CN109519514B - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN109519514B CN109519514B CN201811609357.4A CN201811609357A CN109519514B CN 109519514 B CN109519514 B CN 109519514B CN 201811609357 A CN201811609357 A CN 201811609357A CN 109519514 B CN109519514 B CN 109519514B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 78
- 239000010959 steel Substances 0.000 claims abstract description 78
- 239000007788 liquid Substances 0.000 description 36
- 239000010687 lubricating oil Substances 0.000 description 18
- 239000003921 oil Substances 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 5
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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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- 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
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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
- 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
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Abstract
The invention relates to the field of speed reducers, and discloses a harmonic speed reducer, which comprises a wave generator (1), a flexible gear (2) and a steel gear (3), wherein the flexible gear (2) is arranged on the wave generator (1) and drives the flexible gear (2) to rotate, the flexible gear (2) is meshed with the steel gear (3), flexible gear external teeth (201) are arranged on the flexible gear (2), steel gear internal teeth (301) are arranged on the steel gear (3), and parameters of the flexible gear external teeth (201) are defined as follows: the tooth thickness of the flexible gear external teeth (201) is b, the tooth height of the flexible gear external teeth (201) is c, and the distance from the tooth tops of the flexible gear external teeth (201) to the reference circle is d; the parameters defining the internal teeth (301) of the steel wheel are as follows: the tooth thickness of the inner teeth (301) of the steel wheel is B, the tooth height of the inner teeth (301) of the steel wheel is C, and the distance from the tooth tops of the inner teeth (301) of the steel wheel to the reference circle is D; B/B3/5-7/10, C1.5-1.7 m, C0.9-1.1C, D0.5-0.7 m, D0.9-1.1D. The invention has the advantages of improving the strength of the harmonic speed reducer and prolonging the service life of the harmonic speed reducer.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a harmonic speed reducer.
Background
The harmonic speed reducer is a new type transmission structure in the gear speed reducer, it utilizes the flexible gear to produce controllable elastic deformation wave to cause the relative dislocation of teeth between rigid gear and flexible gear to transmit power and movement. The transmission is essentially different from general gear transmission, and has particularity in the aspects of meshing theory, collective calculation and structural design. Compared with the common speed reducer, the harmonic speed reducer has the advantages of high precision, high bearing capacity and the like, and the volume and the weight of the harmonic speed reducer are reduced by at least 1/3 because the used material is 50 percent less.
Like planetary gear drives, harmonic gear drives are also composed of three basic components: the flexible gear comprises a fixed internal gear, a flexible gear (namely an elastic thin-wall sleeve cup with a base body connected with a driven shaft, wherein a gear ring is formed on a bus at the opening end of the flexible gear) and a wave generator for radially deforming the flexible gear. The teeth with the same modulus are cut on the rigid gear and the flexible gear, but the teeth number is different, namely the teeth number of the flexible gear is two less than that of the rigid gear. The tooth number difference of the harmonic drive represents the deformation wave number of the flexible gear. The most common is harmonic drive of wavenumber W-2. In the free state (without generator), the two wheels are in concentric position, and the gaps between the teeth of the rigid wheel and the flexible wheel are uniform. A generator mounted within the flexspline radially deforms the flexspline into an elliptical shape. At this point, on the major axis of the ellipse, the teeth mesh along the entire working height, while on the minor axis, a radial gap is formed between the tooth tips. The shape of the flexspline is always close to the above-mentioned shape during rotation of the generator.
The harmonic gear reducer consists of three main components, namely a rigid gear, a flexible gear and a wave generator. Wherein, the wave generator is a driving part, and one of the rigid wheel and the flexible wheel is a driven part. The fixed rigid wheel is a rigid internal gear, the flexible wheel is a thin-wall cylindrical external gear which is easy to deform, the fixed rigid wheel and the flexible wheel have triangular (or involute) tooth profiles together, the peripheral sections of the fixed rigid wheel and the flexible wheel are equal, and the rigid wheel is more than the flexible wheel by a plurality of teeth (usually two teeth). The wave generator consists of an elliptical disc and a flexible ball bearing, or a rotating arm with rollers at both ends. Usually, the wave generator is a driving body, one of the flexible gear and the rigid gear is a driven body, and the other is a fixed part.
In the patent headings: pressure control harmonic speed reducer ware, application number: CN201711417989.6, application date: 2017-12-25, publication No.: the invention patent of CN108180272A discloses the following:
the utility model provides a pressure control harmonic speed reducer ware, including compliant wheel 10, rigidity wheel 20 and wave generator 30, compliant wheel 10 includes the body, the body is the tube-shape, the body has barrel end and bobbin base end, be provided with on the outer wall of barrel end and be used for the external tooth 11 with the internal tooth 21 meshing of rigidity wheel 20, the head of wave generator 30 stretches into to the body from the barrel end of body, valve chamber 31 has been seted up to wave generator 30 inside that is located the body, pressure control harmonic speed reducer ware still includes stator core 40, stator core 40's head is located valve chamber 31, wherein: a first liquid supply channel 50 is arranged from the tail part of the stator core 40 to the outer wall of the head part of the stator core 40, one end of the stator core 40 at the tail part is an inlet end of the first liquid supply channel 50, one end of the stator core 40 at the head part is an outlet end of the first liquid supply channel 50, and external oil pressure equipment is connected with the inlet end of the first liquid supply channel 50; a second liquid supply channel 60 is arranged from the cavity wall of the valve cavity 31 of the wave generator 30 to the outer wall of the wave generator 30, one end of the liquid supply channel, which is positioned on the cavity wall of the valve cavity 31, is an inlet end, and one end, which is positioned on the outer wall of the wave generator 30, is an outlet end; the inlet end of the second liquid supply passage 60 corresponds to the outlet end of the first liquid supply passage 50 in the axial position of the spool; wherein: the wave generator 30 is rotated so that the outlet end of the first liquid supply passage 50 is opposite to or offset from the inlet end of the second liquid supply passage 60. In the present embodiment, the external oil pressure device supplies the first liquid supply passage 50 with lubricating oil.
According to the above, when the wave generator 30 rotates, as shown in fig. 2 and 4, the first liquid supply channel 50 and the second liquid supply channel 60 are communicated and cut off through the communication and dislocation of the outlet ends and the inlet ends thereof, so that the external oil pressure equipment enters between the wave generator 30 and the body of the flexible wheel 10 through the first liquid supply channel 50 and the second liquid supply channel 60 when being communicated, and the lubrication can be provided for the wave generator 30 and the flexible wheel 10. According to the invention, the stator core 40 is arranged on the wave generator 30 and the liquid supply channel is arranged, so that lubricating oil can enter between the wave generator 30 and the flexible wheel 10, and the lubricating oil is provided for the wave generator 30 and the flexible wheel 10. Because the wave generator 30 and the flexible wheel 10 rotate constantly, the difficulty in providing lubricating oil between the rotating parts by additionally arranging the hydraulic pipeline is increased, so that a person skilled in the art can only lubricate between the rotating parts by adopting a mode that the shell is sealed to cover all the parts and the lubricating oil with certain pressure is introduced into the shell.
In the present application, the stator core 40 is additionally arranged in the wave generator 30, and the stator core 40 keeps a non-rotating state when the wave generator 30 rotates, so that the first liquid supply channel 50 and the second liquid supply channel 60 are periodically communicated (the first liquid supply channel is communicated once when the wave generator 30 rotates once), and thus, the external oil pressure equipment periodically provides lubricating oil between the wave generator 30 and the flexible wheel 10. In order to provide lubricating oil between the outer teeth 11 and the inner teeth 21, a third liquid supply channel 70 is arranged from the inner hole wall of the body to the outer wall of the flexible wheel 10, one end, located on the inner hole wall, of the third liquid supply channel 70 is an inlet end, one end, located on the outer wall of the body, of the third liquid supply channel is an outlet end, and the inlet end of the third liquid supply channel 70 corresponds to the outlet end of the second liquid supply channel 60 in the axial position of the valve core. In the present embodiment, the lubricating oil between the wave generator 30 and the flexible gear enters between the flexible gear 10 and the rigid gear 20 through the third liquid supply passage 70, thereby providing the lubricating oil for the meshing transmission of the external teeth 11 and the internal teeth 21. Preferably, the third liquid supply channel 70 passes through between the two external teeth 11.
In order to store a certain amount of lubricating oil between the wave generator 30 and the flexible wheel 10, the outer wall of the wave generator 30 is provided with criss-cross oil grooves 33, the oil grooves 33 pass through the outlet end of the second liquid supply channel 60, and the inlet of the third liquid supply channel 70 corresponds to the oil grooves 33 when at least part of the oil grooves 33 rotate in the wave generator 30, so that the lubricating oil in the oil grooves 33 can enter between the flexible wheel 10 and the rigid wheel 20 through the third channel. Thus, more lubricating oil enters the oil groove 33 through the first and second liquid supply passages 50, 60 and enters between the internal teeth 21 and the external teeth 11 through the oil groove 33 and the third liquid supply passage 70.
In order to prevent the return of the lubricating oil in each liquid supply channel, a check valve 41 is arranged in the first liquid supply channel 50, an inlet of the check valve 41 is communicated with an inlet end of the first liquid supply channel 50, and an outlet of the check valve 41 is communicated with an outlet end of the first liquid supply channel 50. In this way, the lubricating oil entering the first liquid supply passage 50 through the external oil pressure device does not flow back.
In the patent, the stator core is arranged on the wave generator and the liquid supply channel is arranged, so that lubricating oil can enter between the wave generator and the flexible wheel, and the lubricating oil is provided for the wave generator and the flexible wheel; therefore, the problems that a large amount of lubricating oil generates large resistance to the rotation of the flexible wheel, so that the temperature of the lubricating oil is increased and the performance is poor are solved.
However, when the harmonic reducer operates, the long shaft side of the elliptical flexible gear must be meshed with the teeth of the steel gear, and the short shaft side must not interfere with the teeth of the steel gear, but because the teeth on the inner teeth of the steel gear and the outer teeth of the flexible gear are too high, the short shaft of the flexible gear, which needs to be avoided from the teeth of the steel gear, must be designed to be shorter in the transmission process, so that the flexible gear made of softer material is more severely deformed, and the deformed flexible gear causes unstable operation, change of reduction ratio and reduction of service life of the harmonic reducer.
Disclosure of Invention
The invention provides a harmonic speed reducer, aiming at the defects of unstable operation and reduced service life of the harmonic speed reducer in the prior art.
In order to solve the technical problem, the invention is solved by the following technical scheme:
the utility model provides a harmonic speed reducer machine, includes wave generator, flexbile gear and steel wheel, is equipped with the flexbile gear on the wave generator and drives the flexbile gear and rotate, and the flexbile gear meshes with the steel wheel, is equipped with the flexbile gear external tooth on the flexbile gear, is equipped with the steel wheel internal tooth on the steel wheel, and the parameter of definition flexbile gear external tooth is as follows: the tooth thickness of the flexible gear outer teeth is b, the tooth height of the flexible gear outer teeth is c, and the distance from the tooth tops of the flexible gear outer teeth to the reference circle is d; the parameters defining the internal teeth of the steel wheel are as follows: the tooth thickness of the inner teeth of the steel wheel is B, the tooth height of the inner teeth of the steel wheel is C, and the distance from the tooth tops of the inner teeth of the steel wheel to the reference circle is D; B/B3/5-7/10, C1.5-1.7 m, C0.9-1.1C, D0.5-0.7 m, D0.9-1.1D.
Preferably, C is 0.95 to 1.05C and D is 0.95 to 1.05D.
Preferably, C is C, and D is D.
Preferably, the pitch of the outer teeth of the flexible gear is defined as a, and the pitch of the inner teeth of the steel gear is defined as a, where a is a.
Preferably, the tooth profile line of the external teeth of the flexible gear is an involute, and the tooth profile line of the internal teeth of the steel gear is an involute.
Preferably, m is the gear module.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that: according to the invention, through the tooth shape design of the flexible gear outer teeth and the steel gear inner teeth, the stress between the flexible gear outer teeth and the steel gear inner teeth can be effectively reduced, the abrasion to the flexible gear and the steel gear is reduced, and the deformation degree of the flexible gear is reduced, so that the strength of the harmonic speed reducer is improved, and the service life of the harmonic speed reducer is prolonged.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the matching structure of the steel wheel and the flexible wheel in fig. 1.
Fig. 3 is a schematic diagram of a tooth profile structure of the external teeth of the flexible gear in fig. 2.
Fig. 4 is a schematic view of the tooth profile of the internal teeth of the steel wheel in fig. 2.
The names of the parts indicated by the numerical references in the above figures are as follows: wherein, 1-wave generator, 2-flexible gear, 201-flexible gear external tooth, 3-steel gear, 301-steel gear internal tooth.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
A harmonic speed reducer comprises a wave generator 1, a flexible gear 2 and a steel gear 3, wherein the flexible gear 2 is arranged on the wave generator 1 and drives the flexible gear 2 to rotate, the flexible gear 2 is meshed with the steel gear 3, outer teeth 201 of the flexible gear 2 are arranged on the flexible gear 2, and inner teeth 301 of the steel gear 3 are arranged on the steel gear.
Parameters defining the flexspline outer teeth 201 are as follows: the tooth thickness of the flexible gear external teeth 201 is b, the tooth height of the flexible gear external teeth 201 is c, and the distance from the tooth crest of the flexible gear external teeth 201 to the reference circle is d; the parameters defining the internal teeth 301 of the steel wheel are as follows: the tooth thickness of the inner teeth 301 of the steel wheel is B, the tooth height of the inner teeth 301 of the steel wheel is C, and the distance from the tooth tops of the inner teeth 301 of the steel wheel to the reference circle is D; B/B is 2/3, C is 1.6m, D is 0.6 m; m is the gear module. When the tooth height C of the flexible gear external teeth 201 and the tooth height C of the steel gear internal teeth 301 are 1.6m, compared with the traditional tooth height of 2.25m, when the flexible gear external teeth 201 and the steel gear internal teeth 301 are in contact, the length of the short shaft of the flexible gear can be reduced by 1.6m compared with the diameter of the short shaft of a normal tooth form, the stress between the flexible gear external teeth 201 and the steel gear internal teeth 301 can be effectively reduced, the abrasion to the flexible gear 2 and the steel gear 3 is reduced, the deformation degree of the flexible gear 2 is reduced, the strength of the harmonic speed reducer is improved, and the service life of the harmonic speed reducer is prolonged.
When the tooth thickness B of flexbile gear external tooth 201 and the tooth thickness B ratio of steel wheel internal tooth 301 are 2/3, be 1 for the tooth thickness B of traditional flexbile gear external tooth 201 and the tooth thickness B ratio of steel wheel internal tooth 301, the stress that the flexbile gear deformation takes place, concentrate on the tooth's socket part of flexbile gear, therefore, the tooth's socket area is big more, the stress disperses more, this profile of tooth has increased 33% for standard tooth's socket area, consequently, can effectively reduce the stress between flexbile gear external tooth 201 and the steel wheel internal tooth 301, the wearing and tearing to flexbile gear 2 and steel wheel 3 have been reduced, the deformation degree of flexbile gear 2 has been reduced, thereby the intensity of harmonic speed reducer has been promoted, the life of harmonic speed reducer has been prolonged.
According to the experimental results of internal test products of companies, compared with the harmonic speed reducer with the improved tooth shape, the harmonic speed reducer with the normal tooth shape has the problem that the flexible gear is cracked when the service life of the harmonic wave with the normal tooth shape is not more than 100 hours under the rated condition, and the tooth shape can have the normal service life of 10000 hours.
The pitch of the flexible gear outer teeth 201 is defined as a, and the pitch of the steel gear inner teeth 301 is defined as a, wherein a is a. The tooth profile contour line of the flexible gear external teeth 201 is an involute, and the tooth profile contour line of the steel gear internal teeth 301 is an involute.
Example 2
A harmonic speed reducer comprises a wave generator 1, a flexible gear 2 and a steel gear 3, wherein the flexible gear 2 is arranged on the wave generator 1 and drives the flexible gear 2 to rotate, the flexible gear 2 is meshed with the steel gear 3, outer teeth 201 of the flexible gear 2 are arranged on the flexible gear 2, and inner teeth 301 of the steel gear 3 are arranged on the steel gear.
Parameters defining the flexspline outer teeth 201 are as follows: the tooth thickness of the flexible gear external teeth 201 is b, the tooth height of the flexible gear external teeth 201 is c, and the distance from the tooth crest of the flexible gear external teeth 201 to the reference circle is d; the parameters defining the internal teeth 301 of the steel wheel are as follows: the tooth thickness of the inner teeth 301 of the steel wheel is B, the tooth height of the inner teeth 301 of the steel wheel is C, and the distance from the tooth tops of the inner teeth 301 of the steel wheel to the reference circle is D; B/B is 3/5, C is 1.5m, C is 1.35m, D is 0.5m, and D is 0.45 m; m is the gear module.
The pitch of the flexible gear outer teeth 201 is defined as a, and the pitch of the steel gear inner teeth 301 is defined as a, wherein a is a. The tooth profile contour line of the flexible gear external teeth 201 is an involute, and the tooth profile contour line of the steel gear internal teeth 301 is an involute.
Example 3
A harmonic speed reducer comprises a wave generator 1, a flexible gear 2 and a steel gear 3, wherein the flexible gear 2 is arranged on the wave generator 1 and drives the flexible gear 2 to rotate, the flexible gear 2 is meshed with the steel gear 3, outer teeth 201 of the flexible gear 2 are arranged on the flexible gear 2, and inner teeth 301 of the steel gear 3 are arranged on the steel gear.
Parameters defining the flexspline outer teeth 201 are as follows: the tooth thickness of the flexible gear external teeth 201 is b, the tooth height of the flexible gear external teeth 201 is c, and the distance from the tooth crest of the flexible gear external teeth 201 to the reference circle is d; the parameters defining the internal teeth 301 of the steel wheel are as follows: the tooth thickness of the inner teeth 301 of the steel wheel is B, the tooth height of the inner teeth 301 of the steel wheel is C, and the distance from the tooth tops of the inner teeth 301 of the steel wheel to the reference circle is D; B/B is 7/10, C is 1.7m, C is 1.87m, D is 0.7m, and D is 0.77 m; m is the gear module.
The pitch of the flexible gear outer teeth 201 is defined as a, and the pitch of the steel gear inner teeth 301 is defined as a, wherein a is a. The tooth profile contour line of the flexible gear external teeth 201 is an involute, and the tooth profile contour line of the steel gear internal teeth 301 is an involute.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.
Claims (3)
1. The utility model provides a harmonic speed reducer machine, includes wave generator (1), flexbile gear (2) and steel wheel (3), is equipped with flexbile gear (2) on wave generator (1) and drives flexbile gear (2) and rotate, and flexbile gear (2) and steel wheel (3) meshing are equipped with flexbile gear external tooth (201) on flexbile gear (2), are equipped with steel wheel internal tooth (301) on steel wheel (3), and its characterized in that, the parameter of definition flexbile gear external tooth (201) as follows: the tooth thickness of the flexible gear external teeth (201) is b, the tooth height of the flexible gear external teeth (201) is c, and the distance from the tooth tops of the flexible gear external teeth (201) to the reference circle is d; the parameters defining the internal teeth (301) of the steel wheel are as follows: the tooth thickness of the inner teeth (301) of the steel wheel is B, the tooth height of the inner teeth (301) of the steel wheel is C, the distance from the tooth tops of the inner teeth (301) of the steel wheel to the reference circle is D, and the gear module of the flexible gear (2) and the gear module of the steel wheel (3) are defined to be m; B/B-3/5-7/10, C-1.5-1.7 m, C-0.9-1.1C, D-0.5-0.7 m, D-0.9-1.1D; defining the pitch of the flexible gear external teeth (201) as a, and defining the pitch of the steel gear internal teeth (301) as A, wherein a is A; the tooth profile line of the flexible gear external teeth (201) is an involute, and the tooth profile line of the steel gear internal teeth (301) is an involute.
2. The harmonic reducer according to claim 1, wherein C is (0.95-1.05) C, and D is (0.95-1.05) D.
3. A harmonic reducer as claimed in claim 2, wherein C and D are D.
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| CN201811609357.4A CN109519514B (en) | 2018-12-27 | 2018-12-27 | Harmonic speed reducer |
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| CN201811609357.4A CN109519514B (en) | 2018-12-27 | 2018-12-27 | Harmonic speed reducer |
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| CN109519514B true CN109519514B (en) | 2022-04-05 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN110887457B (en) * | 2019-11-29 | 2021-08-03 | 宿迁学院 | A calculation method of wheel end cross-sectional area for arbitrary tooth profile |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0256801A1 (en) * | 1986-08-18 | 1988-02-24 | Quincy Technologies, Inc. | Uniform wall flexspine |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear drive with double arc tooth profile |
| CN101134254A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Double arc harmonic gear shaper 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 | A flexible spline structure of harmonic reducer |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3788527B2 (en) * | 1996-05-17 | 2006-06-21 | 株式会社ハーモニック・ドライブ・システムズ | Method for forming coating on teeth of flexible meshing gear device |
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2018
- 2018-12-27 CN CN201811609357.4A patent/CN109519514B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0256801A1 (en) * | 1986-08-18 | 1988-02-24 | Quincy Technologies, Inc. | Uniform wall flexspine |
| CN101135357A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Harmonic gear drive with double arc tooth profile |
| CN101134254A (en) * | 2006-08-31 | 2008-03-05 | 辛洪兵 | Double arc harmonic gear shaper 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 | A flexible spline structure of harmonic reducer |
| 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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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 |
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