CN109707821A - Wave producer and harmonic wave speed reducing machine with the wave producer - Google Patents
Wave producer and harmonic wave speed reducing machine with the wave producer Download PDFInfo
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- CN109707821A CN109707821A CN201910093587.8A CN201910093587A CN109707821A CN 109707821 A CN109707821 A CN 109707821A CN 201910093587 A CN201910093587 A CN 201910093587A CN 109707821 A CN109707821 A CN 109707821A
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Abstract
The present invention relates to a kind of wave producer and a kind of harmonic wave speed reducing machines with the wave producer, belong to harmonic wave speed reducing machine technical field.Wave producer in the present invention includes wave producer cam, and the shape expression formula of the oval cross section of wave producer cam isR is wave producer cam oval cross section to diameter in formula；r1For the reference circle diameter of wave producer cam oval cross section；The long axis length of L=wave producer cam oval cross section-wave producer cam oval cross section minor axis length；The angle that θ generates for wave producer curve, 0 °≤θ≤360 °.Structure of the invention is reasonable, the expression of wave producer cam face curve is not only gived, and the wave producer enables flexbile gear and firm gear preferably to engage, and the number of teeth engaged simultaneously is greater than 30%, improve the distribution of force of flexible bearing and gear mesh tooth face, compliant wheel bottom of the tooth stress is reduced, service life is improved.
Description
Technical field
The present invention relates to a kind of wave producer and a kind of harmonic wave speed reducing machines with the wave producer, belong to harmonic reduction
Machine technical field.
Background technique
Harmonic wave speed reducing machine is industrial machine human heart, and the quality of harmonic wave speed reducing machine directly determines the good of entire robot
It is bad.It has the characteristics that high-precision, small size, big retarding ratio.
The kernel component of harmonic wave speed reducing machine is mainly made of flexbile gear, firm gear, wave producer.During making harmonic drive
Flank of tooth stress reduces, and speed reducer precision, service life etc. are improved, and only increases the number of teeth that flexbile gear engages simultaneously with firm gear.At present
Most of harmonic wave manufacturers declare that the number of teeth engaged simultaneously is 20% or so, the number of teeth of engagement and harmonic wave simultaneously in transmission process
Tooth form and the elliptical cross-sectional shape structure of wave producer cam are closely related.Major production commercial city constantly to wave producer and
Tooth form, which optimizes, to be improved to seek abrasion loss and the long-life of harmonic wave speed reducing machine.
The wave producer of harmonic wave speed reducing machine is mainly made of wave producer cam and flexible bearing, wherein wave producer cam
Shape the performance of speed reducer can be had a direct impact.
It is directed in the design of harmonic wave speed reducing machine wave producer cam face at present, it is most of to be sent out using elliptic curve wave
Raw device cam, the disadvantage is that stress suffered by the flexbile gear bottom of the tooth of speed reducer is larger, influences soft its advantage is that design and fabrication is fairly simple
The service life of the gear teeth is taken turns, the number of teeth that this kind of cam face flexbile gear engages simultaneously when engaging with steel wheel is less.
Other wave producer cam structures also mix circular curve, bicircular arcs curve, involute curve, cycloidal curve
Deng.Distribution of force is preferable when using the wave producer cam of Mixing Curve the purpose is to engage flexbile gear with firm gear, using four
The wave producer cam of a profile gives expression formula, parameter etc., but cannot make limited evaluation to wave producer cam.
Although in conclusion at present the country had some researchs to the wave producer cam face of harmonic wave speed reducing machine,
There are following shortcomings:
One: the wave producer cam face curve representation formula provided is not detailed enough, it is impossible to be used in Instructing manufacture.
Two: when entire wave producer and flexbile gear are coupled when firm gear, total number of teeth in engagement is less simultaneously for appearance, leads to monodentate
Stress is very big, and abrasion is caused to accelerate entire speed reducer service life reduction.
Three: under the premise of wave producer major axis of cam and identical perimeter, current wave producer structure is in long axis region
Contact area it is less, this number of teeth for just directly resulting in while engaging is reduced, while short axle is longer, is likely to result in interior when transmission
The problem of tooth and external tooth take off not open appearance.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of wave producer, it is possible to increase flexbile gear engages simultaneously with firm gear
The number of teeth.
To solve above-mentioned technical problem the technical scheme adopted by the invention is that: wave producer, including wave producer cam,
The shape expression formula of the oval cross section of wave producer cam isR is wave producer cam oval cross section in formula
To diameter；r1For the reference circle diameter of wave producer cam oval cross section；The long axial length of L=wave producer cam oval cross section
Degree-wave producer cam oval cross section minor axis length；The angle that θ generates for wave producer curve, 0 °≤θ≤360 °.
Correspondingly, the present invention while a kind of harmonic wave speed reducing machine with above-mentioned wave producer, the specific knot of harmonic wave speed reducing machine
Structure is as follows: the firm gear including flexbile gear and circular ring shape, and the inner surface of firm gear is provided with internal tooth, and flexbile gear outer surface is provided with and firm gear
The compatible external tooth of internal tooth, flexbile gear inner ring are provided with wave producer, and wave producer includes wave producer cam and flexible bearing, soft
The outer ring of property bearing is sleeved on flexbile gear inner hole, and the shape expression formula of the oval cross section of wave producer cam isR is wave producer cam oval cross section to diameter in formula；r1For the benchmark of wave producer cam oval cross section
Circular diameter；The long axis length of L=wave producer cam oval cross section-wave producer cam oval cross section minor axis length；θ is wave
The angle that generator curve generates, 0 °≤θ≤360 °.
Harmonic wave speed reducing machine in the present invention can also do improvement further below: the invention also includes be sheathed on wave producer
The big end cap of one end, the small end cover for being sheathed on the wave producer other end, flexbile gear outer sheath are equipped with right-angled intersection bearing, flexbile gear and ten
Word intersects bearing and is installed in big end cap by the way that the seam allowance that big end covers is arranged in, matching between the seam allowance and flexbile gear that big end covers
Mating surface between conjunction face, flexbile gear and right-angled intersection bearing is provided with O-ring seals, big end cap, O-ring seals, flexbile gear, ten
Word intersects bearing and is fixed on together by the second screw, and the mating surface between the inner hole and wave producer of big end cap is provided with
Lip-type packing；
Firm gear is mounted on right-angled intersection bearing by seam allowance, and small end cover passes through the seam allowance being arranged in small end cover and is mounted on
The outer of steel wheel, small end cover are fixed on together by the first screw and steel wheel, right-angled intersection bearing, the inner hole of small end cover with
Mating surface between wave producer is provided with lip-type packing.
Further, deep groove ball bearing is provided between the inner hole and wave producer of small end cover, in the deep groove ball bearing
The inner hole that circle forms interference fit, outer ring and small end cover with wave producer, which is formed, to be interference fitted；
It is provided with deep groove ball bearing between the inner hole and wave producer of big end cap, the deep groove ball bearing inner ring and wave producer
The inner hole for forming interference fit, outer ring and big end cap, which is formed, to be interference fitted；The corresponding position of end cap, small end cover, wave producer greatly
It is provided with the positioning spigot for installing deep groove ball bearing；The deep groove ball bearing at wave producer both ends is respectively positioned on lip-type packing
Inside.
Further, for the deep groove ball bearing between big end cap and wave producer, deep groove ball bearing outside and big end
Waveform spring washer is provided between the positioning spigot of lid.
Further, wave producer cam both ends have the lip packing position of installation lip-type packing, wave producer is convex
The processing method for taking turns the lip packing position at both ends uses radial feed, does not allow axial feed.
Further, the tooth difference of the internal tooth of the external tooth and firm gear of flexbile gear is 2.
The beneficial effects of the present invention are: not only giving the expression of wave producer cam face curve, and should
Wave producer enables flexbile gear and firm gear preferably to engage, and is effectively increased long axis area under the premise of guaranteeing that perimeter is consistent
The arc length in domain guarantees that more flexbile gear external tooths are in long axis region when engagement, make the number of teeth engaged simultaneously be greater than 30%, improve
The distribution of force of flexible bearing and gear mesh tooth face reduces flexbile gear bottom of the tooth stress, reduces the contact stress of monodentate, makes whole
Rigidity of a wave producer in transmission process is more preferable, and abrasion is reduced to obtain longer life.
Flexible bearing inner ring is fixed on wave producer cam, flexible bearing outer ring and flexbile gear inner hole, at this time
The cross sectional shape of flexbile gear external tooth and the cross sectional shape wave producer of wave producer cam are oval consistent, steel wheel internal tooth and flexbile gear external tooth
Cooperated, forms long axis region of engagement after flexbile gear external tooth and the cooperation of firm gear internal tooth and short axle is spaced apart area.Wave producer of the present invention
The short axle of cam is shorter, and the abjection for being more advantageous to flexbile gear is interfered without causing.
The present invention simultaneously improves the assembling structure of harmonic wave speed reducing machine, precision, the rigidity of entire harmonic wave speed reducing machine
It improves, back clearance reduction, the size of entire harmonic wave speed reducing machine in the axial direction can be effectively controlled, and ensure that entire speed reducer
Installation accuracy, while can effectively avoid grease leakage.
In conclusion the present invention can effectively solve existing harmonic wave speed reducing machine, total number of teeth in engagement is few simultaneously, flank of tooth stress is big, abrasion
Fastly, the problems such as accuracy decline is fast, grease leakage, can make the performance of harmonic wave speed reducing machine reach a new step.
Detailed description of the invention
Fig. 1 is the integral installation distribution structure schematic diagram of harmonic wave speed reducing machine of the invention.
Fig. 2 is that wave producer of the invention is installed in flexbile gear, and flexbile gear and firm gear are fitted schematic diagram.
Fig. 3 is the main view of wave producer of the invention.
Wave producer cam standard ellipse section and wave producer cam elliptical cross section of the present invention in Fig. 4 embodiment of the present invention
Face relative dimensions comparison diagram (major and minor axis, arc length, 45 degree of radiuses etc.).
Wave producer cam elliptic curve schematic diagram Fig. 5 of the invention.
Components mark in figure: the big end cap of 1-, 2-O shape sealing ring, 3- flexbile gear, 4- right-angled intersection bearing, 5- firm gear, 6- wave
Generator, 7- deep groove ball bearing 8- lip-type packing, 9- waveform spring washer, 10- small end cover, the first screw of 11-, 12- second
Screw, 13- wave producer cam, 14- flexible bearing, 15- lip packing position, 16- external tooth, 17- internal tooth, 18- wave producer are convex
It is oval to take turns standard ellipse, 19- wave producer cam of the present invention.
Specific embodiment
For ease of understanding with the implementation present invention, the embodiment of the present invention combination attached drawing is selected to be described further.
As shown in Figure 3 and Figure 5, the present invention includes wave producer cam 13, the shape of the oval cross section of wave producer cam 13
Shape expression formula isR is 13 oval cross section of wave producer cam to diameter in formula；r1For wave producer cam
The reference circle diameter of 13 oval cross sections；Long axis length-wave producer cam 13 of 13 oval cross section of L=wave producer cam is oval
The minor axis length in section；The angle that θ generates for 6 curve of wave producer, 0 °≤θ≤360 °.
Correspondingly, the present invention while a kind of harmonic wave speed reducing machine with above-mentioned wave producer, as shown in Fig. 1, Fig. 3 and Fig. 5,
The specific structure of harmonic wave speed reducing machine is as follows: the firm gear 5 including flexbile gear 3 and circular ring shape, the inner surface of firm gear 5 are provided with internal tooth 17,
3 outer surface of flexbile gear is provided with external tooth 16 compatible with the internal tooth 17 of firm gear 5, and 3 inner ring of flexbile gear is provided with wave producer 6, wave hair
Raw device 6 includes wave producer cam 13 and flexible bearing 14, and the outer ring of flexible bearing 14 is sleeved on 3 inner hole of flexbile gear, and wave occurs
The shape expression formula of the oval cross section of device cam 13 isR is 13 oval cross section of wave producer cam in formula
Xiang Jing；r1For the reference circle diameter of 13 oval cross section of wave producer cam；The long axial length of 13 oval cross section of L=wave producer cam
Degree -13 oval cross section of wave producer cam minor axis length；The angle that θ generates for 6 curve of wave producer, 0 °≤θ≤360 °.
Working principle of the present invention is as follows: as shown in Fig. 2, the setting of wave producer 6 bends to flexbile gear 3 inside flexbile gear 3
The ellipse of wave producer cam 13 is located at the outer of long axis engaged section when flexbile gear 3 is in meshing state with firm gear 5 on flexbile gear 3
Tooth 16 and the internal tooth 17 of steel wheel 5 are engaged.Harmonic wave speed reducing machine is used as retarder, has generallyd use wave producer 6 actively, just
Take turns 5 fixed, 3 output forms of flexbile gear.Wave producer 6 is driven by a motor as rotary driving source.Wave producer 6 rotates, so that soft
The external tooth 16 on 3 is taken turns, the position of engagement of the internal tooth 17 on steel wheel 5 is moved in a circumferential direction.External tooth 16 on flexbile gear 3, steel wheel 5
On the teeth number difference of internal tooth 17 be preferably 2, the external tooth 16 on flexbile gear 3, phase between the internal tooth 17 on steel wheel 5 are made due to teeth number difference
The relative rotary motion significantly slowed down is generated to the rotation of wave producer 6.Because firm gear 5 be it is fixed, flexbile gear 3
Rotation drives the component connecting with it also to generate rotation, by this method transmitting rotation retarded motion.
Fig. 4 is harmonic wave speed reducing machine wave producer cam curve schematic diagram.The long axis of wave producer cam standard ellipse 18 is
L3, short axle L2.In the case where girth is constant, keep longitudinal axis L 3 constant, short axle L2 reduces, to be deformed into the present invention
Wave producer cam ellipse 19.Wave producer cam ellipse 19 of the present invention is compared with wave producer cam standard ellipse 18, in length
Axle portion position, wave producer cam ellipse 19 of the present invention it is bigger than wave producer cam standard ellipse 18 to diameter；At short axle position, originally
Invention wave producer cam ellipse 19 it is smaller than wave producer cam standard ellipse 18 to diameter.So that 3 bottom of the tooth amount of bow of flexbile gear subtracts
It is small, and then 3 bottom of the tooth stress of flexbile gear reduces, and total number of teeth in engagement increases, and improves compliant wheel service life.
In an embodiment of the present invention, as shown in figure 4, wave producer cam standard ellipse 18 is convex with wave producer of the present invention
Wheel ellipse 19 compares, under the premise of longitudinal axis L 3=L3 ", short axle L2 > L2 ", the perimeter of wave producer cam ellipse 19 of the present invention
Equal with the perimeter of wave producer cam standard ellipse 18, wave producer cam ellipse 19 of the present invention is opposite in long axis direction arc length
Increase L1 "-L1=-0.03mm, wave producer cam ellipse 19 of the present invention in 18 long axis arc length of wave producer cam standard ellipse
Increase L5 "-L5=0.04mm, wave of the present invention relative to 18 short axle arc length of wave producer cam standard ellipse in short-axis direction arc length
Radius of the generator cam ellipse 19 at 45 degree increases L4 "-L4 at 45 degree relative to wave producer cam standard ellipse 18
=0.05mm (guarantees more multiple tooth in long axis region).
This kind design is advantageous in that: the arc length in long axis region is effectively increased under the premise of guaranteeing that perimeter is consistent,
Guarantee that more 3 external tooths 16 of flexbile gear are in long axis region when engagement, make the number of teeth engaged simultaneously be greater than 30%, improve flexible shaft
The distribution of force for holding 14 and gear mesh tooth face reduces 3 bottom of the tooth stress of flexbile gear, reduces the contact stress of monodentate, makes entire
Rigidity of the wave producer 6 in transmission process is more preferable, and abrasion is reduced to obtain longer life.
14 inner ring of flexible bearing is fixed on wave producer cam 13, and 14 outer ring of flexible bearing is matched with 3 inner hole of flexbile gear
It closes, the cross sectional shape wave producer of the cross sectional shape of 3 external tooth 16 of flexbile gear and wave producer cam 13 is oval consistent at this time, steel wheel 5
Internal tooth 17 is cooperated with 3 external tooth 16 of flexbile gear, formd after 3 external tooth 16 of flexbile gear and the cooperation of 5 internal tooth 17 of firm gear long axis region of engagement with
Short axle is spaced apart area.The short axle of wave producer cam 13 of the present invention is shorter, and the abjection for being more advantageous to flexbile gear 3 is interfered without causing.
Harmonic wave speed reducing machine in the present invention can also do improvement further below: the invention also includes be sheathed on wave producer
The big end cap 1 of 6 one end, the small end cover 10 for being sheathed on 6 other end of wave producer, 3 outer sheath of flexbile gear are equipped with right-angled intersection bearing 4,
Flexbile gear 3 and right-angled intersection bearing 4 pass through the seam allowance being arranged on big end cap 1 and are installed in big end cap 1, the seam allowance on big end cap 1
Mating surface, flexbile gear 3 between flexbile gear 3 and the mating surface between right-angled intersection bearing 4 are provided with O-ring seals 2, big end cap
1, O-ring seals 2, flexbile gear 3, right-angled intersection bearing 4 are fixed on together by the second screw 12, the inner hole of big end cap 1 with
Mating surface between wave producer 6 is provided with lip-type packing 8；
Firm gear 5 is mounted on right-angled intersection bearing 4 by seam allowance, and small end cover 10 passes through the seam allowance being arranged in small end cover 10
It is mounted on the outer of steel wheel 5, small end cover 10 is fixed on together by the first screw 11 with steel wheel 5, right-angled intersection bearing 4,
Mating surface between the inner hole and wave producer 6 of small end cover 10 is provided with lip-type packing 8.
It is provided with deep groove ball bearing 7 between the inner hole and wave producer 6 of small end cover 10,7 inner ring of deep groove ball bearing and wave
The inner hole that generator 6 forms interference fit, outer ring and small end cover 10, which is formed, to be interference fitted；
It is provided with deep groove ball bearing 7 between the inner hole and wave producer 6 of big end cap 1,7 inner ring of deep groove ball bearing and wave are sent out
The inner hole that raw device 6 forms interference fit, outer ring and big end cap 1, which is formed, to be interference fitted；
Big end cap 1, small end cover 10, the positioning that the corresponding position of wave producer 6 is provided with for installing deep groove ball bearing 7 stop
Mouthful；
The deep groove ball bearing 7 at 6 both ends of wave producer is respectively positioned on the inside of lip-type packing 8.
For the deep groove ball bearing 7 between big end cap 1 and wave producer 6,7 outside of deep groove ball bearing is determined with big end cap 1
Waveform spring washer 9 is provided between the seam allowance of position.
Wherein, as entire installing bottom layer basic plane, lip-type packing 8, deep-groove ball axis the effect of big end cap 1: are used for
Hold 7, waveform spring washer 9, O-ring seals 2, flexbile gear 3, the installation of right-angled intersection bearing 4.
The effect of O-ring seals 2 are as follows: seal grease prevents from revealing.O-ring seals 2 in the present embodiment are mounted on
In the trough of big end cap 1 and right-angled intersection bearing 3, big end cap 1, O-ring seals 2, flexbile gear 3, right-angled intersection bearing 4 pass through second
After screw 12 is fixed on together, O-ring seals 2 have certain decrement at this time, avoid grease leakage to meet
Demand.
Flexbile gear 3 is the thin-wall gear that can generate larger flexible deformation, and inner hole perimeter is slightly less than the week of wave producer 6
It is long.
The effect of right-angled intersection bearing 4: being the guarantee of precision as the base parts and components of entire speed reducer.
The effect of wave producer 6: to make flexbile gear 3 generate the component of controlled elasticity deformation.When wave producer 6 is packed into flexbile gear
After 3, the section of flexbile gear 3 is forced to become ellipse by original circle, the internal tooth of external tooth 16 and firm gear 5 near long axis both ends
17 is at a fully engaged, and the external tooth 16 near short axle both ends is then completely disengaged with firm gear 5, and the external tooth 16 of other sections is on perimeter
Engagement and the transition state being detached from.When wave producer 6 is along diagram direction continuous rotation, the deformation of flexbile gear 3 constantly changes, and makes soft
Wheel 3 and the meshing state of firm gear 5 also constantly change, by it is engaging-in, engage, nibble out, disengage, engaging-in again ..., again and again into
Row.
The effect of firm gear 5: after fixed firm gear 5, it is driven by a motor the rotation of wave producer 6, flexbile gear 3 is used as driven wheel, defeated
It rotates out, drives load movement.
The effect of lip-type packing 8: prevent grease from axial leakage.13 both ends of wave producer cam have installation lip shape close
The lip packing position 15 of seal 8, the processing method of the lip packing position 15 at 13 both ends of wave producer cam using radial feed, no
Allow axial feed, can effectively prevent grease leakage.
The effect of waveform spring washer 9: wave producer 6 when preventing speed reducer drive is eliminated because of axial force axial motion
Tolerance Accumulated deviation in manufacturing process guarantees that entire speed reducer wave producer 6 in transmission is in the normal position of engagement.
The effect of deep groove ball bearing 7: axial force and radial force are born as support.
The effect of screw: make entire speed reducer component assembly that there is certain rigid structure together.
The present invention improves the assembling structure of harmonic wave speed reducing machine, the precision of entire harmonic wave speed reducing machine, rigidity improves,
Back clearance reduces, and the size of entire harmonic wave speed reducing machine in the axial direction can be effectively controlled, and ensure that the peace of entire speed reducer
Precision is filled, while can effectively avoid grease leakage.
Comparative test: the harmonic wave speed reducing machine A1 and A2 of two same models, A1 is used in the identical situation of service condition
Wave producer cam standard ellipse 18, A2 carry out installation test using wave producer cam ellipse 19 of the present invention.
1) 60 second of arc of harmonic wave speed reducing machine A1 transmission accuracy error, 48 second of arc of harmonic wave speed reducing machine A2 transmission accuracy error.This hair
Bright precision increases by 20%.
2) under nominal torque, the number of teeth that A1 harmonic wave speed reducing machine engages simultaneously is that 23%, A2 harmonic wave speed reducing machine engages simultaneously
The number of teeth be 30%, the present invention simultaneously engage the number of teeth increase 7%.
3) harmonic wave speed reducing machine A2 increases 16% than harmonic wave speed reducing machine A1 in terms of torsion stiffness.
4) flank of tooth is checked after life test, the completely out flank of tooth of A2 deceleration function in transmission, only very slight abrasion
Occur.
It is high-precision in guarantee using the harmonic wave speed reducing machine of wave producer cam ellipse 19 of the present invention from the point of view of comparing result
Under the premise of, rigidity and the number of teeth engaged simultaneously increased, and the service life is increased.
Claims (7)
1. wave producer (6), including wave producer cam (13), it is characterised in that: the oval cross section of wave producer cam (13)
Shape expression formula beR is wave producer cam (13) oval cross section to diameter in formula；r1For wave producer
The reference circle diameter of cam (13) oval cross section；Long axis length-the wave producer of L=wave producer cam (13) oval cross section is convex
Take turns the minor axis length of (13) oval cross section；The angle that θ generates for wave producer (6) curve, 0 °≤θ≤360 °.
2. harmonic wave speed reducing machine, the firm gear (5) including flexbile gear (3) and circular ring shape, the inner surface of firm gear (5) are provided with internal tooth (17),
Flexbile gear (3) outer surface, which is provided with, is provided with wave hair with the compatible external tooth (16) of the internal tooth (17) of firm gear (5), flexbile gear (3) inner ring
Raw device (6), wave producer (6) include wave producer cam (13) and flexible bearing (14), the outer ring suit of flexible bearing (14)
On flexbile gear (3) inner hole, it is characterised in that: the shape expression formula of the oval cross section of wave producer cam (13) isR is wave producer cam (13) oval cross section to diameter in formula；r1For wave producer cam (13) elliptical cross section
The reference circle diameter in face；The long axis length of L=wave producer cam (13) oval cross section-wave producer cam (13) oval cross section
Minor axis length；The angle that θ generates for wave producer (6) curve, 0 °≤θ≤360 °.
3. harmonic wave speed reducing machine as claimed in claim 2, it is characterised in that: further include be sheathed on wave producer (6) one end big
End cap (1), the small end cover (10) for being sheathed on wave producer (6) other end, flexbile gear (3) outer sheath are equipped with right-angled intersection bearing (4),
Flexbile gear (3) and right-angled intersection bearing (4) are installed in big end cap (1) by being arranged in the seam allowance on big end cap (1), big end cap
(1) mating surface between the mating surface between seam allowance and flexbile gear (3), flexbile gear (3) and right-angled intersection bearing (4) on is provided with
O-ring seals (2), big end cap (1), O-ring seals (2), flexbile gear (3), right-angled intersection bearing (4) are pacified by the second screw (12)
Dress is fixed together, and the mating surface between the inner hole and wave producer (6) of big end cap (1) is provided with lip-type packing (8)；
Firm gear (5) is mounted on right-angled intersection bearing (4) by seam allowance, and small end cover (10) is by being arranged in small end cover (10)
Seam allowance is mounted on the outer of steel wheel (5), and small end cover (10) is pacified by the first screw (11) and steel wheel (5), right-angled intersection bearing (4)
Dress is fixed together, and the mating surface between the inner hole and wave producer (6) of small end cover (10) is provided with lip-type packing (8).
4. harmonic wave speed reducing machine as claimed in claim 3, it is characterised in that: the inner hole of small end cover (10) and wave producer (6) it
Between be provided with deep groove ball bearing (7), deep groove ball bearing (7) inner ring and wave producer (6) form interference fit, outer ring and small end
The inner hole for covering (10) forms interference fit；
Be provided with deep groove ball bearing (7) between the inner hole and wave producer (6) of big end cap (1), deep groove ball bearing (7) inner ring and
The inner hole that wave producer (6) forms interference fit, outer ring and big end cap (1), which is formed, to be interference fitted；
Big end cap (1), small end cover (10), wave producer (6) corresponding position be provided with for installing determining for deep groove ball bearing (7)
Position seam allowance；
The deep groove ball bearing (7) at wave producer (6) both ends is respectively positioned on the inside of lip-type packing (8).
5. harmonic wave speed reducing machine as claimed in claim 4, it is characterised in that: between big end cap (1) and wave producer (6)
Deep groove ball bearing (7) is provided with waveform spring washer between deep groove ball bearing (7) outside and the positioning spigot of big end cap (1)
(9)。
6. harmonic wave speed reducing machine as claimed in claim 3, it is characterised in that: wave producer cam (13) both ends have installation lip shape
The processing method of the lip packing position (15) of sealing ring (8), the lip packing position (15) at wave producer cam (13) both ends uses
Radial feed does not allow axial feed.
7. the harmonic wave speed reducing machine as described in any one of claim 2 to 6, it is characterised in that: the external tooth (16) of flexbile gear (3) with
The tooth difference of the internal tooth (17) of firm gear (5) is 2.
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| CN201910093587.8A CN109707821A (en) | 2019-01-30 | 2019-01-30 | Wave producer and harmonic wave speed reducing machine with the wave producer |
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| CN201910093587.8A CN109707821A (en) | 2019-01-30 | 2019-01-30 | Wave producer and harmonic wave speed reducing machine with the wave producer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110131380A (en) * | 2019-06-11 | 2019-08-16 | 珠海格力电器股份有限公司 | Harmonic speed reducer, robot |
| CN111120622A (en) * | 2020-01-14 | 2020-05-08 | 湖北科峰传动设备有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| CN112145650A (en) * | 2020-09-28 | 2020-12-29 | 珠海格力电器股份有限公司 | Rigidity compensation device, harmonic speed reducer and robot |
| CN113898712A (en) * | 2021-10-08 | 2022-01-07 | 吴松涛 | Harmonic speed reducer |
| CN115026353A (en) * | 2021-03-05 | 2022-09-09 | 纳博特斯克有限公司 | Method for manufacturing harmonic gear device and harmonic gear device |
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| CN110131380A (en) * | 2019-06-11 | 2019-08-16 | 珠海格力电器股份有限公司 | Harmonic speed reducer, robot |
| CN110131380B (en) * | 2019-06-11 | 2024-03-26 | 珠海格力电器股份有限公司 | Harmonic reducer and robot |
| CN111120622A (en) * | 2020-01-14 | 2020-05-08 | 湖北科峰传动设备有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| CN111120622B (en) * | 2020-01-14 | 2022-02-11 | 湖北科峰智能传动股份有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| CN112145650A (en) * | 2020-09-28 | 2020-12-29 | 珠海格力电器股份有限公司 | Rigidity compensation device, harmonic speed reducer and robot |
| CN115026353A (en) * | 2021-03-05 | 2022-09-09 | 纳博特斯克有限公司 | Method for manufacturing harmonic gear device and harmonic gear device |
| CN113898712A (en) * | 2021-10-08 | 2022-01-07 | 吴松涛 | Harmonic speed reducer |
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