CN109307048A - A kind of interior tooth harmonic reducer - Google Patents
A kind of interior tooth harmonic reducer Download PDFInfo
- Publication number
- CN109307048A CN109307048A CN201811466228.4A CN201811466228A CN109307048A CN 109307048 A CN109307048 A CN 109307048A CN 201811466228 A CN201811466228 A CN 201811466228A CN 109307048 A CN109307048 A CN 109307048A
- Authority
- CN
- China
- Prior art keywords
- gear
- wave producer
- flexbile gear
- flexbile
- deformations
- 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.)
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Classifications
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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
- 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
Abstract
The invention discloses a kind of interior tooth harmonic reducers comprising: flexbile gear, the flexbile gear are provided with interior teeth portion；Firm gear, the firm gear are provided with outer toothed portion；Wave producer, the wave producer are provided with deformations, and the deformations squeeze flexbile gear deformation on flexbile gear surface and outer toothed portion and interior teeth portion part is made to engage connection, and the wave producer is connect with input terminal；And shell, accommodating space is provided in the shell, the flexbile gear, firm gear and wave producer is provided in the accommodating space, the flexbile gear and firm gear are connect with shell and output end respectively.Part processing of the present invention is relatively easy, and assembling difficulty is small, and running precision is good.
Description
Technical field
The present invention relates to retarder fields, and in particular to a kind of interior tooth harmonic reducer.
Background technique
Harmonic gear reducer is a kind of deceleration device, is traditionally mainly made of three basic building blocks: internal circular spline,
External tooth flexbile gear and the oval wave producer for making flexbile gear generation radial deformation, wherein be also equipped between flexbile gear and wave producer soft
Property bearing, is improved service life with reducing friction；
Before unassembled, flexbile gear and its inner hole are rounded, after wave producer is packed into the inner hole of flexbile gear, due to wave producer
For ellipse, flexible bearing and flexbile gear are supportted into ovalisation, force flexbile gear in the external tooth and firm gear internal tooth of elliptical long axis direction
It is at a fully engaged, it is then disengaged from the tooth of short-axis direction, the difference of remaining tooth view flexbile gear rotary position everywhere or is in
" engaging-in " state, or it is in " nibbling out " state.
Above-mentioned traditional harmonic gear reducer is that one kind is pushed up outward with wave producer ellipse, makes flexible bearing and flexbile gear shape
The structure of change, in assembling, flexible bearing needs to fill in inside flexbile gear and struts flexbile gear from inside, and assembling gimmick is improper
When, flexbile gear has damaged risk, and due to the difference of machining accuracy, it is larger to assemble difficulty.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of interior tooth harmonic reducer, part processing is relatively easy, assembling
Difficulty is relatively small, and running precision is good.
In order to solve the above-mentioned technical problems, the present invention provides a kind of interior tooth harmonic reducers comprising:
Flexbile gear, the flexbile gear are provided with interior teeth portion；
Firm gear, the firm gear are provided with outer toothed portion, and the firm gear is connect with output end；
Wave producer, the wave producer are provided with deformations, and the deformations, which squeeze flexbile gear deformation on flexbile gear surface, to be made
Outer toothed portion and the engagement connection of interior teeth portion part are obtained, the wave producer is connect with input terminal；And
Shell is provided with accommodating space in the shell, the flexbile gear, firm gear and Bo Fa is provided in the accommodating space
Raw device, the flexbile gear are connect with shell.
Further, the wave producer is hollow structure, and the deformations are the ellipse being arranged in inside wave producer
Inner wall is provided with flexible bearing between the wave producer and flexbile gear.
Further, the deformations include two extruding roller portions being oppositely arranged, and the extruding roller portion includes roller, institute
Roller is stated to be arranged on wave producer.
Further, the input terminal includes being arranged on the rotor and setting on the inner wall of the housing on wave producer surface
Stator, the stator and rotor engagement drive wave producer rotation.
Further, the input terminal includes power source, is provided with gear drive between the power source and wave producer
Component.
A kind of interior tooth harmonic reducer comprising:
Flexbile gear, the flexbile gear are provided with interior teeth portion, and the flexbile gear is connect with output end；
Firm gear, the firm gear are provided with outer toothed portion；
Wave producer, the wave producer are provided with deformations, and the deformations, which squeeze flexbile gear deformation on flexbile gear surface, to be made
Outer toothed portion and the engagement connection of interior teeth portion part are obtained, the wave producer is connect with input terminal；And
Shell is provided with accommodating space in the shell, the flexbile gear, firm gear and Bo Fa is provided in the accommodating space
Raw device, the firm gear are connect with shell.
Further, the wave producer is hollow structure, and the deformations are the ellipse being arranged in inside wave producer
Inner wall is provided with flexible bearing between the wave producer and flexbile gear.
Further, the deformations include two extruding roller portions being oppositely arranged, and the extruding roller portion includes roller, institute
Roller is stated to be arranged on wave producer.
Further, the input terminal includes being arranged on the rotor and setting on the inner wall of the housing on wave producer surface
Stator, the stator and rotor engagement drive wave producer rotation.
Further, the input terminal includes power source, is provided with gear drive between the power source and wave producer
Component.
Beneficial effects of the present invention:
1, the present invention is worked by the way of carrying out compressional deformation inwardly outside flexbile gear, after extruding, in short axle
Flexbile gear interior teeth portion can be engaged with the outer toothed portion of firm gear, and due to being the engagement of short-axis direction, the engagement for comparing long axis direction can
More teeth quantity are engaged, running accuracy and carrying torsion are greatly improved；
2, wave producer of the invention is arranged in outer layer, therefore can have more elastic changeable power source input mode；
3, flexbile gear is internal tooth arrangement, and design is more elastic, and processing is easier, and is especially suitable for plastic injection, can be greatly reduced and add
Work cost.
Detailed description of the invention
Fig. 1 is in the present invention with the overall structure diagram of the firm gear way of output；
Fig. 2 is structural blast schematic diagram in Fig. 1 of the present invention；
Fig. 3 is the schematic diagram in firm gear export structure of the present invention in conjunction with motor；
Fig. 4 is the embodiment schematic diagram in firm gear export structure of the present invention in conjunction with gear-driven assembly；
Fig. 5 is another embodiment schematic diagram in firm gear export structure of the present invention in conjunction with gear-driven assembly；
Fig. 6 is in the present invention with the overall structure diagram of the flexbile gear way of output；
Fig. 7 is structural blast schematic diagram in Fig. 6 of the present invention；
Fig. 8 is the schematic diagram in flexbile gear export structure of the present invention in conjunction with motor；
Fig. 9 is the embodiment schematic diagram in flexbile gear export structure of the present invention in conjunction with gear-driven assembly；
Figure 10 is another embodiment schematic diagram in flexbile gear export structure of the present invention in conjunction with gear-driven assembly；
Figure 11 is elliptical wave generator architecture combination diagram of the present invention.
Figure label explanation: 1, flexbile gear；11, interior teeth portion；2, firm gear；21, outer toothed portion；3, output end；4, wave producer；
41, deformations；411, roller；412, mounting base；413, oval inner wall；414, flexible bearing；5, shell；6, rotor；7, stator；
8, power source；9, gear-driven assembly.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Shown in referring to Figures 1 and 2, an embodiment of interior tooth harmonic reducer of the invention, including flexbile gear 1, firm gear 2 and wave
Generator 4；Flexbile gear 1 has interior teeth portion 11, and teeth are arranged behind 1 inside of flexbile gear, so that design is more elastic, processing is easier,
It is especially suitable for plastic injection, die cost expense reduces, and cost, and the 1 product quality precision of flexbile gear prepared can be greatly reduced
It greatly improves；Firm gear 2 has outer toothed portion 21, and firm gear 2 is connect with output end 3 herein, passes through 2 output power of firm gear；Wave producer 4
Deformations 41 are provided with, deformations 41 squeeze 1 deformation of flexbile gear on the surface of flexbile gear 1, i.e., from squeezing inwardly outside, the setting of firm gear 2 exists
Inside flexbile gear 1, so that outer toothed portion 21 and the engagement connection of 11 part of interior teeth portion, the position of engagement is located at the minor axis location after deformation
On, the contact area between the flexbile gear 1 at short axle and firm gear 2 is the largest, therefore the engagement quantity between opposite teeth is also most
It is more, greatly improve running accuracy；Wave producer 4 is connect with input terminal, provides input power.Wave producer 4 is mainly used for driving
Deformations 41 move, therefore wave producer 4 is ring set structure, or supporting structure etc..
Above-mentioned flexbile gear 1, firm gear 2 and wave producer 4 is fitted in the accommodating space of shell 5, flexbile gear 1 and shell
5 connections, do not rotate；Flexbile gear 1 can be fixed on shell 5, can also be integrally formed and be made with shell 5.
In use, input power drives wave producer 4 to rotate, the rotation of wave producer 4 can squeeze flexbile gear 1,
So that 1 deformation of flexbile gear and generate power, due to flexbile gear 1 be it is fixed, be able to drive the rotation of firm gear 2, reach output effect；
Wave producer 4 in the present embodiment can be hollow structure, and the inner wall of hollow structure is circle, and deformations 41 are installed
On circular inner wall；It is formed with the extruding roller portion that wherein deformations 41 are oppositely arranged from two, squeezing roller portion includes roller
411, roller 411 is fixed on circular inner wall；Wherein roller 411 can be two, and stability is high when extruding, and roller
411 during installation, and fluting can be directly carried out on circular inner wall and is embedded, can also be first mounted in mounting base 412, then
Mounting base 412 is fixed on circular inner wall；
Circular inner wall internal diameter is greater than the outer diameter in flexbile gear 1, and two spacing squeezed between roller portion are less than in flexbile gear 1
Outer diameter, when wave producer 4 and flexbile gear 1 assemble, two extruding roller portions can squeeze flexbile gear 1, so that 1 shape of flexbile gear
Become, the flexbile gear 1 of deformation has deformation space since circular inner wall internal diameter is big, reaches deformation effects, herein two compression rollers
The position of portion's compressional deformation is minor axis location.Flexbile gear 1 after deformation can be engaged with 2 part of firm gear, operating engagement and
Deceleration principle is identical as conventional harmonic, but compared with conventional harmonic, also has higher precision, higher reduction ratio and part are few
Characteristic.
And since flexbile gear 1 is located at outside portion, and flexible bearing 414 can not be used, therefore assemble more than conventional harmonic
It is easy, oval wave producer 4 is avoided to be not easy the case where being packed into flexbile gear 1, reduce and can avoid to lead to asking for the rupture of flexbile gear 1 because of assembling
Topic, also reduces production cost.Flexible bearing 414 can also be exempted simultaneously, the type change of flexible bearing 414 is not present, and reduces energy
Loss, improves efficiency.
Referring to shown in Fig. 3, in one embodiment, input terminal includes rotor 6 and the setting that 4 surface of wave producer is arranged in
Stator 7 on 5 inner wall of shell, stator 7 and the cooperation of rotor 6 drive wave producer 4 to rotate, and pass through the structure and electricity of this retarder
The structure of machine merges, and simplifies with structure, is capable of the effect of integration production preparation, effectively reduces overall volume.
Referring to shown in Fig. 4 and Fig. 5, in one embodiment, input terminal includes power source 8, power source 8 and wave producer 4 it
Between be provided with gear-driven assembly, by gear drive, achieve the effect that input power, including ordinary gear transmission, snail
Bar transmission, Bevel Gear Transmission etc., and belt transmissioning mode can also be used.
Therefore it present invention is designed such that wave producer 4 has more elastic changeable 8 input mode of power source, is more advantageous to
User's diversification layout uses.
It is another interior tooth harmonic reducer embodiment of the invention shown in referring to figure 6 and figure 7, slows down with above-mentioned slot ripples
The difference of device is that the present embodiment is that firm gear 2 is connect with shell 5, and flexbile gear 1 is connect with output end 3；In use, input power band
Dynamic wave producer 4 rotates, and the rotation of wave producer 4 can squeeze flexbile gear 1, so that 1 deformation of flexbile gear and power is generated, by
It is fixed in firm gear 2, therefore flexbile gear 1 reaches output effect along 2 surface pivots of firm gear；
It is multiple input modes schematic diagram referring to shown in Fig. 8 to Figure 10, is closed by the structure of retarder and the structure of motor
And simplified with structure, it is capable of the effect of integration production preparation, effectively reduces overall volume.By gear drive, reach defeated
The effect for entering power including ordinary gear transmission, worm-drive, Bevel Gear Transmission etc., and can also be passed using belt
Flowing mode.Therefore it present invention is designed such that wave producer 4 has more elastic changeable 8 input mode of power source, is more advantageous to
User's diversification uses layout.
Referring to Fig.1 shown in 1, the wave producer 4 in above-mentioned multiple embodiments can be hollow structure, and deformations 41 are setting
Oval inner wall 413 inside wave producer 4, is provided with flexible bearing 414 between wave producer 4 and flexbile gear 1, by sending out in wave
Flexible bearing 414 built in raw device 4, flexbile gear 1 are also built on 414 inner ring surface of flexible bearing, and embedding structure reduces the group of flexbile gear 1
Difficulty is filled, flexbile gear 1 is more easily installed, and the problem of being softened damage is not present in flexbile gear 1, inwardly squeezes and flexbile gear 1 is effectively ensured
Quality.
Above embodiments are only to absolutely prove preferred embodiment that is of the invention and being lifted, and protection scope of the present invention is not
It is limited to this.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in guarantor of the invention
Within the scope of shield.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of interior tooth harmonic reducer, characterized in that it comprises:
Flexbile gear, the flexbile gear are provided with interior teeth portion；
Firm gear, the firm gear are provided with outer toothed portion, and the firm gear is connect with output end；
Wave producer, the wave producer are provided with deformations, and the deformations make outer in the extruding flexbile gear deformation of flexbile gear surface
Teeth portion and the engagement connection of interior teeth portion part, the wave producer are connect with input terminal；And
Shell is provided with accommodating space in the shell, and the flexbile gear, firm gear and wave are provided in the accommodating space and is occurred
Device, the flexbile gear are connect with shell.
2. tooth harmonic reducer in as described in claim 1, which is characterized in that the wave producer is hollow structure, described
Deformations are the oval inner wall being arranged in inside wave producer, are provided with flexible bearing between the wave producer and flexbile gear.
3. tooth harmonic reducer in as described in claim 1, which is characterized in that the deformations include two and are oppositely arranged
Roller portion is squeezed, the extruding roller portion includes roller, and the roller is arranged on wave producer.
4. tooth harmonic reducer in as described in claim 1, which is characterized in that the input terminal includes being arranged in wave producer
The rotor and the stator in setting on the inner wall of the housing on surface, the stator and rotor engagement drive wave producer rotation.
5. tooth harmonic reducer in as described in claim 1, which is characterized in that the input terminal includes power source, described dynamic
Gear-driven assembly is provided between power source and wave producer.
6. a kind of interior tooth harmonic reducer, characterized in that it comprises:
Flexbile gear, the flexbile gear are provided with interior teeth portion, and the flexbile gear is connect with output end；
Firm gear, the firm gear are provided with outer toothed portion；
Wave producer, the wave producer are provided with deformations, and the deformations make outer in the extruding flexbile gear deformation of flexbile gear surface
Teeth portion and the engagement connection of interior teeth portion part, the wave producer are connect with input terminal；And
Shell is provided with accommodating space in the shell, and the flexbile gear, firm gear and wave are provided in the accommodating space and is occurred
Device, the firm gear are connect with shell.
7. tooth harmonic reducer in as claimed in claim 6, which is characterized in that the wave producer is hollow structure, described
Deformations are the oval inner wall being arranged in inside wave producer, are provided with flexible bearing between the wave producer and flexbile gear.
8. tooth harmonic reducer in as claimed in claim 6, which is characterized in that the deformations include two and are oppositely arranged
Roller portion is squeezed, the extruding roller portion includes roller, and the roller is arranged on wave producer.
9. tooth harmonic reducer in as claimed in claim 6, which is characterized in that the input terminal includes being arranged in wave producer
The rotor and the stator in setting on the inner wall of the housing on surface, the stator and rotor engagement drive wave producer rotation.
10. tooth harmonic reducer in as claimed in claim 6, which is characterized in that the input terminal includes power source, described dynamic
Gear-driven assembly is provided between power source and wave producer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811466228.4A CN109307048A (en) | 2018-12-03 | 2018-12-03 | A kind of interior tooth harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811466228.4A CN109307048A (en) | 2018-12-03 | 2018-12-03 | A kind of interior tooth harmonic reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109307048A true CN109307048A (en) | 2019-02-05 |
Family
ID=65222287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811466228.4A Pending CN109307048A (en) | 2018-12-03 | 2018-12-03 | A kind of interior tooth harmonic reducer |
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| Country | Link |
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| CN (1) | CN109307048A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
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|---|---|---|---|---|
| CN204437194U (en) * | 2014-12-18 | 2015-07-01 | 陕西渭河工模具有限公司 | Short cylinder flexible gear harmonic reducer |
| US20150285355A1 (en) * | 2014-04-02 | 2015-10-08 | Hiwin Technologies Corp. | Hollow Drive Gear Reduction Mechanism |
| CN105090372A (en) * | 2014-05-09 | 2015-11-25 | 良世机械科技(上海)有限公司 | Wave generator external novel harmonic gear transmission device |
| CN106230186A (en) * | 2016-08-15 | 2016-12-14 | 广州市昊志机电股份有限公司 | A kind of set has the hollow type harmonic speed reducer of motor |
| CN108818528A (en) * | 2018-08-17 | 2018-11-16 | 安徽星宇生产力促进中心有限公司 | A kind of joint of robot transmission mechanism and its operation method |
| CN209370384U (en) * | 2018-12-03 | 2019-09-10 | 昆山圆运升传动科技有限公司 | A kind of interior tooth harmonic reducer |
-
2018
- 2018-12-03 CN CN201811466228.4A patent/CN109307048A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150285355A1 (en) * | 2014-04-02 | 2015-10-08 | Hiwin Technologies Corp. | Hollow Drive Gear Reduction Mechanism |
| CN105090372A (en) * | 2014-05-09 | 2015-11-25 | 良世机械科技(上海)有限公司 | Wave generator external novel harmonic gear transmission device |
| CN204437194U (en) * | 2014-12-18 | 2015-07-01 | 陕西渭河工模具有限公司 | Short cylinder flexible gear harmonic reducer |
| CN106230186A (en) * | 2016-08-15 | 2016-12-14 | 广州市昊志机电股份有限公司 | A kind of set has the hollow type harmonic speed reducer of motor |
| CN108818528A (en) * | 2018-08-17 | 2018-11-16 | 安徽星宇生产力促进中心有限公司 | A kind of joint of robot transmission mechanism and its operation method |
| CN209370384U (en) * | 2018-12-03 | 2019-09-10 | 昆山圆运升传动科技有限公司 | A kind of interior tooth harmonic reducer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
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