CN107965560A - A kind of more wave number Non-tooth type harmonic speed reducers - Google Patents
A kind of more wave number Non-tooth type harmonic speed reducers Download PDFInfo
- Publication number
- CN107965560A CN107965560A CN201710982276.8A CN201710982276A CN107965560A CN 107965560 A CN107965560 A CN 107965560A CN 201710982276 A CN201710982276 A CN 201710982276A CN 107965560 A CN107965560 A CN 107965560A
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- China
- Prior art keywords
- speed reducer
- harmonic speed
- harmonic
- flexbile gear
- gear
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention proposes a kind of harmonic speed reducer of more wave number Non-tooth types, driving force is provided by the frictional force of storeroom, at the same time, in order to increase gearing friction power and reduce the deflection of flexbile gear, using the harmonic oscillator of more wave number forms, and then improve the reliability and service life of Non-tooth type harmonic speed reducer.
Description
Technical field
The present invention relates to a kind of more wave number Non-tooth type harmonic speed reducers, belong to Technology of Harmonic Wave Transmission field.
Background technology
Greatly increased now with the booming demand for harmonic speed reducer of industrial robot industry, harmonic reduction
Device has irreplaceable status for the industrial robot of middle-size and small-size load.
Harmonic speed reducer is mainly made of three parts, harmonic oscillator, flexbile gear and firm gear.Currently used harmonic speed reducer
More harmonic oscillators using ellipse, are made of Elliptical Rigid cam and flexible bearing.The rigid convex of ellipse during use
Wheel compresses flexible bearing and simultaneously oppresses flexbile gear, make the external toothing of flexbile gear rigid elliptic cam major axis end positions and outside it is firm
Take turns internal tooth engagement.This kind of drive in order to ensure higher transmitting accuracy, for firm gear and flexbile gear requirement on machining accuracy very
Height, in order to ensure the reliability of flexbile gear and flexible bearing and service life, it is desirable to which it is higher that its material should have stronger intensity to have again
Flexibility, while intermeshing wheel tooth module is smaller and intensity is higher, and therefore, flexbile gear and harmonic oscillator are more using warp at present
The steel manufacture of specially treated is crossed, causes industrial common harmonic speed reducer production cost higher.
In addition, disclosed 106438919 A of patent application CN propose a kind of implementation of Non-tooth type harmonic speed reducer
Example, the harmonic speed reducer of embodiment description are made of the harmonic oscillator of anodontia firm gear, flexbile gear and ellipse, its harmonic wave hair
Raw device is slotted at transverse two-end-point, and insertion pressure block is used for presses flexible bearing and flexbile gear, makes to produce between flexbile gear and firm gear
Raw certain pressure and frictional force are driven with realizing.
The embodiment has the disadvantage in that.It is well known that the even running of harmonic speed reducer depends on harmonic oscillator cam
Elliptic cylinder smoothness, the only smooth continuous ball that just can guarantee that in flexible bearing of its elliptic contour or needle roller be steady
Roll, otherwise will produce mechanical collision and stress concentration, and cause noise and abrasion.Pressure block is produced by spring in the embodiment
Raw pressure compaction flexible bearing, in actual production, the edge surface that pressure block is contacted with flexible bearing can not ensure to send out with harmonic wave
The elliptic cylinder of raw device upper shed is combined into smooth continuous whole elliptic cylinder, causes the harmonic oscillator to exist on the implementation
Four discrete points, i.e. harmonic oscillator, which often move a circle and will produce four mechanical collisions, causes vibrations and noise；Meanwhile no
The service life of flexible bearing and flexbile gear in the upper generation stress concentration of flexbile gear and flexible bearing, will be also greatly shortened at continuity point.
The content of the invention
To solve the problem above-mentioned, the present invention seeks to a kind of more wave number Non-tooth type harmonic speed reducers, solves harmonic wave hair
Raw device contacts discontinuous problem with flexbile gear, while eliminates the demand to flexible bearing, obtains its processing technology very big
Simplify, and reduce cost.
For this reason, this harmonic speed reducer proposed by the present invention is characterized in that：Harmonic oscillator uses rigid roller press
Structure substitutes flexible bearing, and flexbile gear is oppressed with the rolling mechanism, makes to produce pressure and frictional force between flexbile gear and firm gear；The wherein rolling
The quantity of mechanism is no less than three and is uniformly distributed on the inside of flexbile gear, and it is in harmonic speed reducer with can radially adjust fixation
The adjustment support arm of position is hinged, and adjusts the pressure between flexbile gear and firm gear by pressure-regulating device, and will by fastener
Adjustment support arm is fixed.Rolling mechanism occurs to produce abrasion with respect to slip with flexbile gear in order to prevent, can be cylindrical in rolling mechanism
Cylinder coats anti-slip material;For the purposes of preventing that opposite slip causes transmission accuracy to reduce and produces mill firm gear with flexbile gear generation
Damage, can coat anti-slip material in firm gear inner cylinder face.
Brief description of the drawings
For clarity, component of the same name is marked with identical label in different attached drawings.
Fig. 1 shows the front view of the embodiment for the Non-tooth type harmonic speed reducer that the present invention proposes that a wave number is 6；
Fig. 2 shows sectional view of the embodiment described in Fig. 1 in B directions；
Fig. 3 and Fig. 4 shows the stereogram of embodiment illustrated in fig. 1.
Embodiment
The wave number of Non-tooth type harmonic speed reducer shown in Fig. 1 is 6, and the harmonic speed reducer is by harmonic oscillator 1, flexbile gear 2, just
Wheel 3 is formed；Wherein harmonic oscillator 1 adjusts 103,6 groups of support arm by 101,6, a generator stent rolling mechanism 102,6
104,6 pressure-regulating devices 105 of fastener are formed.
Wherein rigid rolling mechanism 102 and adjustment support arm 103 are hinged, are evenly arranged in the inner side of flexbile gear 2；Adjust support arm
103 act on generator stent 101 by pressure-regulating device 105, by pressure transmission to rolling mechanism 102 and then act on soft
Wheel 2 and firm gear 3；Pressure between flexbile gear 2 and firm gear 3 is adjusted by pressure regulation device 105, and will be adjusted by fastener 104
101 fixation of whole support arm 103 and generator stent.
It is opposite in order to prevent to slide, coat ribband in the external cylindrical surface of rolling mechanism 102 and the inner cylinder face of firm gear 3
Material.
Preferably, rolling mechanism 102 selects rolling bearing to realize in this example, can also use sliding bearing, roller, needle roller etc.
Other feasible components substitute.
Preferably, fastener 104 is realized using machine screw in this example, can also use other fasteners to substitute.
Preferably, pressure-regulating device 105 selects compression spring to realize in this example, can also use flexible gasket, air pressure dress
Other suitable components such as put to substitute.
In the present invention, if a length of L1 of 3 inner periphery of firm gear, a length of L2 of 2 outer circumference of flexbile gear, it is clear that L1>L2, then harmonic oscillator
The angle that turns over of flexbile gear 2 is after 1 rotation 1 week（L1-L2）/ L1*360 degree, therefore speed reducing ratio is-L1/（L1-L2）, wherein negative sign
The direction of rotation for representing harmonic oscillator 1 is opposite with the direction of rotation of flexbile gear 2.
From above-mentioned speed reducing ratio formula, when flexbile gear outer rim girth L2 and firm gear inner circle girth L1 closer to when, the harmonic wave
The speed reducing ratio of retarder is bigger.
If therefore wanting to improve speed reducing ratio, there is following two ways.
First way：When the diameter of rolling mechanism 102 is bigger, corresponding 2 outer circumference L2 of flexbile gear is bigger, speed reducing ratio
Bigger, this diameter value need to ensure that between each other mechanical interference, this side do not occur for 6 rolling mechanisms 102 there are the upper limit
The speed reducing ratio that formula can increase is limited, but can increase the friction area between rolling mechanism 102 and firm gear 2.
The second way：Increase the wave number of the harmonic speed reducer, that is, increase the quantity of rolling mechanism 102.Due to flexbile gear 2
Form after outer rim compression has the polygon of fillet for a vertex, and the inner circle of the form and firm gear 3 is tangential on fillet.Therefore work as
For the compression form outer rim of flexbile gear 2 closer to the inner circle of firm gear 3, its girth is also closer, i.e., humorous when the side number of polygon is more
During the wave number increase of ripple retarder, speed reducing ratio can increase.
Meanwhile harmonic speed reducer wave number it is bigger when, the elastic deformation of flexbile gear is also smaller, and contact of the flexbile gear with firm gear
Point also increases, and load will be more uniformly distributed, and the service life of such flexbile gear also will be longer, this is also the spy of more wave number harmonic drives
Point.
Claims (7)
- A kind of 1. harmonic speed reducer of more wave number Non-tooth types, by harmonic oscillator（1）, flexbile gear（2）And firm gear（3）Form, wherein Harmonic oscillator（1）By generator stent（101）, rolling mechanism（102）, adjustment support arm（103）, fastener（104）, pressure tune Regulating device（105）Form, it is characterised in that：Harmonic oscillator（1）It is middle to use rolling mechanism（102）Oppress flexbile gear（2）, be allowed to Firm gear（3）Between produce pressure and frictional force.
- 2. harmonic speed reducer as claimed in claim 1, it is characterised in that：Each harmonic oscillator（1）In rolling mechanism （102）With flexbile gear（2）The surface of contact is rigid cylindrical surface, and rolling mechanism（102）Quantity be no less than 3, uniformly It is distributed in flexbile gear（2）Inner side.
- 3. the harmonic speed reducer as described in foregoing any claim, it is characterised in that：Each rolling mechanism（102）Relative to tune Whole support arm（103）It is hinged.
- 4. the harmonic speed reducer as described in foregoing any claim, it is characterised in that：Adjust support arm（103）Pass through fastener （104）It is fixed on generator stent（101）, and fixed position can be adjusted in the radial direction of harmonic speed reducer.
- 5. the harmonic speed reducer as described in foregoing any claim, it is characterised in that：Adjust support arm（103）With generator stent （101）Between there are pressure-regulating device（105）.
- 6. the harmonic speed reducer as described in foregoing any claim, it is characterised in that：Rolling mechanism（102）With flexbile gear（2）'s Contact surface cladding anti-slip material.
- 7. the harmonic speed reducer as described in foregoing any claim, it is characterised in that：Firm gear（3）With flexbile gear（2）Contact table Bread covers anti-slip material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710982276.8A CN107965560A (en) | 2017-10-20 | 2017-10-20 | A kind of more wave number Non-tooth type harmonic speed reducers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710982276.8A CN107965560A (en) | 2017-10-20 | 2017-10-20 | A kind of more wave number Non-tooth type harmonic speed reducers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107965560A true CN107965560A (en) | 2018-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710982276.8A Pending CN107965560A (en) | 2017-10-20 | 2017-10-20 | A kind of more wave number Non-tooth type harmonic speed reducers |
Country Status (1)
| Country | Link |
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| CN (1) | CN107965560A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737196A (en) * | 2019-03-15 | 2019-05-10 | 苏州绿的谐波传动科技股份有限公司 | A kind of accurate harmonic speed reducer of high order frequency |
| CN112709802A (en) * | 2019-10-25 | 2021-04-27 | 罗普伺达机器人有限公司 | Wave generator for a speed reducer of a harmonic drive configuration |
-
2017
- 2017-10-20 CN CN201710982276.8A patent/CN107965560A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737196A (en) * | 2019-03-15 | 2019-05-10 | 苏州绿的谐波传动科技股份有限公司 | A kind of accurate harmonic speed reducer of high order frequency |
| CN112709802A (en) * | 2019-10-25 | 2021-04-27 | 罗普伺达机器人有限公司 | Wave generator for a speed reducer of a harmonic drive configuration |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180427 |
|
| WD01 | Invention patent application deemed withdrawn after publication |