CN107339402A - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
- Publication number
- CN107339402A CN107339402A CN201710789158.5A CN201710789158A CN107339402A CN 107339402 A CN107339402 A CN 107339402A CN 201710789158 A CN201710789158 A CN 201710789158A CN 107339402 A CN107339402 A CN 107339402A
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- gear
- cam
- flexbile gear
- 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
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 64
- 239000011796 hollow space material Substances 0.000 claims abstract description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 241000233855 Orchidaceae Species 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 238000013068 supply chain management Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000000116 mitigating effect Effects 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
-
- 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
- F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
-
- 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
- F16H57/032—Gearboxes; Mounting gearing therein characterised by the materials used
-
- 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
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
-
- 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
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of harmonic speed reducer, and it includes：Flexbile gear, firm gear, wave producer and roller bearing；Roller bearing has outer ring and inner ring, flexbile gear is connected with outer ring, and firm gear is connected with inner ring, and wave producer includes cam, cam has the major axis integrally extended from its end face, cam and the hollow setting of major axis, subsidiary conduit are provided with hollow space, one end of subsidiary conduit is connected with firm gear, when flexbile gear is set on cam, flexbile gear is oval, and the tooth at the long axis direction both ends of flexbile gear and the tooth of firm gear are at a fully engaged, and the tooth at the short-axis direction both ends of flexbile gear and the tooth of firm gear keep disengaging.The harmonic speed reducer of the present invention can fully meet to cooperate, and robot is compact to harmonic speed reducer, flexible design requirement, its size is small, in light weight, is easy to be directly integrated on harmonic speed reducer including modular assemblies such as rimless straight drive torque motor, low-voltage direct driver, brake and double feedback devices.
Description
Technical field
The present invention relates to technical field of mechanical transmission, more particularly to a kind of harmonic speed reducer.
Background technology
At present, cooperating robot has been increasingly becoming the trend of industrial robot development, and its occupation rate of market is increasing.
For harmonic speed reducer due to possessing bearing capacity height, gearratio is big, small volume, in light weight, and stable drive and transmission accuracy height etc. are only
Special advantage, become the important component in cooperating robot joint.Although harmonic speed reducer have many advantages, such as it is above-mentioned,
It can not fully meet the requirement that robot architecture is compact, flexibility is good, facilitates cabling and installation that cooperates.
Therefore, in view of the above-mentioned problems, the present invention proposes further solution.
The content of the invention
The present invention is intended to provide a kind of harmonic speed reducer, to overcome the deficiencies in the prior art.
In order to solve the above technical problems, the technical scheme is that：
A kind of harmonic speed reducer, it includes：Flexbile gear, firm gear, wave producer and roller bearing；
The roller bearing has outer ring and inner ring, and the flexbile gear is connected with outer ring, the firm gear and the inner ring phase
Connection, the wave producer include cam, and the cam has the major axis integrally extended from its end face, the cam and length
The hollow setting of axle, subsidiary conduit is provided with hollow space, one end of the subsidiary conduit is connected with the firm gear, described
When flexbile gear is set on the cam, the flexbile gear is oval, tooth and the firm gear at the long axis direction both ends of the flexbile gear
Tooth it is at a fully engaged, the tooth of the tooth at the short-axis direction both ends of the flexbile gear and the firm gear keeps disengaging.
As the improvement of the harmonic speed reducer of the present invention, the harmonic speed reducer also includes fixed end cap, the fixing end
Lid is connected with the end face of the flexbile gear.
As the improvement of the harmonic speed reducer of the present invention, the fixed end cap is aluminum alloy material.
As the improvement of the harmonic speed reducer of the present invention, the harmonic speed reducer also includes the first seal ball bearing, described
First seal ball bearing is arranged between the fixed end cap and cam.
As the improvement of the harmonic speed reducer of the present invention, the harmonic speed reducer also includes output flange, the output
End flanges are connected with the end face of the firm gear.
As the improvement of the harmonic speed reducer of the present invention, the harmonic speed reducer also includes the second seal ball bearing, described
Second seal ball bearing is arranged between the cam and subsidiary conduit.
As the improvement of the harmonic speed reducer of the present invention, the major axis stretches out from the end face of the harmonic speed reducer, stretches out
One end be connected with external input device.
As the improvement of the harmonic speed reducer of the present invention, the external input device includes：Rimless straight drive torque motor turns
Son, low-voltage direct driver, brake and rotary encoder.
As the improvement of the harmonic speed reducer of the present invention, the harmonic oscillator also includes flexible bearing, the flexible shaft
Hold and be arranged between the flexbile gear and cam.
As the improvement of the harmonic speed reducer of the present invention, the roller bearing is cross roller bearing.
Compared with prior art, the beneficial effects of the invention are as follows：The harmonic speed reducer of the present invention can fully meet to cooperate
Robot is compact to harmonic speed reducer, flexible design requirement, and its size is small, in light weight, is easy on harmonic speed reducer directly
It is integrated to include the modular assemblies such as rimless straight drive torque motor, low-voltage direct driver, brake and double feedback devices.
Meanwhile harmonic speed reducer of the invention was reduced to machinery selection, design, the personnel of the multiple links of assembling and time
Input, simplify supply chain management and quality management integrated cost, realize cooperating robot's joint module product rapid development so that
The exploitation of cooperation robot is safer, quick and convenient.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the diagrammatic cross-section of the embodiment of harmonic speed reducer one of the present invention；
Fig. 2 is the left view of the harmonic speed reducer of the present invention；
Fig. 3 is the right view of the harmonic speed reducer of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in Figures 1 to 3, harmonic speed reducer of the invention includes：Flexbile gear 1, firm gear 2, wave producer 3 and roller bearing
4。
The roller bearing 4 has outer ring and inner ring, and in one embodiment, the roller bearing 4 is right-angled intersection
Roller bearing 4.
The flexbile gear 1 is connected with outer ring, its fixing end as harmonic speed reducer of the present invention.The flexbile gear 1 has one
Fixed elasticity, when it is in original state, the flexbile gear 1 is circle, described when it is deformed upon under applied external force
Flexbile gear 1 is oval.
Meanwhile the harmonic speed reducer also includes fixed end cap 5, the fixed end cap 5 is connected with the end face of the flexbile gear 1
Connect, it is closed to the harmonic speed reducer.Preferably, the fixed end cap 5 is aluminum alloy material.It is in this way, favourable
In the mitigation of weight, and part workability and precision are higher so that decelerator overall structure is compacter.
The firm gear 2 is connected with the inner ring, and the harmonic speed reducer also includes output flange 6, the output end
Flange 6 is connected with the end face of the firm gear 2.So as to which the firm gear 2 is connected by output flange 6 with load end, forms this
The output end of invention harmonic speed reducer.
Meanwhile the output flange 6 is closed to the harmonic speed reducer simultaneously, in this way, need not enter when in use
Luggage only need to install fixed screw, greatly reduce assembly work amount, drop with work such as wave producer and grease ups
It is low to user's installation specification and Structural Design Requirement.The harmonic speed reducer also includes the first seal ball bearing 7, institute
The first seal ball bearing 7 is stated to be arranged between the fixed end cap 5 and cam.
The wave producer 3 includes cam 31, and the cam 31 has the major axis 32 integrally extended from its end face, institute
State the 32 hollow setting of cam 31 and major axis.Wherein, hollow inner space can facilitate the cabling of harmonic speed reducer, meanwhile, it is described
Major axis 32 stretches out from the end face of the harmonic speed reducer, and one end of stretching is easy to be connected with external input device.Wherein, it is described
External input device can include：Rimless straight drive torque motor rotor, low-voltage direct driver, brake and rotary encoder.
Further, subsidiary conduit 8, the 8 hollow setting of subsidiary conduit, the auxiliary are additionally provided with hollow space
One end of conduit 8 is connected with the firm gear 2.By setting the subsidiary conduit 8, center can be avoided to cross line group with revolving at a high speed
The cam turned is in contact abrasion and destroyed, and can provide the installation site of feedback coder, makes the knot of whole harmonic speed reducer
Structure is compacter, conveniently.In addition, the harmonic speed reducer also includes the second seal ball bearing 9, second seal ball bearing 9
It is respectively arranged between the cam 31 and subsidiary conduit 8.
When the flexbile gear 1 is set on the cam 31, the flexbile gear 1 is oval, the long axis direction two of the flexbile gear 1
The tooth at end and the tooth of the firm gear 2 are at a fully engaged, and the tooth at the short-axis direction both ends of the flexbile gear 1 and the tooth of the firm gear 2 are kept
Disengage.Meanwhile the tooth between the tooth at the long axis direction both ends and the tooth at short-axis direction both ends is in the transition engaged and departed from
State.
So as to which when wave producer continuously rotates, the shape of flexbile gear constantly changes, and makes the engagement of flexbile gear and firm gear
Constantly change, by it is engaging-in, engage, nibble out, disengage, engaging-in again ..., periodically carry out, so as to realize flexbile gear with respect to firm gear
Along the slow rotation of wave producer opposite direction, the purpose of deceleration is realized.
In addition, the harmonic oscillator 3 also includes flexible bearing 10, the flexible bearing 10 is arranged at the He of flexbile gear 1
Between cam 31.
In summary, harmonic speed reducer of the invention can fully meet that cooperation robot is compact to harmonic speed reducer, clever
Design requirement living, its size is small, in light weight, be easy to be directly integrated on harmonic speed reducer including rimless straight drive torque motor,
The modular assemblies such as low-voltage direct driver, brake and double feedback devices.
Meanwhile harmonic speed reducer of the invention was reduced to machinery selection, design, the personnel of the multiple links of assembling and time
Input, simplify supply chain management and quality management integrated cost, realize cooperating robot's joint module product rapid development so that
The exploitation of cooperation robot is safer, quick and convenient.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
1. a kind of harmonic speed reducer, it is characterised in that the harmonic speed reducer includes：Flexbile gear, firm gear, wave producer and roller
Bearing；
The roller bearing has outer ring and inner ring, and the flexbile gear is connected with outer ring, and the firm gear is connected with the inner ring,
The wave producer includes cam, and the cam has a major axis integrally extended from its end face, in the cam and major axis
Sky is set, and is provided with subsidiary conduit in hollow space, one end of the subsidiary conduit is connected with the firm gear, the flexbile gear
When being set on the cam, the flexbile gear is oval, the tooth at the long axis direction both ends of the flexbile gear and the tooth of the firm gear
At a fully engaged, the tooth at the short-axis direction both ends of the flexbile gear keeps disengaging with the tooth of the firm gear.
2. harmonic speed reducer according to claim 1, it is characterised in that the harmonic speed reducer also includes fixed end cap,
The fixed end cap is connected with the end face of the flexbile gear.
3. harmonic speed reducer according to claim 2, it is characterised in that the fixed end cap is aluminum alloy material.
4. harmonic speed reducer according to claim 2, it is characterised in that the harmonic speed reducer also includes the first ball sealer
Bearing, first seal ball bearing are arranged between the fixed end cap and cam.
5. harmonic speed reducer according to claim 1, it is characterised in that the harmonic speed reducer also includes output hold-carrying
Orchid, the output flange are connected with the end face of the firm gear.
6. harmonic speed reducer according to claim 5, it is characterised in that the harmonic speed reducer also includes the second ball sealer
Bearing, second seal ball bearing are arranged between the cam and subsidiary conduit.
7. harmonic speed reducer according to claim 1, it is characterised in that the major axis is from the end face of the harmonic speed reducer
Stretch out, one end of stretching is connected with external input device.
8. harmonic speed reducer according to claim 7, it is characterised in that the external input device includes：Rimless straight drive
Torque motor rotor, low-voltage direct driver, brake and rotary encoder.
9. harmonic speed reducer according to claim 1, it is characterised in that the harmonic oscillator also includes flexible bearing,
The flexible bearing is arranged between the flexbile gear and cam.
10. harmonic speed reducer according to claim 1, it is characterised in that the roller bearing is cross roller axle
Hold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710789158.5A CN107339402A (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710789158.5A CN107339402A (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107339402A true CN107339402A (en) | 2017-11-10 |
Family
ID=60215187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710789158.5A Pending CN107339402A (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107339402A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566575A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | ultra-light roller crossed bearing |
| CN114017618A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer suitable for pitching driving and used for monitoring cradle head and cradle head |
| CN115199724A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09250608A (en) * | 1996-03-18 | 1997-09-22 | Harmonic Drive Syst Ind Co Ltd | Silk hat type bendingly engaged gear device |
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| CN205780622U (en) * | 2016-05-25 | 2016-12-07 | 浙江来福谐波传动股份有限公司 | A kind of hollow type harmonic speed reducer of charged arbor |
| CN206246608U (en) * | 2016-12-03 | 2017-06-13 | 广东宝控智能装备科技有限公司 | Electromechanical integration harmonic speed reducer |
| CN207378097U (en) * | 2017-09-05 | 2018-05-18 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer |
-
2017
- 2017-09-05 CN CN201710789158.5A patent/CN107339402A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09250608A (en) * | 1996-03-18 | 1997-09-22 | Harmonic Drive Syst Ind Co Ltd | Silk hat type bendingly engaged gear device |
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN205780622U (en) * | 2016-05-25 | 2016-12-07 | 浙江来福谐波传动股份有限公司 | A kind of hollow type harmonic speed reducer of charged arbor |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| CN206246608U (en) * | 2016-12-03 | 2017-06-13 | 广东宝控智能装备科技有限公司 | Electromechanical integration harmonic speed reducer |
| CN207378097U (en) * | 2017-09-05 | 2018-05-18 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566575A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | ultra-light roller crossed bearing |
| CN115199724A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| WO2023051714A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市越疆科技有限公司 | Joint, mechanical arm and robot, and harmonic reducer device and mounting method therefor |
| CN114017618A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer suitable for pitching driving and used for monitoring cradle head and cradle head |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215101 19 Mu Xu Road, Mu Du Town, Wuzhong District, Suzhou, Jiangsu Applicant after: SUZHOU LEADERDRIVE TRANSMISSION TECHNOLOGY Co.,Ltd. Address before: 215101 19 Mu Xu Road, Mu Du Town, Wuzhong District, Suzhou, Jiangsu Applicant before: SUZHOU LEADER HARMONIOUS DRIVE SYSTEMS CO.,LTD. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171110 |
|
| RJ01 | Rejection of invention patent application after publication |