CN108180272B - Pressure control harmonic speed reducer - Google Patents

Pressure control harmonic speed reducer Download PDF

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Publication number
CN108180272B
CN108180272B CN201711417989.6A CN201711417989A CN108180272B CN 108180272 B CN108180272 B CN 108180272B CN 201711417989 A CN201711417989 A CN 201711417989A CN 108180272 B CN108180272 B CN 108180272B
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China
Prior art keywords
liquid supply
supply channel
wave generator
wall
stator core
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Active
Application number
CN201711417989.6A
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Chinese (zh)
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CN108180272A (en
Inventor
许金明
许洪皓
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Xianghe Haoda Robot Harmonic Reducer Manufacturing Co ltd
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Xianghe Haoda Robot Harmonic Reducer Manufacturing Co ltd
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Priority to CN201711417989.6A priority Critical patent/CN108180272B/en
Publication of CN108180272A publication Critical patent/CN108180272A/en
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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
    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
    • F16H57/0435—Pressure control for supplying lubricant; Circuits or valves therefor
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Details Of Gearings (AREA)
  • Motor Or Generator Cooling System (AREA)

Abstract

The invention discloses a pressure control harmonic speed reducer, which comprises a flexible wheel, a rigid wheel, a wave generator and a stator core, wherein a first liquid supply channel is arranged from the tail part of the stator core to the outer wall of the head part of the stator core; a second liquid supply channel is arranged from the cavity wall of the valve cavity of the wave generator to the outer wall of the wave generator, one end of the liquid supply channel, which is positioned on the cavity wall of the valve cavity, is an inlet end, and the other end, which is positioned on the outer wall of the wave generator, is an outlet end; when the wave generator rotates, the outlet end of the first liquid supply channel is opposite to or dislocated with the inlet end of the second liquid supply channel. The stator core is arranged on the wave generator, and the liquid supply channel is arranged on the stator core, so that lubricating oil can enter between the wave generator and the flexible wheel, and the lubricating oil is provided for the wave generator and the flexible wheel.

Description

Pressure control harmonic speed reducer
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a harmonic reducer.
Background
Harmonic reducers are widely used in the field of mechanical transmissions because of their high transmission ratio, and generally, harmonic reducers include rigid wheels, flexible wheels, and wave generators. Wherein, the rigid wheel is actually an inner gear ring with high rigidity; the flexible wheel is cylindrical and made of a material with lower rigidity, external teeth are formed on the outer wall of the opening end of the flexible wheel, the opening end of the flexible wheel extends into the rigid wheel, and the external teeth are used for being meshed with the internal teeth of the rigid wheel; the wave generator is elliptical cylinder shape, it stretches into the tube mouth end of the flexible wheel, when the wave generator is driven by the power mechanism and rotates, the external tooth of the flexible wheel corresponding to the long axis of the wave generator is continuously engaged with the internal tooth of the rigid wheel to make the wave generator drive the flexible wheel to rotate, the flexible wheel drives the load connected to the bottom end of the tube to make the load execute some target task, for example, drive the hydraulic pump.
In the process of using the harmonic reducer, the applicant finds that:
in the prior art, the meshing transmission between the rigid wheel and the flexible wheel and the relative rotation between the wave generator and the flexible wheel of the harmonic reducer require lubrication, however, in the prior art, the components are enclosed in a sealed shell, and lubricating oil with certain pressure is introduced into the shell, so that the lubricating oil enters between the internal teeth of the rigid wheel and the external teeth of the flexible wheel and between the wave generator and the flexible wheel (such a harmonic reducer which utilizes the lubricating oil with certain pressure to lubricate rotating components such as the rigid wheel and the flexible wheel is generally called as a lubricating oil pressure control harmonic reducer). This will certainly need to seal the casing and set up and can keep sealed under certain pressure, in addition, need make the casing in let in a large amount of lubricating oil, a large amount of lubricating oil have produced great resistance to the rotation of compliant wheel to make lubricating oil temperature rise, the performance worsens.
Disclosure of Invention
In view of the above technical problems in the prior art, embodiments of the present invention provide a pressure-controlled harmonic reducer.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
the utility model provides a pressure control harmonic speed reducer ware, includes compliant wheel, rigidity wheel and wave generator, the compliant wheel includes the body, the body is the tube-shape, the body has barrel head end and bobbin base end, be provided with on the outer wall of barrel head end be used for with the outer tooth of the internal toothing of rigidity wheel, the head of wave generator certainly the barrel head end of body stretches into to in the body, wave generator is located the valve pocket has been seted up to inside in the body, pressure control harmonic speed reducer ware still includes the stator core, the head of stator core is located in the valve pocket, wherein:
a first liquid supply channel is formed from the tail part of the stator core to the outer wall of the head part of the stator core, one end of the first liquid supply channel is positioned at the tail part of the stator core and is an inlet end of the first liquid supply channel, one end of the outer wall of the head part of the stator core is an outlet end of the first liquid supply channel, and external oil pressure equipment is connected with the inlet end of the first liquid supply channel;
a second liquid supply channel is arranged from the cavity wall of the valve cavity of the wave generator to the outer wall of the wave generator, one end of the liquid supply channel, which is positioned on the cavity wall of the valve cavity, is an inlet end, and one end, which is positioned on the outer wall of the wave generator, is an outlet end; the inlet end of the second liquid supply channel corresponds to the outlet end of the first liquid supply channel in the axial position of the valve core; wherein:
when the wave generator rotates, the outlet end of the first liquid supply channel is opposite to or dislocated with the inlet end of the second liquid supply channel.
Preferably, a third liquid supply channel is formed from the inner hole wall of the body to the outer wall of the flexible wheel, one end, located on the inner hole wall, of the third liquid supply channel is an inlet end, one end, located on the outer wall of the body, of the third liquid supply channel is an outlet end, and the inlet end of the third liquid supply channel corresponds to the outlet end of the second liquid supply channel in the axial position of the valve core.
Preferably, the third liquid supply channel penetrates between two external teeth.
Preferably, thrust bearings are installed at both sides of the head of the stator core.
Preferably, a check valve is arranged in the first liquid supply channel, an inlet of the check valve is communicated with an inlet end of the first liquid supply channel, and an outlet of the check valve is communicated with an outlet end of the first liquid supply channel.
Compared with the prior art, the pressure control harmonic reducer has the beneficial effects that: the stator core is arranged on the wave generator, and the liquid supply channel is arranged on the stator core, so that lubricating oil can enter between the wave generator and the flexible wheel, and the lubricating oil is provided for the wave generator and the flexible wheel.
Drawings
FIG. 1 is a schematic structural diagram of a pressure controlled harmonic reducer provided in an embodiment of the present invention (with a first liquid supply passage in communication with a second liquid supply passage).
Fig. 2 is a sectional view taken along line a-a of fig. 1.
FIG. 3 is a schematic structural diagram of a pressure controlled harmonic reducer provided by an embodiment of the present invention (the first liquid supply passage and the second liquid supply passage are in a blocked state).
Fig. 4 is a sectional view taken along line B-B of fig. 3.
In the figure:
10-a compliant wheel; 11-external teeth; 20-rigid wheels; 21-internal teeth; 30-a wave generator; 31-a valve cavity; 32-a second arc-shaped recess; 33-oil groove; 40-a stator core; 41-one-way valve; 42-a first arc-shaped recess; 50-a first liquid supply channel; 60-a second liquid supply channel; 70-a third liquid supply channel; 80-an oil chamber; 81-thrust bearing.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, an embodiment of the present invention provides a pressure control harmonic reducer, including a flexible wheel 10, a rigid wheel 20, and a wave generator 30, where the flexible wheel 10 includes a cylindrical body having a cylindrical end and a cylindrical bottom end, an outer wall of the cylindrical end is provided with an outer tooth 11 engaged with an inner tooth 21 of the rigid wheel 20, a head of the wave generator 30 extends into the body from the cylindrical end of the body, the wave generator 30 is located inside the body and is provided with a valve cavity 31, the pressure control harmonic reducer further includes a stator core 40, and a head of the stator core 40 is located in the valve cavity 31, where: a first liquid supply channel 50 is arranged from the tail part of the stator core 40 to the outer wall of the head part of the stator core 40, one end of the stator core 40 at the tail part is an inlet end of the first liquid supply channel 50, one end of the stator core 40 at the head part is an outlet end of the first liquid supply channel 50, and external oil pressure equipment is connected with the inlet end of the first liquid supply channel 50; a second liquid supply channel 60 is arranged from the cavity wall of the valve cavity 31 of the wave generator 30 to the outer wall of the wave generator 30, one end of the liquid supply channel, which is positioned on the cavity wall of the valve cavity 31, is an inlet end, and one end, which is positioned on the outer wall of the wave generator 30, is an outlet end; the inlet end of the second liquid supply passage 60 corresponds to the outlet end of the first liquid supply passage 50 in the axial position of the spool; wherein: the wave generator 30 is rotated so that the outlet end of the first liquid supply passage 50 is opposite to or offset from the inlet end of the second liquid supply passage 60. In the present embodiment, the external oil pressure device supplies the first liquid supply passage 50 with lubricating oil.
According to the above, when the wave generator 30 rotates, as shown in fig. 2 and 4, the first liquid supply channel 50 and the second liquid supply channel 60 are communicated and cut off through the communication and dislocation of the outlet ends and the inlet ends thereof, so that the external oil pressure equipment enters between the wave generator 30 and the body of the flexible wheel 10 through the first liquid supply channel 50 and the second liquid supply channel 60 when being communicated, and the lubrication can be provided for the wave generator 30 and the flexible wheel 10.
According to the invention, the stator core 40 is arranged on the wave generator 30 and the liquid supply channel is arranged, so that lubricating oil can enter between the wave generator 30 and the flexible wheel 10, and the lubricating oil is provided for the wave generator 30 and the flexible wheel 10.
Because the wave generator 30 and the flexible wheel 10 rotate constantly, the difficulty in providing lubricating oil between the rotating parts by additionally arranging the hydraulic pipeline is increased, so that a person skilled in the art can only lubricate between the rotating parts by adopting a mode that the shell is sealed to cover all the parts and the lubricating oil with certain pressure is introduced into the shell.
In the present application, the stator core 40 is additionally arranged in the wave generator 30, and the stator core 40 keeps a non-rotating state when the wave generator 30 rotates, so that the first liquid supply channel 50 and the second liquid supply channel 60 are periodically communicated (the first liquid supply channel is communicated once when the wave generator 30 rotates once), and thus, the external oil pressure equipment periodically provides lubricating oil between the wave generator 30 and the flexible wheel 10.
In order to provide lubricating oil between the outer teeth 11 and the inner teeth 21, a third liquid supply channel 70 is arranged from the inner hole wall of the body to the outer wall of the flexible wheel 10, one end, located on the inner hole wall, of the third liquid supply channel 70 is an inlet end, one end, located on the outer wall of the body, of the third liquid supply channel is an outlet end, and the inlet end of the third liquid supply channel 70 corresponds to the outlet end of the second liquid supply channel 60 in the axial position of the valve core. In the present embodiment, the lubricating oil between the wave generator 30 and the flexible gear enters between the flexible gear 10 and the rigid gear 20 through the third liquid supply passage 70, thereby providing the lubricating oil for the meshing transmission of the external teeth 11 and the internal teeth 21. Preferably, the third liquid supply channel 70 passes through between the two external teeth 11.
In order to store a certain amount of lubricating oil between the wave generator 30 and the flexible wheel 10, the outer wall of the wave generator 30 is provided with criss-cross oil grooves 33, the oil grooves 33 pass through the outlet end of the second liquid supply channel 60, and the inlet of the third liquid supply channel 70 corresponds to the oil grooves 33 when at least part of the oil grooves 33 rotate in the wave generator 30, so that the lubricating oil in the oil grooves 33 can enter between the flexible wheel 10 and the rigid wheel 20 through the third channel. Thus, more lubricating oil enters the oil groove 33 through the first and second liquid supply passages 50, 60 and enters between the internal teeth 21 and the external teeth 11 through the oil groove 33 and the third liquid supply passage 70.
Preferably, both sides of the head of the stator core 40 are provided with thrust bearings 81 to reduce friction between the wave generator 30 and the stator core 40.
In order to prevent the return of the lubricating oil in each liquid supply channel, a check valve 41 is arranged in the first liquid supply channel 50, an inlet of the check valve 41 is communicated with an inlet end of the first liquid supply channel 50, and an outlet of the check valve 41 is communicated with an outlet end of the first liquid supply channel 50. In this way, the lubricating oil entering the first liquid supply passage 50 through the external oil pressure device does not flow back.
When the wave generator 30 rotates to switch the outlet end of the first liquid supply channel 50 and the inlet end of the second liquid supply channel 60 from opposite to staggered, the oil pressure of the two liquid supply channels is suddenly increased due to the cut-off of the two liquid supply channels (at this time, the check valve 41 is in an open state under the oil supply of external oil pressure equipment), and further impact is generated on the external oil pressure equipment, in order to reduce the impact on the external oil pressure equipment, a first arc-shaped recess 42 is formed at the outlet end of the first liquid supply channel 50, and a second arc-shaped recess 32 is formed at the inlet end of the second liquid supply channel 60. Thus, when the outlet end of the first liquid supply channel 50 is opposite to the inlet end of the second liquid supply channel 60, the first arc-shaped recess 42 and the second arc-shaped recess 32 enclose an oil chamber 80, lubricating oil enters the oil chamber 80 through the first liquid supply channel 50, and the lubricating oil in the oil chamber 80 has certain pressure to provide lubrication for all rotating parts; then, the wave generator 30 rotates to make the outlet end of the first liquid supply channel 50 and the inlet end of the second liquid supply channel 60 dislocate, in the process of dislocation, the first arc-shaped recess 42 and the second arc-shaped recess 32 forming the oil chamber 80 are correspondingly dislocated, and the first arc-shaped recess 42 and the second arc-shaped recess 32 have certain dislocation time, so that the rising speed of the pressure is buffered, the sudden pressure increase after the first liquid supply channel 50 and the second liquid supply channel 60 are completely cut off is avoided, and the impact on external oil pressure equipment is buffered.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.

Claims (5)

1. The utility model provides a pressure control harmonic speed reducer ware, includes compliant wheel, rigidity wheel and wave generator, the compliant wheel includes the body, the body is the tube-shape, the body has barrel head end and bobbin base end, be provided with on the outer wall of barrel head end be used for with the outer tooth of the internal toothing of rigidity wheel, the head of wave generator certainly the barrel head end of body stretches into to in the body, its characterized in that, wave generator is located the valve pocket has been seted up to inside in the body, and pressure control harmonic speed reducer ware still includes the stator core, the head of stator core is located in the valve pocket, wherein:
a first liquid supply channel is formed from the tail part of the stator core to the outer wall of the head part of the stator core, one end of the first liquid supply channel is positioned at the tail part of the stator core and is an inlet end of the first liquid supply channel, one end of the outer wall of the head part of the stator core is an outlet end of the first liquid supply channel, and external oil pressure equipment is connected with the inlet end of the first liquid supply channel;
a second liquid supply channel is arranged from the cavity wall of the valve cavity of the wave generator to the outer wall of the wave generator, one end of the liquid supply channel, which is positioned on the cavity wall of the valve cavity, is an inlet end, and one end, which is positioned on the outer wall of the wave generator, is an outlet end; the inlet end of the second liquid supply channel corresponds to the outlet end of the first liquid supply channel in the axial position of the valve core; wherein:
when the wave generator rotates, the stator core is kept in a non-rotating state in the wave generator, so that the outlet end of the first liquid supply channel is opposite to or dislocated with the inlet end of the second liquid supply channel.
2. The harmonic pressure-controlled reducer according to claim 1, wherein a third liquid supply passage is provided from the inner hole wall of the body to the outer wall of the compliant wheel, an inlet end of the third liquid supply passage is located at one end of the inner hole wall, an outlet end of the third liquid supply passage is located at one end of the outer wall of the body, and the inlet end of the third liquid supply passage corresponds to the outlet end of the second liquid supply passage in the axial direction of the spool.
3. The pressure controlled harmonic reducer of claim 2 wherein the third liquid supply passage extends between two of the external teeth.
4. The pressure controlled harmonic reducer of claim 1 wherein thrust bearings are mounted on both sides of the head of the stator core.
5. The pressure controlled harmonic reducer of claim 1 wherein a check valve is disposed within the first fluid supply passage, an inlet of the check valve communicating with an inlet end of the first fluid supply passage and an outlet of the check valve communicating with an outlet end of the first fluid supply passage.
CN201711417989.6A 2017-12-25 2017-12-25 Pressure control harmonic speed reducer Active CN108180272B (en)

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Application Number Priority Date Filing Date Title
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CN201711417989.6A CN108180272B (en) 2017-12-25 2017-12-25 Pressure control harmonic speed reducer

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CN108180272B true CN108180272B (en) 2020-05-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4198339A4 (en) * 2020-10-16 2023-11-22 Midea Group Co., Ltd. Harmonic gear device and actuator

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7490618B2 (en) * 2021-07-19 2024-05-27 美的集団股▲フン▼有限公司 Wave gear device and actuator
JP2023094974A (en) * 2021-12-24 2023-07-06 美的集団股▲フン▼有限公司 Wave motion gear device and joint device for robot

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Publication number Priority date Publication date Assignee Title
CN2033808U (en) * 1988-05-28 1989-03-08 上海电视一厂 Chain-driven harmonic decelerating electric drum
CN105864365A (en) * 2016-06-16 2016-08-17 南通慧幸智能科技有限公司 Self-lubricating harmonic reducer
CN106481763A (en) * 2015-08-27 2017-03-08 上银科技股份有限公司 Screw lubrication formula harmonic wave speed reducing machine
DE102016108876A1 (en) * 2016-05-13 2017-11-16 Robert Bosch Automotive Steering Gmbh Device for actuating an input member

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Publication number Priority date Publication date Assignee Title
JP6100850B2 (en) * 2015-08-28 2017-03-22 上銀科技股▲分▼有限公司 Spiral lubrication type wave gear device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2033808U (en) * 1988-05-28 1989-03-08 上海电视一厂 Chain-driven harmonic decelerating electric drum
CN106481763A (en) * 2015-08-27 2017-03-08 上银科技股份有限公司 Screw lubrication formula harmonic wave speed reducing machine
DE102016108876A1 (en) * 2016-05-13 2017-11-16 Robert Bosch Automotive Steering Gmbh Device for actuating an input member
CN105864365A (en) * 2016-06-16 2016-08-17 南通慧幸智能科技有限公司 Self-lubricating harmonic reducer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4198339A4 (en) * 2020-10-16 2023-11-22 Midea Group Co., Ltd. Harmonic gear device and actuator

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