CN108662114A - Harmonic wave speed reducing machine - Google Patents
Harmonic wave speed reducing machine Download PDFInfo
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- CN108662114A CN108662114A CN201810813437.5A CN201810813437A CN108662114A CN 108662114 A CN108662114 A CN 108662114A CN 201810813437 A CN201810813437 A CN 201810813437A CN 108662114 A CN108662114 A CN 108662114A
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- cam
- end plate
- speed reducing
- harmonic wave
- reducing machine
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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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Abstract
The invention discloses a kind of harmonic wave speed reducing machine, including wave producer and flexbile gear, wave producer is located on the inside of flexbile gear and coordinates with the interior wheel face of flexbile gear, and wave producer includes：There are the first position limiting convex ring and the second position limiting convex ring in one end of cam, cam along extending radially outwardly for cam, and the first position limiting convex ring, the surface of cam, the second position limiting convex ring, which surround, forms a limiting slot；Multiple first cylindrical rollers in limiting slot, limiting slot are used to limit every 1 first cylindrical roller and are moved along the axial of cam, and the outer peripheral edge of every 1 first cylindrical roller is flexibly connected with cam, flexbile gear respectively, and the first adjacent cylindrical roller is close to be arranged.The present invention not only reduces overall volume, axial dimension, amount of parts and the raw material of used making of harmonic wave speed reducing machine by the overall structure of setting harmonic wave speed reducing machine, and also adds the stability and accuracy of harmonic wave speed reducing machine work.
Description
Technical field
The present invention relates to a kind of harmonic wave speed reducing machines.
Background technology
Speed reducer is a kind of power transfer mechanism, the speed reduction gearing being commonly used between prime mover and working machine.Slow down
Machine utilize gear rate conversion function, the winding number of prime mover is decelerated to required winding number, and obtain compared with
Big torque.The type of speed reducer is various, and model is different, and the speed reducer of different model specification has different application fields, wherein humorous
Wave speed reducer is grown up as transmission principle to transmit movement and power using a kind of flexible deformation controllable using flexible member
A kind of Novel speed reducer, since it has many advantages, such as that transmission ratio is big, small, precision is high, large carrying capacity, harmonic wave speed reducing machine
It has been widely used in the fields such as robot, numerically-controlled machine tool, aerospace.
Existing harmonic wave speed reducing machine is as shown in Figure 1, include mainly 3 three big component of wave producer 1, flexbile gear 2 and firm gear, flexbile gear
2 be flexible thin-walled, and general annular in shape, cup-shaped or carnival hat shape, the outer wheel face of flexbile gear 2 and the interior wheel face of firm gear 3 are provided with mutual matching
The tooth of conjunction, the outer wheel face of flexbile gear 2 and the interior wheel face of firm gear 3 there are the teeth poor number of teeth of firm gear (number of teeth of general flexbile gear be less than), wave
Generator 1 and firm gear 3 are located at the inner side and outer side of flexbile gear 2, and wave producer 1 is elliptoid cam, and wave producer 1 is top
The flexbile gear 2 and firm gear 3 at position are at a fully engaged, and the flexbile gear 2 and firm gear 3 at 1 remaining position of wave producer are in half and engage or disengage
State flexbile gear 2 can be driven to generate periodic deformation when wave producer 1 rotates, keep the different parts of flexbile gear 2 periodical
Engaged with firm gear 3, it is poor since there are teeth between flexbile gear 2 and firm gear 3, flexbile gear 2 can opposite firm gear 3 rotate, reach
The purpose of deceleration.
As shown in Figure 1, wherein wave producer 1 includes cam 11 and flexible bearing 12, and cam 11 is ellipticity and is integrated
Formula, 12 inner ring of flexible bearing is set in the outside of cam 11, the outer ring of flexible bearing 12 and the fit inside of flexbile gear, when cam 11
Flexible bearing 12 can be driven to rotate when rotation and generate periodically deforming, the periodically deforming of flexible bearing 12 can drive soft
Wheel generates periodically deforming.Disadvantage is that flexible bearing 12 is easy due to continuous cyclic deformation during the work time
Failure damage causes inconvenient maintenance and maintenance cost larger to need replacing entire flexible bearing 12.
In addition, existing harmonic wave speed reducing machine, parts are more, and overall structure is not compact enough, do not only result in harmonic wave speed reducing machine
Volume is larger, increases and manufactures raw material, and also results in output and be not sufficiently stable, precisely, affects harmonic wave speed reducing machine work
Stability and accuracy.
Invention content
The technical problem to be solved by the present invention is in order to overcome in the prior art, flexible bearing is easy because during the work time
Continuous cyclic deformation and failure damage, to need replacing entire flexible bearing, cause inconvenient maintenance and maintenance cost compared with
Big defect provides a kind of harmonic wave speed reducing machine.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of harmonic wave speed reducing machine, including wave producer and flexbile gear, the wave producer be located on the inside of the flexbile gear and with institute
The interior wheel face cooperation of flexbile gear is stated, feature is that the wave producer includes：
There are the first position limiting convex ring and the second limit convex in one end of cam, the cam along extending radially outwardly for the cam
Ring, first position limiting convex ring and second position limiting convex ring are arranged along the axially spaced-apart of the cam, and first limit
Bulge loop and second position limiting convex ring are mutually parallel, first position limiting convex ring, the surface of the cam, second limit convex
Ring surrounds and forms a limiting slot；
Multiple first cylindrical rollers, multiple first cylindrical rollers are respectively positioned between the cam and the flexbile gear, and
It is respectively positioned in the limiting slot, one end of multiple first cylindrical rollers is resisted against first position limiting convex ring, the other end
It is resisted against second position limiting convex ring, the axis that the limiting slot is used to limit each first cylindrical roller along the cam
To movement, the outer peripheral edge of each first cylindrical roller is flexibly connected with the cam, the flexbile gear respectively, adjacent institute
The first cylindrical roller is stated to be close to be arranged.
In the technical scheme, by the way that the first cylindrical roller is arranged in the limiting slot of cam, instead of in the prior art
Flexible bearing, and the first cylindrical roller compared to the prior art in flexible bearing have that rigidity is larger, advantage of long lifespan；
In operation process, the first cylindrical roller, which acts on flexbile gear, makes its deformation generated more stablize, to improve harmonic reduction
The stability and accuracy of machine work；Meanwhile the structure of cylindrical roller is simple, easily manufactured, manufacturing cost is low.In addition, adjacent
The first cylindrical roller be close to be arranged, that is to say, that the first cylindrical roller be in the limiting slot of cam along cam circumferential direction it is full
Installing is set.
Preferably, the outer diameter of first position limiting convex ring and the difference of internal diameter are more than the radius of first cylindrical roller, and
Less than the diameter of first cylindrical roller；The outer diameter of second position limiting convex ring and the difference of internal diameter are rolled more than first cylinder
The radius of son, and less than the diameter of first cylindrical roller.
In the technical scheme, by the way that the outer diameter of the first position limiting convex ring and the difference of internal diameter and second position limiting convex ring is arranged
The difference of outer diameter and internal diameter can more stably limit the first cylindrical roller.
Preferably, the harmonic wave speed reducing machine further includes：
End plate is inputted, the input end plate is located at one end of the cam, and positioned at the outside of the cam；
End plate is exported, the output end plate is located at the one end of the cam far from the input end plate；
Cross roller bearing, the cross roller bearing include inner ring, outer ring and are located in the inner ring
Multiple second cylindrical rollers between the outer ring, adjacent two second cylindrical rollers are in cross-shaped and 90 °
Angle arranges that the inner ring is located at the outside of the flexbile gear, and the outer wheel face of the flexbile gear and the interior wheel face of the inner ring are provided with
Intermeshing tooth, the number of teeth of the flexbile gear is less than the number of teeth of the inner ring, and the inner ring is connect with the output end plate, institute
Outer ring is stated to connect with the flexbile gear；
Wherein, central axis, the cross roller axis of the central axis of the input end plate, the output end plate
Central axis of the central axis of the outer ring of the central axis of the inner ring held, the cross roller bearing with the cam
It overlaps.
In the technical scheme, it is set by the way that the interior wheel face of the outer wheel face of flexbile gear and the inner ring of cross roller bearing is arranged
Be equipped with intermeshing tooth, and the outer ring that cross roller bearing is arranged is connect with flexbile gear, cross roller bearing with
Inner ring is connect with output end plate, is greatly optimized the overall structure of harmonic wave speed reducing machine, is kept the structure of harmonic wave speed reducing machine compacter,
Not only reduce volume, axial dimension, amount of parts and the raw material of used making of harmonic wave speed reducing machine.
Preferably, the harmonic wave speed reducing machine further includes：
First spring bearing, first spring bearing are located between the cam and the input end plate, the cam
Position corresponding with first spring bearing is equipped with the first limit protrusion, the input end plate and first spring bearing
Corresponding position is equipped with the second limit protrusion, and first limit protrusion coordinates with second limit protrusion for limiting
The first spring bearing is stated to move along the axial of the cam；
Second spring bearing, second spring bearing are located between the cam and the output end plate, the cam
Position corresponding with second spring bearing is equipped with third limit protrusion, the output end plate and second spring bearing
Corresponding position is equipped with the 4th limit protrusion, and the third limit protrusion coordinates with the 4th limit protrusion for limiting
The second spring bearing is stated to move along the axial of the cam；
Wherein, first spring bearing is oppositely arranged with second spring bearing, and first spring bearing
The central axis of central axis and second spring bearing is overlapped with the central axis of the cam.
In the technical scheme, by being arranged the first spring bearing and the second spring bearing simultaneously, the first spring bearing and
The cooperation of second spring bearing plays good supporting role to cam, and in assembling process, can to the first spring bearing with
Second spring bearing apply axial pre tightening force, increase the rigidity of cam, to increase cam input motion stability,
Accuracy, and then the output campaign of harmonic wave speed reducing machine is made more to stablize, precisely.
Preferably, first spring bearing and second spring bearing are deep groove ball bearing；Or, described first
It is angular contact bearing that bearing, which is supportted, with second spring bearing.
Preferably, the harmonic wave speed reducing machine further includes：
Multiple first balls, multiple first balls are respectively positioned between the cam and the input end plate, and along institute
The outer peripheral edge interval setting of cam is stated, multiple first balls are respectively positioned in same plane, and the cam is rolled with described first
The corresponding position of pearl is equipped with the first curved portion, input end plate position corresponding with first ball is equipped with the second arc
Shape portion, first curved portion and second curved portion around being formed with the first raceway, the shape for having the first raceway with
Size and the shape of the outer peripheral edge of first ball match with size, and multiple first balls are respectively positioned on first rolling
In road, first raceway is used to limit first ball and is moved along the axial of the cam；
Multiple second balls, multiple second balls are respectively positioned between the cam and the output end plate, and along institute
The outer peripheral edge interval setting of cam is stated, multiple second balls are respectively positioned in same plane, and the cam is rolled with described second
The corresponding position of pearl is equipped with third curved portion, output end plate position corresponding with second ball is equipped with the 4th arc
Shape portion, the third curved portion and the 4th curved portion around being formed with the second raceway, the shape for having the second raceway with
Size and the shape of the outer peripheral edge of second ball match with size, and multiple second balls are respectively positioned on second rolling
In road, second raceway is used to limit second ball and is moved along the axial of the cam；
Wherein, first ball is oppositely arranged with second ball.
In the technical scheme, by the way that the first ball and the second ball, the first ball and the second ball engagement are arranged simultaneously
Good supporting role is played to cam, and in assembling process, axial pretightening can be applied to the first ball and the second ball
Power increases the rigidity of cam, to increase the stability of input motion, the accuracy of cam, and then makes harmonic wave speed reducing machine
Output campaign more stablize, precisely.
Preferably, there is connection in the one end of the flexbile gear far from the output end plate along extending radially outwardly for the flexbile gear
Portion, the connecting portion is between the outer ring of the cross roller bearing and the input end plate, and the first fixing piece will
The input end plate, the interconnecting piece of the flexbile gear, the outer ring are fixed together.
Preferably, the harmonic wave speed reducing machine further includes the second fixing piece, second fixing piece is fixedly connected with the output
The inner ring of end plate and the cross roller bearing.
Preferably, the centerline axis parallel of each first cylindrical roller is in the central axis of the cam.
In the technical scheme, made in the central axis of cam by the centerline axis parallel of the first cylindrical roller of setting
First cylindrical roller fits in the interior wheel face of flexbile gear completely, and the input motion of cam is preferably transmitted to the defeated of harmonic wave speed reducing machine
Go out movement.
The positive effect of the present invention is that：
The present invention not only reduces overall volume, the axis of harmonic wave speed reducing machine by the overall structure of setting harmonic wave speed reducing machine
To the raw material of size, amount of parts and used making, and also add the stability and essence of harmonic wave speed reducing machine work
Parasexuality.
Description of the drawings
Fig. 1 is the cross-sectional view of the harmonic wave speed reducing machine of the prior art.
Fig. 2 is the cross-sectional view of the harmonic wave speed reducing machine of the embodiment of the present invention 1.
Fig. 3 is the structural schematic diagram in the directions A in Fig. 2.
Fig. 4 is part partial enlarged view in Fig. 3.
Fig. 5 is the cross-sectional view of the harmonic wave speed reducing machine of the embodiment of the present invention 2.
Reference sign in Fig. 1
Wave producer 1
Flexbile gear 2
Firm gear 3
Cam 11
Flexible bearing 12
Reference sign in Fig. 2-Fig. 5
Wave producer 20
Cam 21
First position limiting convex ring 211
Second position limiting convex ring 212
Limiting slot 213
First limit protrusion 214
Third limit protrusion 215
First curved portion 216
Third curved portion 217
First cylindrical roller 22
Flexbile gear 30
The interior wheel face 31 of flexbile gear
The outer wheel face 32 of flexbile gear
Interconnecting piece 33
Input end plate 40
Second limit protrusion 41
Second curved portion 42
Export end plate 50
4th limit protrusion 51
4th curved portion 52
Cross roller bearing 60
Inner ring 61
Outer ring 62
Second cylindrical roller 63
First spring bearing 71
Second spring bearing 72
First fixing piece 81
Second fixing piece 82
First ball 73
Second ball 74
The central axis L of cam
The outer diameter of first position limiting convex ring and the difference R1 of internal diameter
The outer diameter of second position limiting convex ring and the difference R2 of internal diameter
Specific implementation mode
The embodiment for further illustrating the present invention, but therefore not limiting the present invention to below by the mode of embodiment
Among range.
Embodiment 1
Understood incorporated by reference to Fig. 2 to Fig. 4, the implementation case provides a kind of harmonic wave speed reducing machine, including wave producer 20, soft
Wheel 30, input end plate 40, output end plate 50 and cross roller bearing 60.
Wave producer 20 is located at 30 inside of flexbile gear and coordinates with the interior wheel face 31 of flexbile gear.Wave producer 20 includes：Cam 21
With 22 the first cylindrical rollers 22.
There are the first position limiting convex ring 211 and the second position limiting convex ring 212 in one end of cam 21 along extending radially outwardly for cam 21,
First position limiting convex ring 211 and the second position limiting convex ring 212 are arranged along the axially spaced-apart of cam 21, and the first position limiting convex ring 211 and the
Two position limiting convex rings 212 are mutually parallel, and the first position limiting convex ring 211, the surface of cam 21, the second position limiting convex ring 212 are around formation one
Limiting slot 213.In figure 3, for the second position limiting convex ring 212 of clearer displaying, the second limit convex is represented by dashed line in figure
The junction of ring 212 and cam 21, and the practical dotted line and be not present.First position limiting convex ring 211 and the second position limiting convex ring 212 are
It is shaped in cam 21, makes its integrated model more stable in this way, specifically more preferably intensity.
Two ten two the first cylindrical rollers 22 are respectively positioned between cam 21 and flexbile gear 30, and are respectively positioned in limiting slot 213,20
One end of 2 first cylindrical rollers 22 is resisted against the first position limiting convex ring 211, and the other end is resisted against the second position limiting convex ring 212,
Limiting slot 213 is used to limit every 1 first cylindrical roller 22 and is moved along the axial of cam 21, every 1 first cylindrical roller 22
Outer peripheral edge is flexibly connected with cam 21, flexbile gear 30 respectively, and the first adjacent cylindrical roller 22 is close to be arranged.
In this way, by the way that the first cylindrical roller 22 is arranged in the limiting slot 213 of cam 21, instead of in the prior art soft
Property bearing, and the first cylindrical roller 22 compared to the prior art in flexible bearing have that rigidity is larger, advantage of long lifespan, from
And reduce the abrasion of cam 21；In operation process, the first cylindrical roller 22, which acts on flexbile gear 30, makes the deformation of its generation more
Add stabilization, to improve the stability and accuracy of harmonic wave speed reducing machine work；Meanwhile first cylindrical roller 22 structure letter
Single, easily manufactured, manufacturing cost is low.In addition, the first adjacent cylindrical roller 22 is close to be arranged, that is to say, that the first cylinder rolls
Son 22 is set along the full installing of circumferential direction of cam 21 in the limiting slot 213 of cam 21.In other embodiments, the first cylindrical roller
22 quantity can also be other quantity according to design requirement, but have to meet and be set along the full installing of the circumferential direction of cam 21.
The centerline axis parallel of every 1 first cylindrical roller 22 is in the central axis L of cam.In this way, passing through the first circle of setting
The centerline axis parallel of column roller 22 makes the first cylindrical roller 22 fit in the lubrication groove of flexbile gear completely in the central axis L of cam
The input motion of cam 21 is preferably transmitted to the output campaign of harmonic wave speed reducing machine by face 31.
The outer diameter of first position limiting convex ring and the difference R1 of internal diameter are more than the radius of the first cylindrical roller 22, and are less than the first cylinder
The diameter of roller 22；The outer diameter of second position limiting convex ring and the difference R2 of internal diameter are more than the radius of the first cylindrical roller 22, and less than the
The diameter of one cylindrical roller 22.In this way, the difference R1 and the second limit convex of the outer diameter and internal diameter by the way that the first position limiting convex ring is arranged
The outer diameter of ring and the difference R2 of internal diameter can more stably limit the first cylindrical roller 22.
Input end plate 40 is located at one end of cam 21, and positioned at the outside of cam 21；It is remote that output end plate 50 is located at cam 21
One end from input end plate 40.
Cross roller bearing 60 includes inner ring 61, outer ring 62 and is located in multiple between inner ring 61 and outer ring 62
Second cylindrical roller 63, in cross-shaped and 90 ° of angle arrangements, inner ring 61 is located at soft adjacent two the second cylindrical rollers 63
The outside of wheel 30, the outer wheel face 32 of flexbile gear and the interior wheel face of inner ring 61 are provided with intermeshing tooth, and the number of teeth of flexbile gear 30 is less than
The number of teeth of inner ring 61, and inner ring 61 is connect with output end plate 50, outer ring 62 is connect with flexbile gear 30.In this way, by the way that flexbile gear is arranged
The interior wheel face of the inner ring 61 of outer wheel face 32 and cross roller bearing 60 is provided with intermeshing tooth, and right-angled intersection is arranged
The outer ring 62 of roller bearing 60 is connect with flexbile gear 30, and cross roller bearing 60 is connect with inner ring 61 with output end plate 50,
The overall structure for greatly optimizing harmonic wave speed reducing machine keeps the structure of harmonic wave speed reducing machine compacter, not only reduces harmonic reduction
Volume, axial dimension, amount of parts and the raw material of used making of machine.In the harmonic wave speed reducing machine course of work, flexbile gear
30 do not rotate, flexbile gear 30 by with the fixation of the outer ring 62 of cross roller bearing 60, cross roller bearing 60
Play the role of support and positioning to flexbile gear 30 in outer ring 62.In figure 3, in order to preferably show cross roller bearing
60, the mutual cooperation structure of flexbile gear 30, the first cylindrical roller 22 removes the output end plate 50 of top half；Equally in Fig. 4
In, output end plate 50 is had also been removed, more preferably to show cross roller bearing 60, flexbile gear 30, first cylindrical roller 22
Mutual cooperation structure.
Input the inner ring 61 of the central axis of end plate 40, the central axis for exporting end plate 50, cross roller bearing 60
Central axis, cross roller bearing 60 the central axis of outer ring 62 overlapped with the central axis L of cam.In this way,
Make stability, the accuracy of the input motion for the cam 21 for increasing harmonic wave speed reducing machine, and then the output of harmonic wave speed reducing machine is made to transport
It is dynamic more to stablize, precisely.
In the present embodiment, harmonic wave speed reducing machine further includes：First spring bearing 71 and the second spring bearing 72.
First spring bearing 71 is located between cam 21 and input end plate 40, and cam 21 is corresponding with the first spring bearing 71
Position be equipped with the first limit protrusion 214, input end plate 40 position corresponding with the first spring bearing 71 is equipped with second and limits
Protrusion 41, the axis of the first limit protrusion 214 and the cooperation of the second limit protrusion 41 for limiting the first spring bearing 71 along cam 21
To movement.
Second spring bearing 72, the second spring bearing 72 are located between cam 21 and output end plate 50, cam 21 and second
It is corresponding with the second spring bearing 72 that 72 corresponding position of spring bearing is equipped with third limit protrusion 215, output end plate 50
Position is equipped with the 4th limit protrusion 51, and third limit protrusion 215 and the cooperation of the 4th limit protrusion 51 are for limiting the second support shaft
72 are held to move along the axial of cam 21.
Wherein, the first spring bearing 71 is oppositely arranged with the second spring bearing 72, and the central shaft of the first spring bearing 71
The central axis of line and the second spring bearing 72 is overlapped with the central axis L of cam.
In this way, by the way that the first spring bearing 71 and the second spring bearing 72, the first spring bearing 71 and second are arranged simultaneously
The cooperation of spring bearing 72 plays good supporting role to cam 21, and in assembling process, can be to the first spring bearing 71
Apply axial pre tightening force with the second spring bearing 72, the rigidity of cam 21 is increased, to increase the input motion of cam 21
Stability, accuracy, and then so that the output campaign of harmonic wave speed reducing machine is more stablized, precisely.
72 equal deep groove ball bearing of first spring bearing 71 and the second spring bearing；Or, the first spring bearing 71 and second
It is angular contact bearing to support bearing 72.Further, the first spring bearing 71 and the second spring bearing 72 are pairs of integral type angle
Contact bearing, i.e. the one-piece corner connection contact bearing without individual bearing internal external ring.
In the present embodiment, there is interconnecting piece in the one end of flexbile gear 30 far from output end plate 50 along extending radially outwardly for flexbile gear 30
33, interconnecting piece 33 is located between the outer ring 62 of cross roller bearing 60 and input end plate 40, and the first fixing piece 81 will be defeated
Enter end plate 40, the interconnecting piece 33 of flexbile gear 30, outer ring 62 are fixed together.
Harmonic wave speed reducing machine further includes the second fixing piece 82, and the second fixing piece 82 is fixedly connected with output end plate 50 and right-angled intersection
The inner ring 61 of roller bearing 60.In the present embodiment, the first fixing piece 81 and the second fixing piece 82 are soket head cap screw.At it
In his embodiment, the first fixing piece 81 and the second fixing piece 82 may be other fixed components.
In use, power is inputted harmonic wave speed reducing machine in the present embodiment by the cam 21 of wave producer 20, by with
The output end plate 50 that the inner ring 61 of cross roller bearing 60 is fastenedly connected exports, cam 21 and the output of wave producer 20
50 direction of rotation of end plate is identical.Its in the specific use process, by wave producer 20 cam 21 with completely be loaded on cam 21 limit
The wave producer 20 that cylindrical roller in the slot 213 of position is constituted, is packed into the interior wheel face 31 of flexbile gear, and wave producer 20 forces the outer of flexbile gear
The gear ring section of wheel face 32 becomes class elliptical shape by original circle.Tooth near its long axis both ends of the flexbile gear 30 of this structure
It is at a fully engaged with the tooth on the interior wheel face of the inner ring 61 of cross roller bearing 60, and the tooth near its short axle both ends of flexbile gear 30
It is completely disengaged with the tooth on the interior wheel face of the inner ring 61 of cross roller bearing 60, remaining section on 30 perimeter of flexbile gear
The transition state that tooth is in engagement or is detached from.When wave producer 20 carries out continuous rotation, the deformation of flexbile gear 30 constantly changes, and makes
Flexbile gear 30 and the meshing state of the tooth on the inner ring 61 of cross roller bearing 60 constantly change, specifically by it is engaging-in, engage, nibble
Go out, disengage, engaging-in cycle again, going on again and again in this way, to realize 60 inner ring of cross roller bearing, 61 edge
The slow rotation of 21 same direction of cam of wave producer 20, to realize the retarded motion of output end plate 50.
The harmonic wave speed reducing machine of the present invention reduces the axial dimension and body of harmonic wave speed reducing machine by optimizing overall structure
Product, reduces the number of parts of harmonic wave speed reducing machine so that harmonic wave speed reducing machine transmits movement and more stablizes, precisely, increases harmonic wave
The stability and accuracy of speed reducer work；The present invention harmonic speed reducer light weight, rigidity and intensity it is big.
Embodiment 2
As shown in figure 5, the overall structure of the harmonic wave speed reducing machine of the present embodiment is basic identical with the structure in embodiment 1,
Different places are that harmonic wave speed reducing machine does not include including the first spring bearing 71 and the second spring bearing 72：At least two
First ball 73 and at least two second balls 74.The quantity of first ball 73 and the second ball 74 can be two, three, four
A or other numerical value.The quantity of the first ball 73 and the second ball 74 is four in the present embodiment.
Four the first balls 73 are respectively positioned between cam 21 and input end plate 40, and are set along the outer peripheral edge interval of cam 21
It sets, four the first balls 73 are respectively positioned in same plane, and the position corresponding with the first ball 73 of cam 21 is equipped with the first arc
Portion 216, input end plate 40 position corresponding with the first ball 73 are equipped with the second curved portion 42, the first curved portion 216 and second
Curved portion 42 around being formed with the first raceway, have the shape of the shape of the first raceway and size and the outer peripheral edge of the first ball 73 with
Size matches, and four the first balls 73 are respectively positioned in the first raceway, and the first raceway is for limiting the first ball 73 along cam 21
Axial movement.
Four the second balls 74 are respectively positioned between cam 21 and output end plate 50, and are set along the outer peripheral edge interval of cam 21
It sets, four the second balls 74 are respectively positioned in same plane, and the position corresponding with the second ball 74 of cam 21 is equipped with third arc
Portion 217, output end plate 50 position corresponding with the second ball 74 are equipped with the 4th curved portion 52, third curved portion 217 and the 4th
Curved portion 52 around being formed with the second raceway, have the shape of the shape of the second raceway and size and the outer peripheral edge of the second ball 74 with
Size matches, and four the second balls 74 are respectively positioned in the second raceway, and the second raceway is for limiting the second ball 74 along cam 21
Axial movement.Wherein, the first ball 73 is oppositely arranged with the second ball 74.
In this way, by the way that the first ball 73 and the second ball 74, the first ball 73 and the cooperation pair of the second ball 74 are arranged simultaneously
Cam 21 plays good supporting role, and in assembling process, can apply axial direction to the first ball 73 and the second ball 74
Pretightning force increases the rigidity of cam 21, to increase the stability of input motion, the accuracy of cam 21, and then makes humorous
The output campaign of wave speed reducer is more stablized, precisely.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (9)
1. a kind of harmonic wave speed reducing machine, including wave producer and flexbile gear, the wave producer be located on the inside of the flexbile gear and with it is described
The interior wheel face of flexbile gear coordinates, which is characterized in that the wave producer includes：
There are the first position limiting convex ring and the second position limiting convex ring in one end of cam, the cam along extending radially outwardly for the cam,
First position limiting convex ring and second position limiting convex ring are arranged along the axially spaced-apart of the cam, and first position limiting convex ring
It is mutually parallel with second position limiting convex ring, first position limiting convex ring, the surface of the cam, the second limit convex collar
Around forming a limiting slot；
Multiple first cylindrical rollers, multiple first cylindrical rollers are respectively positioned between the cam and the flexbile gear, and equal position
In the limiting slot, one end of multiple first cylindrical rollers is resisted against first position limiting convex ring, and the other end supports
It is against second position limiting convex ring, the limiting slot is used to limit each first cylindrical roller along the axial of the cam
Mobile, the outer peripheral edge of each first cylindrical roller is flexibly connected with the cam, the flexbile gear respectively, and adjacent described the
One cylindrical roller is close to be arranged.
2. harmonic wave speed reducing machine as described in claim 1, which is characterized in that the difference of the outer diameter and internal diameter of first position limiting convex ring
More than the radius of first cylindrical roller, and less than the diameter of first cylindrical roller；Outside second position limiting convex ring
The difference of diameter and internal diameter is more than the radius of first cylindrical roller, and less than the diameter of first cylindrical roller.
3. harmonic wave speed reducing machine as described in claim 1, which is characterized in that the harmonic wave speed reducing machine further includes：
End plate is inputted, the input end plate is located at one end of the cam, and positioned at the outside of the cam；
End plate is exported, the output end plate is located at the one end of the cam far from the input end plate；
Cross roller bearing, the cross roller bearing include inner ring, outer ring and are located in the inner ring and institute
Multiple second cylindrical rollers between outer ring are stated, adjacent two second cylindrical rollers are in cross-shaped and 90 ° of angles
Arrangement, the inner ring are located at the outside of the flexbile gear, and the outer wheel face of the flexbile gear and the interior wheel face of the inner ring are provided with mutually
The tooth of engagement, the number of teeth of the flexbile gear is less than the number of teeth of the inner ring, and the inner ring is connect with the output end plate, described outer
Circle is connect with the flexbile gear；
Wherein, the central axis of the input end plate, the output central axis of end plate, the cross roller bearing
The central axis of the outer ring of the central axis of inner ring, the cross roller bearing with the central axis weight of the cam
It closes.
4. harmonic wave speed reducing machine as claimed in claim 3, which is characterized in that the harmonic wave speed reducing machine further includes：
First spring bearing, first spring bearing are located between the cam and the input end plate, the cam and institute
It is opposite with first spring bearing equipped with the first limit protrusion, the input end plate to state the corresponding position of the first spring bearing
The position answered is equipped with the second limit protrusion, and first limit protrusion and second limit protrusion coordinate for limiting described the
One spring bearing is moved along the axial of the cam；
Second spring bearing, second spring bearing are located between the cam and the output end plate, the cam and institute
It is opposite with second spring bearing equipped with third limit protrusion, the output end plate to state the corresponding position of the second spring bearing
The position answered is equipped with the 4th limit protrusion, and the third limit protrusion and the 4th limit protrusion coordinate for limiting described the
Two spring bearings are moved along the axial of the cam；
Wherein, first spring bearing is oppositely arranged with second spring bearing, and the center of first spring bearing
The central axis of axis and second spring bearing is overlapped with the central axis of the cam.
5. harmonic wave speed reducing machine as claimed in claim 4, which is characterized in that first spring bearing and second support shaft
It is deep groove ball bearing to hold；Or, first spring bearing and second spring bearing are angular contact bearing.
6. harmonic wave speed reducing machine as claimed in claim 3, which is characterized in that the harmonic wave speed reducing machine further includes：
Multiple first balls, multiple first balls are respectively positioned between the cam and the input end plate, and along described convex
The outer peripheral edge interval of wheel is arranged, and multiple first balls are respectively positioned in same plane, the cam and the first ball phase
Corresponding position is equipped with the first curved portion, input end plate position corresponding with first ball is equipped with the second arc
Portion, first curved portion surround with second curved portion and are formed with the first raceway, the shape and ruler for having the first raceway
The very little shape with the outer peripheral edge of first ball matches with size, and multiple first balls are respectively positioned on first raceway
Interior, first raceway is used to limit first ball and is moved along the axial of the cam；
Multiple second balls, multiple second balls are respectively positioned between the cam and the output end plate, and along described convex
The outer peripheral edge interval of wheel is arranged, and multiple second balls are respectively positioned in same plane, the cam and the second ball phase
Corresponding position is equipped with third curved portion, output end plate position corresponding with second ball is equipped with the 4th arc
Portion, the third curved portion surround with the 4th curved portion and are formed with the second raceway, the shape and ruler for having the second raceway
The very little shape with the outer peripheral edge of second ball matches with size, and multiple second balls are respectively positioned on second raceway
Interior, second raceway is used to limit second ball and is moved along the axial of the cam；
Wherein, first ball is oppositely arranged with second ball.
7. harmonic wave speed reducing machine as claimed in claim 3, which is characterized in that one end edge of the flexbile gear far from the output end plate
Extending radially outwardly for the flexbile gear has interconnecting piece, the connecting portion in the outer ring of the cross roller bearing with it is described
It inputs between end plate, and the input end plate, the interconnecting piece of the flexbile gear, the outer ring are fixedly connected on one by the first fixing piece
It rises.
8. harmonic wave speed reducing machine as claimed in claim 3, which is characterized in that the harmonic wave speed reducing machine further includes the second fixing piece,
Second fixing piece is fixedly connected with the inner ring of the output end plate and the cross roller bearing.
9. the harmonic wave speed reducing machine as described in any one of claim 1-8, which is characterized in that each first cylindrical roller
Centerline axis parallel in the central axis of the cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810813437.5A CN108662114A (en) | 2018-07-23 | 2018-07-23 | Harmonic wave speed reducing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810813437.5A CN108662114A (en) | 2018-07-23 | 2018-07-23 | Harmonic wave speed reducing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108662114A true CN108662114A (en) | 2018-10-16 |
Family
ID=63788567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810813437.5A Pending CN108662114A (en) | 2018-07-23 | 2018-07-23 | Harmonic wave speed reducing machine |
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| Country | Link |
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| CN (1) | CN108662114A (en) |
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| CN109667909A (en) * | 2018-12-06 | 2019-04-23 | 江苏科技大学 | A kind of short cylinder harmonic speed reducer with clearance compensation function |
| CN111536217A (en) * | 2020-05-06 | 2020-08-14 | 北京国华恒源科技开发有限公司 | Harmonic reducer with adjustable input shaft angle |
| CN113062959A (en) * | 2019-12-31 | 2021-07-02 | 杭州新剑机器人技术股份有限公司 | Harmonic reducer assembly assembling method |
| CN113623366A (en) * | 2021-08-16 | 2021-11-09 | 浙江环动机器人关节科技有限公司 | Primary-secondary type multistage harmonic speed reducer |
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| CN105276019A (en) * | 2014-05-27 | 2016-01-27 | 哈米尔顿森德斯特兰德公司 | Harmonic drive assembly with selective disconnect and reconnect |
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| CN109667909A (en) * | 2018-12-06 | 2019-04-23 | 江苏科技大学 | A kind of short cylinder harmonic speed reducer with clearance compensation function |
| CN113062959A (en) * | 2019-12-31 | 2021-07-02 | 杭州新剑机器人技术股份有限公司 | Harmonic reducer assembly assembling method |
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| CN113623366A (en) * | 2021-08-16 | 2021-11-09 | 浙江环动机器人关节科技有限公司 | Primary-secondary type multistage harmonic speed reducer |
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