearing |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040083850A1 (en) * | 2001-05-22 | 2004-05-06 | Harmonic Drive Systems Inc. | Lightweight bearing and wave gear drive |
| CN2886215Y (en) * | 2006-04-26 | 2007-04-04 | 哈尔滨工业大学 | Ring type harmonic wave gear reducer |
| CN201627879U (en) * | 2010-01-08 | 2010-11-10 | 北京中技克美谐波传动有限责任公司 | Harmonic transmission reducer with ultra-short cylinder |
| CN102904365A (en) * | 2012-09-18 | 2013-01-30 | 华创机器人制造有限公司 | Combined harmonic wave reducer of robot |
| CN103291609A (en) * | 2012-02-24 | 2013-09-11 | 常州大学 | Biaxial harmonic gear pump |
| CN103769933A (en) * | 2013-08-14 | 2014-05-07 | 苏州秉创科技有限公司 | Deceleration device used for five-axis linkage numerical control machine tool |
| CN203892365U (en) * | 2014-04-28 | 2014-10-22 | 宁波市鄞州金鑫轴承五金有限公司 | Sealing bearing |
| JP2014206265A (en) * | 2013-03-19 | 2014-10-30 | 株式会社ハーモニック・ドライブ・システムズ | Wave motion gear device and hollow rotary actuator |
| CN104343894A (en) * | 2013-08-01 | 2015-02-11 | 李茂碷 | Gearing-down bearing |
| WO2015040739A1 (en) * | 2013-09-20 | 2015-03-26 | 株式会社ハーモニック・ドライブ・システムズ | Oil seal structure and strain wave gear device |
-
2015
- 2015-04-15 CN CN201510187698.7A patent/CN106151449A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040083850A1 (en) * | 2001-05-22 | 2004-05-06 | Harmonic Drive Systems Inc. | Lightweight bearing and wave gear drive |
| CN2886215Y (en) * | 2006-04-26 | 2007-04-04 | 哈尔滨工业大学 | Ring type harmonic wave gear reducer |
| CN201627879U (en) * | 2010-01-08 | 2010-11-10 | 北京中技克美谐波传动有限责任公司 | Harmonic transmission reducer with ultra-short cylinder |
| CN103291609A (en) * | 2012-02-24 | 2013-09-11 | 常州大学 | Biaxial harmonic gear pump |
| CN102904365A (en) * | 2012-09-18 | 2013-01-30 | 华创机器人制造有限公司 | Combined harmonic wave reducer of robot |
| JP2014206265A (en) * | 2013-03-19 | 2014-10-30 | 株式会社ハーモニック・ドライブ・システムズ | Wave motion gear device and hollow rotary actuator |
| CN104343894A (en) * | 2013-08-01 | 2015-02-11 | 李茂碷 | Gearing-down bearing |
| CN103769933A (en) * | 2013-08-14 | 2014-05-07 | 苏州秉创科技有限公司 | Deceleration device used for five-axis linkage numerical control machine tool |
| WO2015040739A1 (en) * | 2013-09-20 | 2015-03-26 | 株式会社ハーモニック・ドライブ・システムズ | Oil seal structure and strain wave gear device |
| CN203892365U (en) * | 2014-04-28 | 2014-10-22 | 宁波市鄞州金鑫轴承五金有限公司 | Sealing bearing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826926A (en) * | 2017-03-27 | 2017-06-13 | 江苏汇博机器人技术股份有限公司 | A kind of test device of robot Power Component |
| CN113417986A (en) * | 2021-04-26 | 2021-09-21 | 浙江博盟精工轴承有限公司 | Wave generator bearing |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180911 Address after: 528300 Daliang 105 National Road Dadun Section (Block 5-1), Foshan City, Guangdong Province, 3 stories, 6 Complex Building (Section 23 of Honggang Road, Guangzhou-Zhuhai Highway, 9) Applicant after: GUANGDONG TIANTAI ROBOT Co.,Ltd. Address before: 315000 room 2, 2 Jinghua Road, Ningbo high tech Zone, Zhejiang, 857 Applicant before: ZHEJIANG NINGBO ZHIDONG ROBOT TECHNOLOGY Co.,Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161123 |