CN106382339A - Harmonic reducer - Google Patents
Harmonic reducer Download PDFInfo
- Publication number
- CN106382339A CN106382339A CN201610935100.2A CN201610935100A CN106382339A CN 106382339 A CN106382339 A CN 106382339A CN 201610935100 A CN201610935100 A CN 201610935100A CN 106382339 A CN106382339 A CN 106382339A
- Authority
- CN
- China
- Prior art keywords
- cam
- flexbile gear
- tooth
- speed reducer
- wave producer
- 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.)
- Granted
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a harmonic reducer which comprises a wave generator, a rigid wheel and a flexible wheel. The wave generator comprises a flexible bearing and a cam mechanism. The cam mechanism comprises a first cam and a second cam. The first cam and the second cam are coaxially arranged and equal in size and thickness, and an angle is formed between the first cam and the second cam and is 0-45 degrees.
Description
Technical field
A kind of a kind of the present invention relates to decelerator, in particular it relates to harmonic speed reducer.
Background technology
Kinematic accuracy is an important indicator of harmonic speed reducer, in general can be by with addition of work, raising processing essence
Spend and to improve kinematic accuracy, but the machining accuracy of lathe is limited, just extremely difficult to a certain degree improving again.Therefore pin
To this technical barrier, it is desirable to have more optimal be designed to deal with an above difficult problem, and further improve kinematic accuracy.And improve fortune
Dynamic precision then can by reduce just wheel and flexbile gear back lash it is therefore desirable to a kind of mechanism can effectively reduce firm wheel and
Back lash between flexbile gear.
Content of the invention
The invention provides a kind of harmonic speed reducer, including wave producer, just take turns, flexbile gear, wherein, described wave producer bag
Include flexible bearing and cam mechanism, described cam mechanism includes the first cam and the second cam, described first cam and described the
Two cam coaxials are arranged, equal in magnitude and thickness is identical, and between described first cam and described second cam, shape is at an angle, institute
State angle between 0 degree and 45 degree.
Further, described firm wheel has internal messing tooth, and described flexbile gear has external toothing tooth, described firm wheel and described flexbile gear
By described internal messing tooth and the engagement of described external toothing tooth.
Further, described wave producer is arranged on the inside of described flexbile gear and makes described deformation of flexible wheel.
Beneficial effects of the present invention are：Flexbile gear and the mesh regional of firm wheel is made to increase after cam rotation, the dental transition of engagement
Many, flexbile gear is increased with the mesh regional of firm wheel, and engaging tooth increases, and causes the gap shrinks between tooth, thus improving kinematic accuracy,
Improve the bearing capacity of decelerator simultaneously.
Brief description
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for description, the reality with the present invention
Apply example and be used for explaining the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of harmonic speed reducer；
Fig. 2 shows the engagement compares figure of firm wheel and flexbile gear；
Fig. 3 shows the schematic diagram of cam mechanism；
In figure：1st, cam mechanism；11st, the first cam；12nd, the second cam；2nd, flexbile gear；21st, external toothing tooth；3rd, just take turns；31、
Internal messing tooth；4th, flexible bearing.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated it will be appreciated that preferred reality described herein
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in figure 1, a kind of harmonic speed reducer, this harmonic speed reducer has wave producer, flexbile gear 2 and firm wheel 3, and ripple occurs
Device is arranged on inside flexbile gear 2, because the oval structure of wave producer itself is thus lead to flexbile gear 2 to produce flexible deformation.And ripple is sent out
The middle part of raw device connects input shaft, and input shaft drives wave producer to rotate, and therefore, flexbile gear 2 produces with the rotation of wave producer
Raw periodically deformation.Additionally, as shown in Fig. 2 the outside of flexbile gear 2 has external toothing tooth 21, flexbile gear 2 pass through external toothing tooth 21 with
The firm wheel 3 with internal messing tooth 31 engages, and the therefore rotation of flexbile gear 2 also drives the rotation of just wheel 3 simultaneously.
Specifically, wave producer includes cam mechanism 1 and flexible bearing 4, and both sizes, shape and thickness are homogeneous in addition
With.The middle part insertion input shaft of cam mechanism 1, and drive cam mechanism 1 to rotate by input shaft.The rotation of cam mechanism 1 is permissible
Drive flexible bearing 4 to rotate together and result in the deformation of flexible bearing 4, and the deformation of flexible bearing 4 then can lead to flexbile gear 2
Deformation.
As Figure 2-3, further, cam mechanism 1 includes the first cam 11 and the second cam 12, the first cam 11 with
Second cam 12 is coaxially disposed, and both are equal sized, shape is identical and thickness is identical.Between first cam 11 and the second cam 12
It is provided with an angle, this angle is more than 0 degree and is less than 45 degree.Specifically, will be fixing for the first cam 11, the second cam 12 with respect to
First cam 11 turns an angle, even if shape is in an angle between the first cam 11 and the second cam 12.Cam mechanism one
After being divided into two, and make, between two cams, there is certain angle, actually expand the width of cam mechanism, therefore,
When cam mechanism rotates, the change deformation of flexible bearing being made big, thus increasing the deformation of flexbile gear, and making flexbile gear and firm wheel
Mesh regional increases (referring to Fig. 2), so that the gap between tooth and tooth diminishes more than the dental transition of engagement, thus improving the essence of motion
Degree, improves the bearing capacity of decelerator simultaneously.
Finally it should be noted that：The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
Although being described in detail to the present invention with reference to the foregoing embodiments, for a person skilled in the art, it still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to wherein some technical characteristics.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of harmonic speed reducer, it is characterised in that including wave producer, is just taken turns, flexbile gear, wherein, described wave producer includes
Flexible bearing and cam mechanism, described cam mechanism includes the first cam and the second cam, described first cam and described second
Cam coaxial is arranged, equal in magnitude and thickness is identical, and between described first cam and described second cam, shape is at an angle, described
Angle is between 0 degree and 45 degree.
2. harmonic speed reducer as claimed in claim 1 is it is characterised in that described firm wheel has internal messing tooth, described flexbile gear tool
External toothing tooth, described firm wheel and described flexbile gear is had to engage by described internal messing tooth and described external toothing tooth.
3. harmonic speed reducer as claimed in claim 2 is it is characterised in that described wave producer is arranged on the inside of described flexbile gear
And make described deformation of flexible wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935100.2A CN106382339B (en) | 2016-10-25 | 2016-10-25 | A kind of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935100.2A CN106382339B (en) | 2016-10-25 | 2016-10-25 | A kind of harmonic speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106382339A true CN106382339A (en) | 2017-02-08 |
| CN106382339B CN106382339B (en) | 2019-06-25 |
Family
ID=57958173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610935100.2A Active CN106382339B (en) | 2016-10-25 | 2016-10-25 | A kind of harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106382339B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3496782A (en) * | 1968-07-29 | 1970-02-24 | Usm Corp | Actuators employing preloaded wave generators |
| US3747434A (en) * | 1971-09-10 | 1973-07-24 | Philco Ford Corp | Harmonic drive |
| DE29705170U1 (en) * | 1997-03-21 | 1998-07-30 | Hirn, Marliese, 72147 Nehren | Reduction gear |
| CN2526592Y (en) * | 2002-03-04 | 2002-12-18 | 辛洪兵 | Disc-type three-wave generator |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| JP2009222168A (en) * | 2008-03-18 | 2009-10-01 | Nidec-Shimpo Corp | Rocking gear device |
| US20130247716A1 (en) * | 2012-03-23 | 2013-09-26 | Canon Kabushiki Kaisha | Strain wave gear apparatus |
-
2016
- 2016-10-25 CN CN201610935100.2A patent/CN106382339B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3496782A (en) * | 1968-07-29 | 1970-02-24 | Usm Corp | Actuators employing preloaded wave generators |
| US3747434A (en) * | 1971-09-10 | 1973-07-24 | Philco Ford Corp | Harmonic drive |
| DE29705170U1 (en) * | 1997-03-21 | 1998-07-30 | Hirn, Marliese, 72147 Nehren | Reduction gear |
| CN2526592Y (en) * | 2002-03-04 | 2002-12-18 | 辛洪兵 | Disc-type three-wave generator |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| JP2009222168A (en) * | 2008-03-18 | 2009-10-01 | Nidec-Shimpo Corp | Rocking gear device |
| US20130247716A1 (en) * | 2012-03-23 | 2013-09-26 | Canon Kabushiki Kaisha | Strain wave gear apparatus |
Non-Patent Citations (1)
| Title |
|---|
| 沈允文: "《谐波齿轮传动的理论和设计》", 30 September 1985 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106382339B (en) | 2019-06-25 |
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