CN106151472A - A kind of harmonic speed reducer with lubricating function - Google Patents
A kind of harmonic speed reducer with lubricating function Download PDFInfo
- Publication number
- CN106151472A CN106151472A CN201510187700.0A CN201510187700A CN106151472A CN 106151472 A CN106151472 A CN 106151472A CN 201510187700 A CN201510187700 A CN 201510187700A CN 106151472 A CN106151472 A CN 106151472A
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- CN
- China
- Prior art keywords
- storage tank
- oil storage
- flexbile gear
- speed reducer
- connecting portion
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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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Abstract
The present invention relates to a kind of harmonic speed reducer with lubricating function, including just take turns, it is connected with flexbile gear in just taking turns, it is rotatably connected to harmonic oscillator in flexbile gear, harmonic oscillator is fixing with the power output shaft of servomotor to be connected, just wheel includes motor mount, it is provided with elastic connecting device between the side of motor mount and servomotor, elastic connecting device includes fixing the ring-type connecting portion being connected with servomotor, it is provided with ring-type elastic joint part between connecting portion and motor mount, connecting portion is identical with elastic joint part concentric and internal diameter, the external diameter of elastic joint part is less than the external diameter of connecting portion；It is provided with oil storage tank at the both sides of the edge of firm wheel inner surface, the cross section of this oil storage tank is in band circle jaggy, elastic connecting device ensures that the rotating shaft of motor and harmonic oscillator keep coaxial, the contact surface in opposite directions to flexbile gear and firm wheel for the oil storage tank is lubricated, ensure that flexbile gear and the normal engagement just taken turns, linkage effect, extend the service life of harmonic speed reducer.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer with lubricating function.
Background technology
Harmonic Drive Reducer is mainly by harmonic oscillator, flexible gear and three basic structures of rigid gear
Part forms, harmonic wave drive speed reducer, is that one makes flexible gear produce controlled elasticity deformation by harmonic oscillator,
And be meshed with rigid gear and to transmit the gear drive of motion and power.Harmonic Drive Reducer is profit
A kind of Novel reducer growing up by Planetary Gear Transmission principle, after harmonic oscillator loads flexbile gear,
The section forcing flexbile gear is become oval by original circle, and the tooth near its major axis two ends is complete with the tooth of firm wheel
Full engagement, the tooth near short axle two ends is then completely disengaged with firm wheel.On girth, the tooth of other sections is in and nibbles
The transition state closed and depart from, when harmonic oscillator rotates continuously, the deformation of flexbile gear constantly changes, and makes soft
Wheel also constantly changes with the engagement just taken turns, 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.
Present harmonic speed reducer has installed, and wants to ensure the coaxial of servomotor and harmonic oscillator during assembling
Generally require the position adjusting servomotor frequently, also very tired to the detection of tight ness rating after assembling simultaneously
Difficulty, and the just lubricant effect between wheel and flexbile gear of present harmonic speed reducer is also bad, in the process of transmission
In easily cause flexbile gear abrasion.
Content of the invention
The invention aims to solve the defect existing for harmonic speed reducer in prior art, one is provided
Servomotor high and just wheel and flexbile gear high lubricating effect harmonic speed reducer with the axiality of harmonic oscillator.
To achieve these goals, the technical solution used in the present invention is:
A kind of harmonic speed reducer with lubricating function, 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, and the other end is connected with servomotor, rotates in bearing fixed mount
Being connected with output flange, output flange is fixing with flexbile gear to be connected, and is rotatably connected to harmonic oscillator in flexbile gear,
Harmonic oscillator is fixing with the power output shaft of servomotor to be connected, and described firm wheel includes motor mount, electricity
Being provided with elastic connecting device between the side of machine mounting seat and servomotor, elastic connecting device includes and servo
The ring-type connecting portion of connection fixed by motor, is provided with ring-type elasticity between described connecting portion and motor mount
Connecting portion, connecting portion is identical with elastic joint part concentric and internal diameter, and the external diameter of elastic joint part is less than connection
The external diameter in portion；
The inner side of firm wheel of described firm wheel and the outside of flexbile gear are provided with intermeshing tooth, at firm wheel inner surface
Both sides of the edge at be provided with oil storage tank, the cross section of this oil storage tank is in band circle jaggy, and oil storage tank is at firm wheel
Inner surface is circumferentially extending, and the opening part of oil storage tank is provided with two flanges radially extending, and two flanges form bayonet socket,
The bore of this bayonet socket is much smaller than the bore of oil storage tank.
Above-mentioned a kind of harmonic speed reducer with lubricating function, is marked with lubricating oil in described oil storage tank.
Above-mentioned a kind of harmonic speed reducer with lubricating function, is filled with in described oil storage tank and is soaked with lubricating oil
Cotton.
Above-mentioned a kind of harmonic speed reducer with lubricating function, described bearing fixed mount passes through crossed roller axle
Hold and be in transmission connection with output flange.
The invention have the benefit that this harmonic speed reducer operationally, owing to motor is fixed with connecting portion,
Connecting portion is provided with elastic joint part so that connecting portion has certain elasticity, when rotating shaft and the harmonic wave of motor
When generator is not coaxial, the shell of motor can be angularly offset with rotation connection to offset the rotating shaft phase of motor
Side-play amount to harmonic oscillator, thus ensure that the rotating shaft of motor and harmonic oscillator keep coaxial.
Just being provided with oil storage tank at the both sides of the edge of wheel inner surface, the cross section of this oil storage tank is in band circle jaggy
Shape, when harmonic oscillator drives the medial surface of flexbile gear extruding just wheel, the lubricating oil in oil storage tank is extruded,
The contact surface in opposite directions of flexbile gear and firm wheel is lubricated, it is ensured that the normal engagement of flexbile gear and firm wheel, linkage effect
Really, the service life of harmonic speed reducer is extended.
Brief description
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 be flexbile gear of the present invention with firm wheel coordinate schematic diagram；
Fig. 3 is the sectional view of firm wheel.
Detailed description of the invention
Understood and understanding by making the architectural feature to the present invention and the effect reached have further, in order to
Preferred embodiment and accompanying drawing coordinate detailed description, are described as follows:
As shown in Figure 1 and Figure 2, a kind of harmonic speed reducer with lubricating function, including just taken turns 1, has just taken turns 1
Inside being connected with flexbile gear 2, just wheel 1 one end is fixedly connected with bearing fixed mount 3, and the other end is connected with to be watched
Taking motor 4, just the side of wheel 1 is provided with decelerator and fixes seat 7, is rotatably connected to defeated in bearing fixed mount 3
Going out flange 5, output flange 5 is fixing with flexbile gear 2 to be connected, bearing fixed mount 3 pass through crossed roller bearing and
Output flange 5 is in transmission connection, and is rotatably connected to harmonic oscillator 6 in flexbile gear 2, harmonic oscillator 6 with watch
Taking the fixing connection of power output shaft of motor 4, just wheel 1 includes motor mount 8, motor mount 8
Being provided with elastic connecting device between side and servomotor 4, elastic connecting device includes solid with servomotor 4
The fixed ring-type connecting portion 9 connecting, is provided with ring-type elasticity and is connected between connecting portion 9 with motor mount 8
Portion 10, connecting portion 9 is identical with elastic joint part 10 concentric and internal diameter, and the external diameter of elastic joint part 10 is little
External diameter in connecting portion 9；
Just the inner side of firm wheel of wheel 1 and the outside of flexbile gear 2 are provided with intermeshing tooth, table inside firm wheel 1
Being provided with oil storage tank 11 at the both sides of the edge in face, the cross section of this oil storage tank 11 is in band circle jaggy, oil storage
Groove 11 is circumferentially extending at firm wheel inner surface, and the opening part of oil storage tank is provided with two flanges 12 radially extending,
Two flanges form bayonet socket 13, and the bore of this bayonet socket 13 is much smaller than the bore of oil storage tank 11, in oil storage tank 11
It is marked with lubricating oil, or be filled with the cotton being soaked with lubricating oil.
This harmonic speed reducer operationally, owing to servomotor 4 is fixed with connecting portion 9, connecting portion 9 sets
Flexible connecting portion 10 so that connecting portion 9 has certain elasticity, when rotating shaft and the harmonic oscillator of motor
6 coaxial when, the shell of motor can be angularly offset with the rotating shaft offsetting motor relative with rotation connection 9
The side-play amount of harmonic oscillator 6, thus ensure that the rotating shaft of motor and harmonic oscillator 6 keep coaxial, keep away
Between the debugging difficulty having exempted to cause owing to first assembling harmonic speed reducer and motor with harmonic speed reducer coaxial
The problem of degree difference, improves packaging efficiency and installation accuracy, can realize quickly assembling.
It is provided with oil storage tank 11 as it is shown on figure 3, just take turns, this oil storage tank 11 at the both sides of the edge of 1 inner surface
Cross section in band circle jaggy, when the medial surface that harmonic oscillator 6 drives flexbile gear 2 to extrude just wheel 1,
Lubricating oil in oil storage tank 11 is extruded, and is lubricated the contact surface in opposite directions of flexbile gear 2 and firm wheel 1, protects
Demonstrate,prove normal engagement, the linkage effect of flexbile gear 2 and firm wheel 1, extend the service life of harmonic speed reducer.
General principle, principal character and the advantages of the present invention of the present invention have more than been shown and described.The industry
Skilled person will appreciate that, the present invention is not restricted to the described embodiments, in above-described embodiment and specification
The principle of the simply present invention describing, the present invention also has without departing from the spirit and scope of the present invention
Various changes and modifications, in the range of these changes and improvements both fall within claimed invention.The present invention
The protection domain requiring is defined by appending claims and equivalent thereof.
Claims (4)
1. there is a harmonic speed reducer for lubricating function, including just take turns (1), pass in described firm wheel (1)
Being dynamically connected and having flexbile gear (2), just wheel (1) one end is fixedly connected with bearing fixed mount (3), and the other end connects
There is servomotor (4), in bearing fixed mount (3), be rotatably connected to output flange (5), output flange (5)
Fix with flexbile gear (2) and be connected, in flexbile gear (2), be rotatably connected to harmonic oscillator (6), harmonic oscillator
(6) it fixing with the power output shaft of servomotor (4) is connected, it is characterised in that: described firm wheel (1)
It including motor mount (8), between the side of motor mount (8) and servomotor (4), is provided with elasticity
Attachment means, elastic connecting device includes the ring-type connecting portion (9) that be connected fixing with servomotor (4),
It is provided with ring-type elastic joint part (10) between described connecting portion (9) and motor mount (8), connect
Portion (9) is identical with elastic joint part (10) concentric and internal diameter, and the external diameter of elastic joint part (10) is little
External diameter in connecting portion (9)；
The inner side of the firm wheel of described firm wheel (1) and the outside of flexbile gear (2) are provided with intermeshing tooth,
Just be provided with oil storage tank (11) at the both sides of the edge of wheel (1) inner surface, the cross section of this oil storage tank (11) in
Carrying circle jaggy, oil storage tank (11) is circumferentially extending at firm wheel inner surface, and the opening part of oil storage tank sets
Having two flanges radially extending (12), two flanges form bayonet socket (13), and the bore of this bayonet socket (13) is far little
Bore in oil storage tank (11).
2. a kind of harmonic speed reducer with lubricating function according to claim 1, it is characterised in that
Described oil storage tank is marked with lubricating oil in (11).
3. a kind of harmonic speed reducer with lubricating function according to claim 1, it is characterised in that
Described oil storage tank is filled with, in (11), the cotton being soaked with lubricating oil.
4. a kind of harmonic speed reducer with lubricating function according to claim 1, it is characterised in that
Described bearing fixed mount (3) is in transmission connection with output flange (5) by crossed roller bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187700.0A CN106151472A (en) | 2015-04-15 | 2015-04-15 | A kind of harmonic speed reducer with lubricating function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187700.0A CN106151472A (en) | 2015-04-15 | 2015-04-15 | A kind of harmonic speed reducer with lubricating function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106151472A true CN106151472A (en) | 2016-11-23 |
Family
ID=58058197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510187700.0A Pending CN106151472A (en) | 2015-04-15 | 2015-04-15 | A kind of harmonic speed reducer with lubricating function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106151472A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019487A (en) * | 2017-12-25 | 2018-05-11 | 香河皓达机器人谐波减速器制造有限公司 | The harmonic speed reducer of rigid wheel with the U-shaped tooth of bicircular arcs |
| TWI654389B (en) | 2017-11-24 | 2019-03-21 | 上銀科技股份有限公司 | Reducer with an intermittent lubrication mechanism |
| CN109681609A (en) * | 2018-12-06 | 2019-04-26 | 广州市昊志机电股份有限公司 | A kind of harmonic speed reducer |
| CN113078773A (en) * | 2020-01-03 | 2021-07-06 | 北京智能大艾机器人科技有限公司 | Motor embedded with speed reducer |
| WO2023102685A1 (en) * | 2021-12-06 | 2023-06-15 | Abb Schweiz Ag | Stirring component for harmonic transmission system and associated harmonic transmission system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH04113064A (en) * | 1990-08-29 | 1992-04-14 | Matsushita Electric Ind Co Ltd | Gear transmission device |
| US5379662A (en) * | 1992-08-28 | 1995-01-10 | Black & Decker Inc. | Gear lubrication |
| CN2351616Y (en) * | 1998-10-22 | 1999-12-01 | 中国科学院长春光学精密机械研究所 | Harmonic speed reducer |
| EP1440254B1 (en) * | 2002-02-08 | 2005-07-13 | KUKA Roboter GmbH | Gearing with lubrication grooves |
| 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 |
| CN204239733U (en) * | 2014-11-04 | 2015-04-01 | 綦江宏洋齿轮传动有限公司 | A kind of gear lubrication formula automotive gearbox |
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2015
- 2015-04-15 CN CN201510187700.0A patent/CN106151472A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04113064A (en) * | 1990-08-29 | 1992-04-14 | Matsushita Electric Ind Co Ltd | Gear transmission device |
| US5379662A (en) * | 1992-08-28 | 1995-01-10 | Black & Decker Inc. | Gear lubrication |
| CN2351616Y (en) * | 1998-10-22 | 1999-12-01 | 中国科学院长春光学精密机械研究所 | Harmonic speed reducer |
| EP1440254B1 (en) * | 2002-02-08 | 2005-07-13 | KUKA Roboter GmbH | Gearing with lubrication grooves |
| 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 |
| CN204239733U (en) * | 2014-11-04 | 2015-04-01 | 綦江宏洋齿轮传动有限公司 | A kind of gear lubrication formula automotive gearbox |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI654389B (en) | 2017-11-24 | 2019-03-21 | 上銀科技股份有限公司 | Reducer with an intermittent lubrication mechanism |
| CN108019487A (en) * | 2017-12-25 | 2018-05-11 | 香河皓达机器人谐波减速器制造有限公司 | The harmonic speed reducer of rigid wheel with the U-shaped tooth of bicircular arcs |
| CN108019487B (en) * | 2017-12-25 | 2023-11-28 | 香河皓达机器人谐波减速器制造有限公司 | Harmonic reducer of rigid wheel with double circular arc U type tooth |
| CN109681609A (en) * | 2018-12-06 | 2019-04-26 | 广州市昊志机电股份有限公司 | A kind of harmonic speed reducer |
| CN109681609B (en) * | 2018-12-06 | 2021-04-30 | 广州市昊志机电股份有限公司 | Harmonic speed reducer |
| CN113078773A (en) * | 2020-01-03 | 2021-07-06 | 北京智能大艾机器人科技有限公司 | Motor embedded with speed reducer |
| WO2021134846A1 (en) * | 2020-01-03 | 2021-07-08 | 北京智能大艾机器人科技有限公司 | Electric motor having embedded reduction device |
| CN113078773B (en) * | 2020-01-03 | 2023-03-10 | 北京智能大艾机器人科技有限公司 | Motor embedded with speed reducer |
| WO2023102685A1 (en) * | 2021-12-06 | 2023-06-15 | Abb Schweiz Ag | Stirring component for harmonic transmission system and associated harmonic transmission system |
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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 |
Effective date of registration: 20180919 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 Tian Tai 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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| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161123 |
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| WD01 | Invention patent application deemed withdrawn after publication |