CN108679190B - Novel flexible compensation type gear robot speed reducer - Google Patents
Novel flexible compensation type gear robot speed reducer Download PDFInfo
- Publication number
- CN108679190B CN108679190B CN201810576535.1A CN201810576535A CN108679190B CN 108679190 B CN108679190 B CN 108679190B CN 201810576535 A CN201810576535 A CN 201810576535A CN 108679190 B CN108679190 B CN 108679190B
- Authority
- CN
- China
- Prior art keywords
- gear
- involute
- reducer
- flexible
- pin
- 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.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 56
- 239000000463 material Substances 0.000 claims description 13
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 33
- 238000000034 method Methods 0.000 abstract description 16
- 230000008569 process Effects 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 7
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000013598 vector Substances 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0806—Involute profile
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
-
- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H2055/176—Ring gears with inner teeth
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention aims to provide a device capable of compensating errors generated in the manufacturing, mounting and working processes, reducing return difference and compensating errors caused by factors such as abrasion. Namely a novel flexible compensation gear robot reducer. The speed reducer increases the number of meshing teeth and improves the transmission precision. The flexible pin gear housing becomes elliptical under the action of the outer involute gear, i.e., stretches along the centerline of the outer involute gear to lengthen, narrows in the vertical direction, and narrows gradually from the center along the long diameter direction, with the shortest at both ends of the long diameter. Therefore, the gears which cannot be meshed when the pin gear housing is not deformed can be meshed after the pin gear housing is deformed and narrowed, so that the meshing number of the reducer is increased, and the transmission precision is improved.
Description
Technical Field
The invention relates to the field of speed reducers, which compensates errors such as return difference generated in the rotation process of an RV speed reducer and abrasion generated in the operation process by increasing the eccentricity of a crankshaft, selecting materials with smaller elastic coefficients, designing the structure of a pin gear shell into a net structure and the like.
Background
RV speed reducer is widely used in electromechanical transmission represented by industrial robots due to the characteristics of compact structure, large reduction ratio, good rigidity and the like, and is a high-precision speed reduction transmission device. The RV reducer is actually a two-stage reduction transmission mechanism formed by combining an involute planetary transmission mechanism and a cycloidal pin gear planetary transmission mechanism, an output shaft of the RV reducer is a low-speed shaft, and an output mechanism (i.e. a planet carrier) is pushed by three pairs of crankshaft support bearings arranged on the output mechanism to transfer rotation vectors on cycloidal gears out at a speed ratio of 1:1. The transmission error generated in the whole transmission process can be directly reflected on the output shaft, so the transmission precision of the cycloidal pin gear is a key factor for determining the precision of the RV reducer.
At present, aiming at improving the performance of the RV reducer transmission system, the transmission precision is mainly improved through the modification of a cycloid gear, in theory, the transmission between the cycloid pin gear tooth profile of a standard gear and the pin gear teeth belongs to gapless meshing, but due to the fact that errors such as manufacturing and installation cannot be compensated, a plurality of problems can be generated in the transmission process; therefore, errors generated in the manufacturing and mounting processes are compensated by the method of shaping in the processing process of the cycloidal gears at home and abroad, and reasonable radial backlash is ensured, but return difference can be generated in the transmission process, and the transmission precision is seriously affected. The technical problems of tooth profile modification, manufacturing precision control, process parameter optimization, technical index pre-control and the like are successfully solved at home and abroad, the series of technology is used as a secret core technology, the theory and experimental research of the technology cannot be used as a reference, the development of RV reducers in China is severely restricted, and the import of the reducers in domestic robots is mostly restricted.
Disclosure of Invention
The invention aims to provide a device capable of compensating errors generated in the manufacturing, mounting and working processes, reducing return difference and compensating errors caused by factors such as abrasion.
The technical scheme adopted for realizing the purpose of the invention is that the novel flexible compensation type gear robot speed reducer consists of a front stage and a rear stage of a planetary gear speed reducer.
The cycloidal pin gear speed reducer is characterized in that in the rear-stage assembly structure, the pin gear shell of the rear stage of the cycloidal pin gear speed reducer of the existing RV speed reducer is replaced by a flexible pin gear shell, the cycloidal gear is replaced by an involute gear, and the eccentric distance of a crank shaft is increased.
The inner ring of the flexible needle gear housing is provided with a circular flange. The annular flange is provided with a plurality of meshes to form an annular net structure of the inner ring of the needle gear housing. The mesh structure has elasticity. The annular flange has inner involute gear teeth on a circumference facing the center of the flexible pin housing.
The involute gear has outer involute gear teeth that mesh with inner involute gear teeth.
The eccentricity of the crank shaft is increased so that the installation of the inner involute gear teeth and the outer involute gear teeth is interfered, and the flexible pin gear shell is extruded to be elliptical.
Further, the flexible needle gear shell is made of a composite material and can be divided into an inner layer and an outer layer. The inner layer includes an annular flange portion.
Further, the inner layer material is selected from 20CrMnTi or 30CrMnSi materials. The outer layer material is selected from 65Mn spring steel.
Further, the involute gear is a modified involute gear, and the change range of the modified coefficient is-0.2 mm to +0.5mm.
Further, the eccentricity of the crankshaft is increased relative to the eccentricity of a standard crankshaft in the RV reducer, the range of the eccentricity is 0.05-0.2 mm, the eccentricity is flexibly selected according to the specification of the reducer,
Further, the crank shaft eccentricity is L1. The eccentricity of the standard crankshaft in the RV retarder is L2.
The novel flexible compensation type gear robot speed reducer is not changed at the involute planetary gear transmission part, so the description is omitted, and the working principle and the working process of the compensation return difference of the novel flexible compensation type gear robot speed reducer are as follows:
The working principle of the compensation return difference of the novel flexible compensation type gear robot speed reducer is as follows: firstly, the difference of the structure determines the difference between a novel flexible compensation robot reducer and a traditional RV reducer, the eccentric distance of a crank shaft of the novel flexible compensation robot reducer is increased by 0.1mm, the pin gear housing deforms when being installed through the cooperation with a flexible pin gear housing, the pin gear housing is deformed from a round shape to an oval shape, at the moment, because the pin gear housing deforms, elastic force exists on the pin gear housing in the running process of the reducer, and the intersecting line direction of a plane formed by the central lines of two outer involute gears meshed with the pin gear housing and the tooth surface of the outer involute gear is the direction of the long diameter of the pin gear housing after the deformation, namely the direction of the elastic force; and secondly, because the eccentric directions of the two eccentric shaft parts of the crank shaft are symmetrical along the axis and form an included angle of 180 degrees, the two external involute gears and the axis of the crank shaft are positioned on the same plane, the long diameter of the needle gear shell moves along with the movement of the two external involute gears in the movement process of the speed reducer, the rotation direction is the same as the rotation direction of the crank shaft, the elastic force can rotate along with the rotation of the long diameter of the needle gear shell, the elastic force is always the same as the direction of the long diameter, and the pressure exists on the two external involute gears in the long diameter direction of the needle gear shell all the time.
The working process of the novel flexible compensation type gear robot speed reducer is as follows: the RV speed reducer firstly carries out first-stage transmission, namely involute planetary gear transmission, wherein the shaft where a sun gear is positioned is used as an input shaft, and the shaft where a planetary gear is positioned is used as an output shaft (namely a crank shaft); the second stage transmission is entered, the input shaft at this moment is a crank shaft, an external involute gear is arranged at the eccentric part of the crank shaft through a rolling bearing, when the crank shaft continuously moves along a certain direction, the external involute gear always has certain pressure on the pin gear shell, at this moment, the length of the long diameter of the pin gear shell is unchanged theoretically, and at this moment, the transmission precision of the novel flexible compensation type gear robot reducer is the same as that of the traditional RV reducer; when the direction change is needed, the common RV reducer can generate return difference, so that the transmission precision is affected, and the hypocycloidal gear and the pin gear housing are in a non-contact state at a time interval of generating the return difference; the pin gear shell of the novel flexible compensation type gear robot reducer has elastic force, when return difference is generated, the long diameter of the pin gear shell can be reduced under the action of the elastic force, and the gap of the section generating the return difference is compensated, so that the transmission precision is improved. The design of the novel flexible compensation gear robot reducer mainly aims at solving the problem that the robot reducer generates return difference and compensating manufacturing and installation errors. Furthermore, changing the needle gear housing to a flexible needle gear housing has the following advantages:
1. The number of teeth is increased, and the transmission precision is improved. The flexible pin gear housing becomes elliptical under the action of the outer involute gear, i.e., stretches along the centerline of the outer involute gear to lengthen, narrows in the vertical direction, and narrows gradually from the center along the long diameter direction, with the shortest at both ends of the long diameter. Therefore, the gears which cannot be meshed when the pin gear housing is not deformed can be meshed after the pin gear housing is deformed and narrowed, so that the meshing number of the reducer is increased, and the transmission precision is improved.
2. Noise is reduced. The common robot reducer part is a rigid part, noise can be generated when collision occurs, and the pin gear housing of the novel flexible compensation type robot reducer is a flexible element, so that the functions of buffering and vibration absorption can be achieved, and the noise is reduced.
The technical effects of the invention are undoubted:
1) The flexible needle gear housing is used, return difference and the like generated in the motion process are compensated under the action of the elastic force of the needle gear housing, and the transmission precision is improved;
2) Radial errors in the manufacturing and mounting processes can be effectively compensated, the deformation of the pin gear housing is a continuous process, and when the radial errors occur in the manufacturing and mounting processes, the errors can be compensated, so that the reject ratio is reduced;
3) The number of meshing teeth is increased, and the transmission precision is improved;
4) Damping and shock absorption, and reducing noise.
Drawings
FIG. 1 is an assembly view of a flexible compensation type robot decelerator;
FIG. 2 is a view of a flexible needle gear housing;
FIG. 3 is an outer involute gear diagram;
Fig. 4 is a structural view of a crank shaft.
In the figure:
fig. 1: a flexible pin housing 101, a rigid disc 102, a planetary gear 103, a crank shaft 104, an outer involute gear 105, an output disc 106;
fig. 2: a pin housing mesh structure 201, inner involute gear teeth 202;
Fig. 3: outer involute gear teeth 301, crank shaft holes 302, output disc holes 303;
Fig. 4: spline 401, eccentric shaft a402, eccentric shaft b403.
Detailed Description
The present invention is further described below with reference to examples, but it should not be construed that the scope of the above subject matter of the present invention is limited to the following examples. Various substitutions and alterations are made according to the ordinary skill and familiar means of the art without departing from the technical spirit of the invention, and all such substitutions and alterations are intended to be included in the scope of the invention.
A novel flexible compensation gear robot reducer consists of a front stage and a rear stage of a planetary gear reducer.
The cycloidal pin gear speed reducer is characterized in that in the rear-stage assembly structure, the pin gear shell of the rear stage of the cycloidal pin gear speed reducer of the existing RV speed reducer is replaced by a flexible pin gear shell, the cycloidal gear is replaced by an involute gear, and the eccentric distance of a crank shaft is increased.
The inner ring of the flexible needle gear housing has a circular flange 201. The annular flange 201 is provided with a plurality of meshes to form an annular net structure of the inner ring of the needle gear housing. The mesh structure has elasticity. The annular flange 201 has inner involute gear teeth 202 on the circumference facing the center of the flexible pin housing. In an embodiment, the flexible pin gear housing is made of a composite material and can be divided into an inner layer and an outer layer. The inner layer comprises a circular flange 201 part which is a gear transmission part, namely a traditional pinwheel part is replaced by a deflection involute gear, and the deflection coefficient ranges from-0.2 mm to +0.5mm. The inner layer material is selected from 20CrMnTi or 30CrMnSi materials, and is processed into an inner gear. The outer layer is a flexible portion. The outer layer material is selected from 65Mn spring steel, so that the elastic coefficient of the material is ensured to be smaller, and meanwhile, the outer layer is processed into a net structure, so that the elastic coefficient of the material is reduced, and the fatigue life is prolonged.
The involute gear has outer involute gear teeth 301 that mesh with inner involute gear teeth 202. The involute gear is provided with a deflection coefficient range of-0.2 mm to +0.5mm.
The crank axle eccentricity increases such that there is interference with the installation of the inner involute gear teeth 202 and outer involute gear teeth 301, squeezing the flexible pin housing into an oval shape. In the embodiment, the eccentricity of the crankshaft is increased relative to the eccentricity of a standard crankshaft in the RV reducer, the increase range is 0.05-0.2 mm, and the eccentricity is flexibly selected according to the specification of the reducer.
Referring to fig. 1, fig. 1 is an assembly diagram of an RV decelerator, and the novel flexible compensation type robot decelerator is the same as a conventional RV decelerator in the first stage transmission, wherein a planetary gear 103 is an output part of the first stage transmission, and an input part is not shown in the diagram; the planetary gear is used as an output part of the first-stage transmission and an input part of the second-stage transmission, the planetary gear 103 is connected with the crank shaft 104 through a spline 401, power is transmitted to the crank shaft 104 through the planetary gear 103, the crank shaft is connected with the rigid disc 102 and the output disc 106 through tapered roller bearings, the rigid disc 102 is fixedly connected with the output disc 106 through bolts as a supporting part of the crank shaft 104, and as can be seen from fig. 1, the rigid disc 102 and the output disc 106 are respectively positioned at two sides of two external involute gears; referring to fig. 3, the rigid disc 102 and the output disc 106 can be connected through the output disc hole 303 in the outer involute gear 105, the rigid disc 102 and the output disc 106 are connected with the flexible pin gear housing 101 through the angular contact ball bearing, the flexible pin gear housing 101 can be used as a supporting part of the rigid disc 102 and the output disc 106, the two outer involute gears 105 (the two outer involute gears are mutually symmetrical in movement process and are mutually symmetrical in phase angle and are 180 degrees apart) are respectively installed at the eccentric part of the crank shaft 104 through the roller bearing, referring to fig. 3, and the crank shaft hole 302 is the connecting hole of the outer involute gear 105 and the crank shaft 104; when the crank shaft 104 rotates, the two external involute gears 105 are driven to revolve around the central line of the flexible needle gear shell through the eccentric action, at this time, the internal gear in the flexible needle gear shell 101 is meshed with the two external involute gears 105, because the needle gear shell is a fixed part, the external involute gears 105 rotate around the central line of the external involute gears 105, the axle center of the crank shaft 104 is not collinear with the center of the external involute gears 105, so the crank shaft 104 rotates around the central line of the needle gear shell 101 under the drive of the external involute gears 105, the rigid disc 102 and the output disc 106 which are connected with the crank shaft through tapered roller bearings rotate around the central line of the external involute gears 105 under the drive of the crank shaft 104, while the output disc 106 outputs power as a power output portion. Referring to fig. 2, the flexible needle gear housing 101 determines that the flexible needle gear housing 101 has better elasticity through the mesh structure 201 and the material of the flexible needle gear housing 101, and referring to fig. 4, the eccentric distances of the eccentric shaft a402 and the eccentric shaft b403 in the crank shaft 104 are increased by 0.1mm compared with the standard design, since the external involute gear 105 is respectively installed at the two parts, the generated chain reaction is that the revolution track diameter of the external involute gear 105 is increased, while the internal diameter of the flexible needle gear housing 101 is interfered when unchanged, so that the flexible needle gear housing 10 solves the problem through deformation, circular deformation into ellipse, under the action of elasticity, pressure exists all the time between the inner involute gear teeth 202 and the outer involute gear teeth 301, when return difference is generated, namely, gaps are generated between the inner involute gear teeth 202 and the outer involute gear teeth 301, so that transmission errors are caused, at the moment, the flexible needle gear housing 101 shortens the long diameter of an ellipse under the action of the elasticity, so that pressure exists between the inner involute gear teeth 202 and the outer involute gear teeth 301 again, and the rotation errors are compensated.
Claims (5)
1. A novel flexible compensation gear robot reducer consists of a front stage and a rear stage of a planetary gear reducer;
The cycloidal pin gear speed reducer is characterized in that in the rear-stage assembly structure, the pin gear shell of the rear stage of the cycloidal pin gear speed reducer of the existing RV speed reducer is replaced by a flexible pin gear shell, the cycloidal gear is replaced by an involute gear, and the eccentric distance of a crank shaft is increased;
The inner ring of the flexible needle gear shell is provided with a circular flange (201); the flange (201) is provided with a plurality of meshes to form an annular net structure of the inner ring of the needle gear shell; the net structure has elasticity; the flange (201) is provided with inner involute gear teeth (202) on the circumference facing the center of the flexible pin gear housing;
The involute gear has outer involute gear teeth (301) that mesh with inner involute gear teeth (202);
The eccentricity of the crank shaft is increased so that there is interference in the mounting of the inner involute gear teeth (202) and the outer involute gear teeth (301), squeezing the flexible pin housing into an oval shape.
2. The novel flexible compensation type gear robot reducer according to claim 1, wherein: the flexible needle gear shell is made of a composite material and can be divided into an inner layer and an outer layer; the inner layer includes an annular flange (201) portion.
3. The novel flexible compensation type gear robot reducer according to claim 2, wherein: the inner layer material is selected from 20CrMnTi, 30CrMnSi, 38CrMoAl, 40Cr and Cr15 materials; the outer layer material is selected from 65Mn, 60Si2MnA and 50CrVA spring steel.
4. The novel flexible compensation type gear robot reducer according to claim 1 or 2, wherein: the involute gear is a modified involute gear; the change range of the deflection coefficient is-0.2 mm to +0.5mm.
5. The novel flexible compensation type gear robot reducer according to claim 1 or 4, wherein: the eccentricity of the crankshaft is increased by 0.1mm relative to the eccentricity of a standard crankshaft in an RV retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810576535.1A CN108679190B (en) | 2018-06-06 | 2018-06-06 | Novel flexible compensation type gear robot speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810576535.1A CN108679190B (en) | 2018-06-06 | 2018-06-06 | Novel flexible compensation type gear robot speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108679190A CN108679190A (en) | 2018-10-19 |
| CN108679190B true CN108679190B (en) | 2024-05-24 |
Family
ID=63810193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810576535.1A Active CN108679190B (en) | 2018-06-06 | 2018-06-06 | Novel flexible compensation type gear robot speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108679190B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111895045B (en) * | 2020-07-24 | 2021-07-09 | 南通振康机械有限公司 | Novel structure RV speed reducer |
Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60129456A (en) * | 1983-12-14 | 1985-07-10 | Matsushita Electric Works Ltd | Power transmission device |
| KR20010060376A (en) * | 1999-11-22 | 2001-07-06 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Flexible meshing type gear device having deflection meshing involute tooth profile |
| US6344009B1 (en) * | 1999-01-02 | 2002-02-05 | Reishauer Ag | Backlash-free gear |
| US6564677B1 (en) * | 1997-10-16 | 2003-05-20 | Harmonic Drive Systems, Inc. | Wave gear drive having a transfer-torque control mechanism |
| DE102004043077A1 (en) * | 2004-09-07 | 2006-03-30 | Micromotion Gmbh | Arrangement for creation of deformation of elastic ring gear, comprising two toothed disks loosely positioned within ring gear |
| KR20090098533A (en) * | 2008-03-14 | 2009-09-17 | 이부락 | Gear teeth structure of harmonic drive |
| CN101832365A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot single-stage cycloidal reducer |
| CN102252062A (en) * | 2011-07-21 | 2011-11-23 | 浙江恒丰泰减速机制造有限公司 | Complex precise cycloidal speed reducer |
| CN103994184A (en) * | 2014-03-26 | 2014-08-20 | 重庆大学 | Closed cycloid precision gear reducer |
| JP2014185659A (en) * | 2013-03-22 | 2014-10-02 | Seiko Epson Corp | Speed reducer, robot hand, robot, movable body, geared motor and electronic component conveying device |
| DE102013108286A1 (en) * | 2013-08-01 | 2015-02-05 | Harmonic Drive Ag | Method for producing an elastic, a toothed toothed component of a wave gear |
| JP2015102181A (en) * | 2013-11-26 | 2015-06-04 | キヤノン株式会社 | Strain wave gearing decelerator |
| CN105299148A (en) * | 2015-05-07 | 2016-02-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloid speed reducer |
| CN205013590U (en) * | 2015-09-30 | 2016-02-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloid reducer |
| CN105317941A (en) * | 2014-06-12 | 2016-02-10 | 捷奥机械(上海)有限公司 | Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator |
| KR20160018243A (en) * | 2014-08-08 | 2016-02-17 | 주식회사 해성굿쓰리 | Robotic disc for coupling Precision reducer |
| CN105443699A (en) * | 2015-12-26 | 2016-03-30 | 郭嘉辉 | Intermittent speed reducer |
| JP2016121724A (en) * | 2014-12-24 | 2016-07-07 | 株式会社ジェイテクト | Ball bearing for wave motion reduction gear |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN106640958A (en) * | 2016-11-09 | 2017-05-10 | 上海斐赛轴承科技有限公司 | Novel flexible gear and wave generator assembly used for harmonic gear transmission device |
| CN107448580A (en) * | 2016-05-30 | 2017-12-08 | 纳博特斯克有限公司 | The manufacture method of geared system, the manufacture method of involute gear and geared system |
| CN206816760U (en) * | 2017-04-17 | 2017-12-29 | 昆山光腾智能机械有限公司 | The pin tooth cycloidal reducer of flexible compensation |
| CN107588177A (en) * | 2017-09-28 | 2018-01-16 | 深圳市领略数控设备有限公司 | A kind of cycloidal-pin wheel harmonic drive |
| CN208686917U (en) * | 2018-06-06 | 2019-04-02 | 重庆大学 | Novel flexible offset-type gear robot retarder |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8468904B2 (en) * | 2008-03-10 | 2013-06-25 | Andrew Nowicki | Torque-handling gear with teeth mounted on flexible arms |
| JP5697356B2 (en) * | 2010-04-06 | 2015-04-08 | キヤノン株式会社 | Wave gear device and robot arm |
| JP5776924B2 (en) * | 2010-08-31 | 2015-09-09 | アイシン精機株式会社 | Gear processing device, cutter, and wave gear device |
| JP2019158041A (en) * | 2018-03-14 | 2019-09-19 | 株式会社ジェイテクト | Wave gear device |
-
2018
- 2018-06-06 CN CN201810576535.1A patent/CN108679190B/en active Active
Patent Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60129456A (en) * | 1983-12-14 | 1985-07-10 | Matsushita Electric Works Ltd | Power transmission device |
| US6564677B1 (en) * | 1997-10-16 | 2003-05-20 | Harmonic Drive Systems, Inc. | Wave gear drive having a transfer-torque control mechanism |
| US6344009B1 (en) * | 1999-01-02 | 2002-02-05 | Reishauer Ag | Backlash-free gear |
| KR20010060376A (en) * | 1999-11-22 | 2001-07-06 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Flexible meshing type gear device having deflection meshing involute tooth profile |
| DE102004043077A1 (en) * | 2004-09-07 | 2006-03-30 | Micromotion Gmbh | Arrangement for creation of deformation of elastic ring gear, comprising two toothed disks loosely positioned within ring gear |
| KR20090098533A (en) * | 2008-03-14 | 2009-09-17 | 이부락 | Gear teeth structure of harmonic drive |
| CN101832365A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot single-stage cycloidal reducer |
| CN102252062A (en) * | 2011-07-21 | 2011-11-23 | 浙江恒丰泰减速机制造有限公司 | Complex precise cycloidal speed reducer |
| JP2014185659A (en) * | 2013-03-22 | 2014-10-02 | Seiko Epson Corp | Speed reducer, robot hand, robot, movable body, geared motor and electronic component conveying device |
| DE102013108286A1 (en) * | 2013-08-01 | 2015-02-05 | Harmonic Drive Ag | Method for producing an elastic, a toothed toothed component of a wave gear |
| JP2015102181A (en) * | 2013-11-26 | 2015-06-04 | キヤノン株式会社 | Strain wave gearing decelerator |
| CN103994184A (en) * | 2014-03-26 | 2014-08-20 | 重庆大学 | Closed cycloid precision gear reducer |
| CN105317941A (en) * | 2014-06-12 | 2016-02-10 | 捷奥机械(上海)有限公司 | Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator |
| KR20160018243A (en) * | 2014-08-08 | 2016-02-17 | 주식회사 해성굿쓰리 | Robotic disc for coupling Precision reducer |
| JP2016121724A (en) * | 2014-12-24 | 2016-07-07 | 株式会社ジェイテクト | Ball bearing for wave motion reduction gear |
| CN105299148A (en) * | 2015-05-07 | 2016-02-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloid speed reducer |
| CN205013590U (en) * | 2015-09-30 | 2016-02-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloid reducer |
| CN105443699A (en) * | 2015-12-26 | 2016-03-30 | 郭嘉辉 | Intermittent speed reducer |
| CN107448580A (en) * | 2016-05-30 | 2017-12-08 | 纳博特斯克有限公司 | The manufacture method of geared system, the manufacture method of involute gear and geared system |
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
| CN106640958A (en) * | 2016-11-09 | 2017-05-10 | 上海斐赛轴承科技有限公司 | Novel flexible gear and wave generator assembly used for harmonic gear transmission device |
| CN206816760U (en) * | 2017-04-17 | 2017-12-29 | 昆山光腾智能机械有限公司 | The pin tooth cycloidal reducer of flexible compensation |
| CN107588177A (en) * | 2017-09-28 | 2018-01-16 | 深圳市领略数控设备有限公司 | A kind of cycloidal-pin wheel harmonic drive |
| CN208686917U (en) * | 2018-06-06 | 2019-04-02 | 重庆大学 | Novel flexible offset-type gear robot retarder |
Non-Patent Citations (2)
| Title |
|---|
| 少极差偏心磁性齿轮传动试验研究;胡捷;《机械工程学报》;20150228;第第51卷卷(第第3期期);第58-65页 * |
| 摆线针轮减速器过载保护装置的研究;姚艳;;煤矿机械;20180115(第01期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108679190A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105570437A (en) | Low-back-clearance robot speed reducer | |
| JP2009121494A (en) | Double-stage reduction gear | |
| CN106352024A (en) | Single-eccentric short transmission chain speed reducer | |
| WO2021068536A1 (en) | Double-wave compound wave oscillating tooth reducer | |
| CN101915286B (en) | Constrained speed reducer with small teeth difference | |
| CN101183816A (en) | Decelerator for control motor | |
| CN116717570A (en) | Harmonic reducer, mechanical arm and robot | |
| CN108679190B (en) | Novel flexible compensation type gear robot speed reducer | |
| CN112211960B (en) | Built-in hollow precision speed reducer for industrial robot gear | |
| US20130333505A1 (en) | Harmonic reducer with stationary gear | |
| KR102336717B1 (en) | Reducer having dual eccentric rotating shaft | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN208686917U (en) | Novel flexible offset-type gear robot retarder | |
| CN100357633C (en) | Harmonic speed reducer of cycloid roller chain | |
| CN101363516B (en) | Circular mobile tooth and small tooth difference variable-speed drive device | |
| CN108775383B (en) | Adjustable precise planetary gear reducer | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN114026351B (en) | Planetary gearbox, assembling method thereof, related robot joint and robot | |
| CN114001125A (en) | Ultra-low speed ratio high rigidity high accuracy cycloid pin gear planetary transmission reduction gear | |
| CN108488329B (en) | Adjusting device for return difference of RV reducer | |
| KR101301702B1 (en) | Reduction apparatus of revolution using friction drive | |
| TWM579232U (en) | A duplex differential speed reducer | |
| CN219082192U (en) | Planetary gear transmission speed reducer with small tooth difference and internal teeth | |
| TWM545851U (en) | A differential speed-reduction mechanism | |
| CN100472091C (en) | Crank pingear transmission |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |