CN109519514A - A kind of harmonic wave speed reducing machine - Google Patents
A kind of harmonic wave speed reducing machine Download PDFInfo
- Publication number
- CN109519514A CN109519514A CN201811609357.4A CN201811609357A CN109519514A CN 109519514 A CN109519514 A CN 109519514A CN 201811609357 A CN201811609357 A CN 201811609357A CN 109519514 A CN109519514 A CN 109519514A
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- China
- Prior art keywords
- tooth
- flexbile gear
- steel wheel
- speed reducing
- reducing machine
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- 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
- 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
- F16H55/17—Toothed wheels
Abstract
The present invention relates to speed reducer fields, disclose a kind of harmonic wave speed reducing machine, including wave producer (1), flexbile gear (2) and steel wheel (3), wave producer (1) is equipped with flexbile gear (2) and flexbile gear (2) is driven to rotate, flexbile gear (2) is engaged with steel wheel (3), flexbile gear (2) is equipped with flexbile gear external tooth (201), steel wheel (3) is equipped with steel wheel internal tooth (301), the parameter for defining flexbile gear external tooth (201) is as follows: the transverse tooth thickness of flexbile gear external tooth (201) is b, the a height of c of tooth of flexbile gear external tooth (201), the tooth top of flexbile gear external tooth (201) to reference circle distance be d；The parameter for defining steel wheel internal tooth (301) is as follows: the transverse tooth thickness of steel wheel internal tooth (301) is B, and a height of C of tooth of steel wheel internal tooth (301), the tooth top of steel wheel internal tooth (301) to reference circle distance is D；B/B=3/5-7/10, c=1.5-1.7m, C=0.9-1.1c, d=0.5-0.7m, D=0.9-1.1d.The present invention has the advantages of improving the intensity of harmonic wave speed reducing machine, extending the service life of harmonic wave speed reducing machine.
Description
Technical field
The present invention relates to speed reducer fields, more particularly to a kind of harmonic wave speed reducing machine.
Background technique
Harmonic wave speed reducing machine is a kind of by fixed internal circular spline, flexbile gear and the wave producer for making flexbile gear that radial deformation occur
Composition, harmonic drive is one of gear reduction unit novel drive structure, it is generated controllably using flexible gear
The elastic deformation wave of system causes firm gear side set opposite with the between cog of flexbile gear to transmit power and movement.It is this transmission with it is general
Gear transmitting has difference substantially, calculates in mesh theory, set and structure design aspect has particularity.Harmonic reduction
Machine has many advantages, such as high-precision, high-bearing capacity, compares with common retarder, since the material used will lack 50%, volume and
Weight at least reduces 1/3.
The same with Planetary Gear Transmission, harmonic gear transmission is also to be made of three basic building blocks: fixed internal tooth is rigid
Wheel, flexbile gear (i.e. its matrix be connected with driven shaft elastic thin-wall a set of cups " making gear ring on the bus at flexbile gear beginning ") and make soft
The wave producer of radial deformation occurs for wheel.Cut out the identical gear teeth of modulus in firm gear and flexbile gear, but the number of teeth is different, i.e. flexbile gear
The number of teeth of gear ratio firm gear is two few.The wave number of deformation of the teeth number difference characterization flexbile gear of harmonic drive.Most commonly wave number W-2's
Harmonic drive.Under free state (no generator), two-wheeled is in concentric position, and each backlash of firm gear and flexbile gear is uniform.
Generator in flexbile gear makes flexbile gear that radial deformation occur and become ellipse.At this moment, on elliptical long axis, tooth is along entire
Working depth engagement, and in short axle, radial clearance is formd between tooth top.In the rotary course of generator, the shape of flexbile gear
Shape is always close to above-mentioned shape.
Harmonic drive is made of three firm gear, flexbile gear and wave producer main members.Wherein, wave producer is
Driving link, one of firm gear and flexbile gear are driven member.Fixed firm gear is the internal gear of a rigidity, and flexbile gear is one and is easily deformed
Thin-walled cylinder external gear, they have the tooth form of triangle (or involute) together, and the circular pitch of the two is equal, but firm gear is than soft
Take turns mostly several teeth (usually two tooth).Wave producer is made of an oval plate and a flexible ball bearings, or by one two
The end pivoted arm with roller forms.Usual wave producer is kinetochore, and one of flexbile gear and firm gear are driven member, another is solid
Determine part.
In patent title: pressure controls harmonic speed reducer, application number: CN201711417989.6, the applying date: 2017-12-
25, publication number: the following contents is disclosed in the patent of invention of CN108180272A:
A kind of pressure control harmonic speed reducer, including compliant wheel 10, rigid wheel 20 and wave producer 30, compliant wheel 10 are wrapped
Include ontology, ontology is cylindrical in shape, and ontology has nozzle end and cylinder bottom end, be provided on the outer wall at nozzle end for rigid wheel 20
The external tooth 11 that internal tooth 21 engages, the head of wave producer 30 stretch in ontology from the cylinder end of ontology, and wave producer 30 is located at
Inside in ontology offers valve chamber 31, and it further includes stator core 40 that pressure, which controls harmonic speed reducer, and the head of stator core 40 is located at
In valve chamber 31, in which: the outer wall from the tail portion of stator core 40 to the head of stator core 40 offers the first liquid feeding channel 50, is located at
One end of 40 tail portion of stator core is the input end of the first liquid feeding channel 50, and one end positioned at the outer wall on the head of stator core 40 is the
The outlet end of one liquid feeding channel 50, external oil pressure unit are connect with the input end of the first liquid feeding channel 50；From wave producer 30
The outer wall of the cavity wall of valve chamber 31 to wave producer 30 offers the second liquid feeding channel 60, and liquid feeding channel is located at the cavity wall of valve chamber 31
One end is input end, and one end positioned at the outer wall of wave producer 30 is outlet end；The input end and first of second liquid feeding channel 60
The outlet end of liquid feeding channel 50 is corresponding in the axial position of spool；Wherein: wave producer 30 makes the first feed flow logical when rotating
The outlet end in road 50 is opposite with the input end of the second liquid feeding channel 60 or misplaces.In the present embodiment, external oil pressure unit is
First liquid feeding channel 50 provides lubricating oil.
As described above, as shown in Figure 2 and Figure 4, the first liquid feeding channel 50 and second supplies when wave producer 30 rotates
Connection and truncation are realized by the connection and dislocation of its outlet end and input end in liquid channel 60, so that external oil pressure unit exists
Entered between wave producer 30 and the ontology of compliant wheel 10 when connection by the first liquid feeding channel 50 and the second liquid feeding channel 60, from
And lubrication can be provided for wave producer 30 and compliant wheel 10.The present invention is by being arranged stator core 40 in wave producer 30 and opening
If liquid feeding channel, it is able to enter lubricating oil between wave producer 30 and compliant wheel 10, to be wave producer 30 and compliant wheel
10 provide lubricating oil.Since wave producer 30 and 10 moment of compliant wheel are rotated, transported to fluid pressure line is added to each rotation
Lubricating oil is provided between dynamic component and increases difficulty, and makes those skilled in the art only can be by using housing seal packet
Each component is covered, and is passed through into shell the mode of the lubricating oil of certain pressure and to be lubricated between each rotatable parts.
And the application rotates Shi Erbao in wave producer 30 by adding stator core 40, stator core 40 in wave producer 30
Nonrotating state is held, so that the first liquid feeding channel 50 is periodically connected to (every turn of wave producer 30 with the second liquid feeding channel 60
Dynamic circle connection is primary) so that external oil pressure unit is periodically to provide profit between wave producer 30 and compliant wheel 10
Lubricating oil.For that can be to provide lubricating oil between external tooth 11 and internal tooth 21, be opened up from the outer wall of inner hole wall to the compliant wheel 10 of ontology
There is third liquid feeding channel 70, one end that third liquid feeding channel 70 is located at inner hole wall is input end, positioned at one end of the outer wall of ontology
For outlet end, the input end of third liquid feeding channel 70 is opposite in the axial position of spool with the outlet end of the second liquid feeding channel 60
It answers.In the present embodiment, the lubricating oil between wave producer 30 and flexbile gear by third liquid feeding channel 70 enter compliant wheel 10 with
Between rigid wheel 20, so that the engaged transmission for external tooth 11 and internal tooth 21 provides lubricating oil.Preferably, third liquid feeding channel 70 passes through
Between logical two external tooths 11.
For that can make to store certain lubricating oil between wave producer 30 and compliant wheel 10, on the outer wall of wave producer 30
Criss-cross oil groove 33 is opened up, and the oil groove 33 passes through the outlet end of the second liquid feeding channel 60, and at least part of oil groove 33
When wave producer 30 rotates, the import of third liquid feeding channel 70 is corresponding with oil groove 33, enables lubricating oil in oil groove 33
Entered between compliant wheel 10 and rigid wheel 20 by third channel.In this way, more lubricating oil passes through 50 He of the first liquid feeding channel
Second liquid feeding channel 60 enters oil groove 33, and enters between internal tooth 21 and external tooth 11 through oil groove 33 and third liquid feeding channel 70.
To prevent the lubricating oil return in each liquid feeding channel, check valve 41, check valve are provided in the first liquid feeding channel 50
41 import is connected to the input end of the first liquid feeding channel 50, and the outlet of check valve 41 connects with the outlet end of the first liquid feeding channel 50
It is logical.In this way, lubricating oil will not be flowed back by the lubricating oil that external oil pressure unit enters in the first liquid feeding channel 50.
Above-mentioned patent makes lubricating oil be able to enter wave hair by the way that stator core is arranged in wave producer and opens up liquid feeding channel
Between raw device and compliant wheel, to provide lubricating oil for wave producer and compliant wheel；To solve, " a large amount of lubricating oil are to flexibility
The rotation of wheel produces larger resistance, so that lubricating oil temperature is increased, degradation " the problem of.
But harmonic wave speed reducing machine at runtime, oval major axis of flexspline side must be with the tooth engagement of steel wheel, short axle side
It must not be interfered with the tooth of steel wheel, but since steel wheel internal tooth and the tooth height on flexbile gear external tooth are excessively high, flexbile gear be caused to pass
During dynamic, the short axle for needing to avoid the tooth of steel wheel is necessarily designed to shorter, occurs more so as to cause the flexbile gear that the material is soft
Violent deformation, the feelings that deformed flexbile gear causes fluctuation of service, reduction ratio variation, service life to reduce harmonic wave speed reducing machine
Condition.
Summary of the invention
The shortcomings that present invention is reduced for harmonic wave speed reducing machine fluctuation of service in the prior art, service life, provides one
Kind harmonic wave speed reducing machine.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of harmonic wave speed reducing machine, including wave producer, flexbile gear and steel wheel, wave producer are equipped with flexbile gear and flexbile gear are driven to turn
Dynamic, flexbile gear is engaged with steel wheel, and flexbile gear is equipped with flexbile gear external tooth, and steel wheel is equipped with steel wheel internal tooth, defines the parameter of flexbile gear external tooth such as
Under: the transverse tooth thickness of flexbile gear external tooth is b, and a height of c of the tooth of flexbile gear external tooth, the tooth top of flexbile gear external tooth to reference circle distance is d；Define steel wheel
The parameter of internal tooth is as follows: the transverse tooth thickness of steel wheel internal tooth is B, a height of C of the tooth of steel wheel internal tooth, the tooth top of steel wheel internal tooth to reference circle distance
For D；B/B=3/5-7/10, c=1.5-1.7m, C=0.9-1.1c, d=0.5-0.7m, D=0.9-1.1d.
Preferably, C=0.95-1.05c, D=0.95-1.05d.
Preferably, C=c, D=d.
Preferably, the tooth pitch for defining flexbile gear external tooth is a, the tooth pitch for defining steel wheel internal tooth is A, a=A.
Preferably, the toothed wheel profile of flexbile gear external tooth is involute, the toothed wheel profile of steel wheel internal tooth is involute.
Preferably, m is module.
The present invention is due to using above technical scheme, and have significant technical effect: the present invention passes through to flexbile gear external tooth
With the tooth Shape Design of steel wheel internal tooth, the stress between flexbile gear external tooth and steel wheel internal tooth can be effectively reduced, reduce to flexbile gear and steel
The abrasion of wheel, reduces the deformation extent of flexbile gear, to improve the intensity of harmonic wave speed reducing machine, extends making for harmonic wave speed reducing machine
Use the service life.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the fit structure schematic diagram of steel wheel and flexbile gear in Fig. 1.
Fig. 3 is the tooth-shape structure schematic diagram of flexbile gear external tooth in Fig. 2.
Fig. 4 is the tooth-shape structure schematic diagram of steel wheel internal tooth in Fig. 2.
The toponym that each number designation is referred in the figures above is as follows: where 1-wave producer, 2-flexbile gears,
201-flexbile gear external tooths, 3-steel wheels, 301-steel wheel internal tooths.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
Embodiment 1
A kind of harmonic wave speed reducing machine, as shown in Figs 1-4, including wave producer 1, flexbile gear 2 and steel wheel 3, wave producer 1 are equipped with
Flexbile gear 2 simultaneously drives flexbile gear 2 to rotate, and flexbile gear 2 is engaged with steel wheel 3, and flexbile gear 2 is equipped with flexbile gear external tooth 201, and steel wheel 3 is equipped with steel wheel
Internal tooth 301.
Define flexbile gear external tooth 201 parameter it is as follows: the transverse tooth thickness of flexbile gear external tooth 201 be b, a height of c of the tooth of flexbile gear external tooth 201,
The tooth top of flexbile gear external tooth 201 to reference circle distance be d；The parameter for defining steel wheel internal tooth 301 is as follows: the transverse tooth thickness of steel wheel internal tooth 301
For B, a height of C of the tooth of steel wheel internal tooth 301, the tooth top of steel wheel internal tooth 301 to reference circle distance is D；B/B=2/3, c=C=
1.6m, d=D=0.6m；M is module.When the high C of tooth of the high c of the tooth of flexbile gear external tooth 201 and steel wheel internal tooth 301 is 1.6m,
Relative to traditional high 2.25m of tooth, when flexbile gear external tooth 201 and steel wheel internal tooth 301 contact, the short axle of the flexbile gear is than normal tooth form
Minor axis diameter can reduce the length of 1.6m, the stress between flexbile gear external tooth 201 and steel wheel internal tooth 301 can be effectively reduced, reduce
Abrasion to flexbile gear 2 and steel wheel 3, reduces the deformation extent of flexbile gear 2, to improve the intensity of harmonic wave speed reducing machine, extends
The service life of harmonic wave speed reducing machine.
When flexbile gear external tooth 201 transverse tooth thickness b and steel wheel internal tooth 301 transverse tooth thickness B ratio be 2/3, relative to traditional flexbile gear outside
When the transverse tooth thickness b of tooth 201 and the transverse tooth thickness B ratio of steel wheel internal tooth 301 are 1, the stress that deformation of flexible wheel occurs concentrates on the tooth socket of flexbile gear
Part, therefore, tooth socket area is bigger, and stress more disperses, this tooth form increases 33% relative to standard tooth form tooth socket area, therefore
The stress between flexbile gear external tooth 201 and steel wheel internal tooth 301 can be effectively reduced, reduce the abrasion to flexbile gear 2 and steel wheel 3, reduce
The deformation extent of flexbile gear 2 to improve the intensity of harmonic wave speed reducing machine extends the service life of harmonic wave speed reducing machine.
According to have a fling at product in company it is demonstrated experimentally that normal tooth form harmonic wave speed reducing machine and the harmonic wave speed reducing machine phase of improvement tooth form
Than under rated condition, the service life of normal tooth form harmonic wave, which is no more than, occurs the problem of flexbile gear cracks for 100 hours, of the invention
Tooth form can normal service life at 10000 hours.
The tooth pitch for defining flexbile gear external tooth 201 is a, and the tooth pitch for defining steel wheel internal tooth 301 is A, a=A.Flexbile gear external tooth 201
Toothed wheel profile is involute, and the toothed wheel profile of steel wheel internal tooth 301 is involute.
Embodiment 2
A kind of harmonic wave speed reducing machine, as shown in Figs 1-4, including wave producer 1, flexbile gear 2 and steel wheel 3, wave producer 1 are equipped with
Flexbile gear 2 simultaneously drives flexbile gear 2 to rotate, and flexbile gear 2 is engaged with steel wheel 3, and flexbile gear 2 is equipped with flexbile gear external tooth 201, and steel wheel 3 is equipped with steel wheel
Internal tooth 301.
Define flexbile gear external tooth 201 parameter it is as follows: the transverse tooth thickness of flexbile gear external tooth 201 be b, a height of c of the tooth of flexbile gear external tooth 201,
The tooth top of flexbile gear external tooth 201 to reference circle distance be d；The parameter for defining steel wheel internal tooth 301 is as follows: the transverse tooth thickness of steel wheel internal tooth 301
For B, a height of C of the tooth of steel wheel internal tooth 301, the tooth top of steel wheel internal tooth 301 to reference circle distance is D；B/B=3/5, c=1.5m, C
=1.35m, d=0.5m, D=0.45m；M is module.
The tooth pitch for defining flexbile gear external tooth 201 is a, and the tooth pitch for defining steel wheel internal tooth 301 is A, a=A.Flexbile gear external tooth 201
Toothed wheel profile is involute, and the toothed wheel profile of steel wheel internal tooth 301 is involute.
Embodiment 3
A kind of harmonic wave speed reducing machine, as shown in Figs 1-4, including wave producer 1, flexbile gear 2 and steel wheel 3, wave producer 1 are equipped with
Flexbile gear 2 simultaneously drives flexbile gear 2 to rotate, and flexbile gear 2 is engaged with steel wheel 3, and flexbile gear 2 is equipped with flexbile gear external tooth 201, and steel wheel 3 is equipped with steel wheel
Internal tooth 301.
Define flexbile gear external tooth 201 parameter it is as follows: the transverse tooth thickness of flexbile gear external tooth 201 be b, a height of c of the tooth of flexbile gear external tooth 201,
The tooth top of flexbile gear external tooth 201 to reference circle distance be d；The parameter for defining steel wheel internal tooth 301 is as follows: the transverse tooth thickness of steel wheel internal tooth 301
For B, a height of C of the tooth of steel wheel internal tooth 301, the tooth top of steel wheel internal tooth 301 to reference circle distance is D；B/B=7/10, c=1.7m, C
=1.87m, d=0.7m, D=0.77m；M is module.
The tooth pitch for defining flexbile gear external tooth 201 is a, and the tooth pitch for defining steel wheel internal tooth 301 is A, a=A.Flexbile gear external tooth 201
Toothed wheel profile is involute, and the toothed wheel profile of steel wheel internal tooth 301 is involute.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (6)
1. a kind of harmonic wave speed reducing machine, including wave producer (1), flexbile gear (2) and steel wheel (3), wave producer (1) is equipped with flexbile gear
(2) and flexbile gear (2) is driven to rotate, flexbile gear (2) is engaged with steel wheel (3), and flexbile gear (2) is equipped with flexbile gear external tooth (201), steel wheel (3)
It is equipped with steel wheel internal tooth (301), which is characterized in that the parameter for defining flexbile gear external tooth (201) is as follows: the tooth of flexbile gear external tooth (201)
Thickness is b, a height of c of tooth of flexbile gear external tooth (201), and the tooth top of flexbile gear external tooth (201) to reference circle distance is d；Define steel wheel internal tooth
(301) parameter is as follows: the transverse tooth thickness of steel wheel internal tooth (301) be B, a height of C of tooth of steel wheel internal tooth (301), steel wheel internal tooth (301)
Tooth top to reference circle distance be D；B/B=3/5-7/10, c=1.5-1.7m, C=0.9-1.1c, d=0.5-0.7m, D=0.9-
1.1d。
2. a kind of harmonic wave speed reducing machine according to claim 1, which is characterized in that C=0.95-1.05c, D=0.95-
1.05d。
3. a kind of harmonic wave speed reducing machine according to claim 2, which is characterized in that C=c, D=d.
4. a kind of harmonic wave speed reducing machine according to claim 1, which is characterized in that define flexbile gear external tooth (201) tooth pitch be
A, the tooth pitch for defining steel wheel internal tooth (301) is A, a=A.
5. a kind of harmonic wave speed reducing machine according to claim 1, which is characterized in that the toothed wheel profile of flexbile gear external tooth (201)
For involute, the toothed wheel profile of steel wheel internal tooth (301) is involute.
6. a kind of harmonic wave speed reducing machine according to claim 1, which is characterized in that m is module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609357.4A CN109519514B (en) | 2018-12-27 | 2018-12-27 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609357.4A CN109519514B (en) | 2018-12-27 | 2018-12-27 | Harmonic speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN109519514A true CN109519514A (en) | 2019-03-26 |
| CN109519514B CN109519514B (en) | 2022-04-05 |
Family
ID=65798110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811609357.4A Active CN109519514B (en) | 2018-12-27 | 2018-12-27 | Harmonic speed reducer |
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| Country | Link |
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| CN (1) | CN109519514B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159726A (en) * | 2019-04-26 | 2019-08-23 | 牧川精密传动(浙江)有限公司 | A kind of circular cone harmonic speed changer |
| CN110887457A (en) * | 2019-11-29 | 2020-03-17 | 宿迁学院 | Method for calculating cross section area of wheel end with any tooth type |
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| EP0256801A1 (en) * | 1986-08-18 | 1988-02-24 | Quincy Technologies, Inc. | Uniform wall flexspine |
| JPH09303501A (en) * | 1996-05-17 | 1997-11-25 | Harmonic Drive Syst Ind Co Ltd | Film forming method for tooth in flexible engaging type gear device |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| CN101134254A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Double circular arc harmonic wave wheel gear shaped cutter |
| CN205446609U (en) * | 2015-12-26 | 2016-08-10 | 北京众合天成精密机械制造有限公司 | Flexbile gear structure of harmonic speed reducer ware |
| CN107387721A (en) * | 2017-08-01 | 2017-11-24 | 北京新立机械有限责任公司 | Wide tooth bicircular arcs harmonic wave tooth form |
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2018
- 2018-12-27 CN CN201811609357.4A patent/CN109519514B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0256801A1 (en) * | 1986-08-18 | 1988-02-24 | Quincy Technologies, Inc. | Uniform wall flexspine |
| JPH09303501A (en) * | 1996-05-17 | 1997-11-25 | Harmonic Drive Syst Ind Co Ltd | Film forming method for tooth in flexible engaging type gear device |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear power transmission with double circular arc tooth outline |
| CN101134254A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Double circular arc harmonic wave wheel gear shaped cutter |
| CN205446609U (en) * | 2015-12-26 | 2016-08-10 | 北京众合天成精密机械制造有限公司 | Flexbile gear structure of harmonic speed reducer ware |
| CN107387721A (en) * | 2017-08-01 | 2017-11-24 | 北京新立机械有限责任公司 | Wide tooth bicircular arcs harmonic wave tooth form |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159726A (en) * | 2019-04-26 | 2019-08-23 | 牧川精密传动(浙江)有限公司 | A kind of circular cone harmonic speed changer |
| CN110887457A (en) * | 2019-11-29 | 2020-03-17 | 宿迁学院 | Method for calculating cross section area of wheel end with any tooth type |
| CN110887457B (en) * | 2019-11-29 | 2021-08-03 | 宿迁学院 | Method for calculating cross section area of wheel end with any tooth type |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109519514B (en) | 2022-04-05 |
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Denomination of invention: A harmonic reducer Effective date of registration: 20230403 Granted publication date: 20220405 Pledgee: Bank of Jiaxing science and technology branch of Limited by Share Ltd. Pledgor: MUCHUAN PRECISION TRANSMISSION (ZHEJIANG) Co.,Ltd. Registration number: Y2023980037249 |