CN109723797A - A kind of novel two-stage harmonic speed reducer - Google Patents
A kind of novel two-stage harmonic speed reducer Download PDFInfo
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- CN109723797A CN109723797A CN201711039924.2A CN201711039924A CN109723797A CN 109723797 A CN109723797 A CN 109723797A CN 201711039924 A CN201711039924 A CN 201711039924A CN 109723797 A CN109723797 A CN 109723797A
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- flexbile gear
- encased
- speed reducer
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- harmonic speed
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Abstract
The invention discloses a kind of novel two-stage harmonic speed reducer, including flexible bearing, the flexible bearing is encased in the inner ring of No. I flexbile gear, and No. I flexbile gear is encased in the inner ring of No. II flexbile gear, and No. II flexbile gear is encased in steel wheel.Wave producer is encased in flexible bearing in the present invention, flexible bearing is encased in No. I flexbile gear, No. I flexbile gear is encased in No. II flexbile gear, No. II flexbile gear is encased in steel wheel and forms second level harmonic speed reducer, axial dimension of the invention reduces, and when sealing space passing movement and very big speed ratio, the present invention is simpler than the structure of any Two-Step Harmonic Drive, not by torque when the work of No. II flexbile gear, external tooth and cylinder are born in tangential force mountain.
Description
Technical field
The present invention relates to robot harmonic speed reducer industries, and in particular to a kind of novel two-stage harmonic speed reducer.
Background technique
Harmonic speed reducer is a kind of a kind of Novel speed reducer to be grown up using Planetary Gear Transmission principle, harmonic reduction
Device relies primarily on flexible part and generates elastic mechanical wave to transmit a kind of Planetary Gear Transmission of power and movement.
Harmonic speed reducer compares with ordinary gear transmission, with small in size, light-weight, structure is simple, gear range
Big to wait many advantages, harmonic speed reducer single staged transmission ratio is 40 ~ 350, due to its transmission efficiency height, transmission accuracy high bearing capacity
The features such as strong, harmonic speed reducer are widely used in for Aeronautics and Astronautics, the energy, navigation, shipbuilding, bionic mechanical, common ordnance, machine
Bed, instrument, electronic equipment, mine metallurgy, communications and transportation, hoisting machinery, Petro-Chemical Machinery, textile machine, agricultural machinery with
And medical instrument etc. more shows that its is excellent using harmonic gear transmission especially in the servo-system of high dynamic performance
More property.The power that it is transmitted is from tens watts to tens kilowatt, but powerful harmonic gear transmission is chiefly used in short-term job field.
Currently, multiple-stage harmonic retarder majority uses series connection or parallel way to reach the mesh for increasing reduction ratio range
, multi-stage speed reducer is much bigger compared to single reduction gear on spatial volume, and cannot apply under many specified conditions.
Summary of the invention
The present invention proposes that the purpose is to provide a kind of novel two-stage harmonic reduction in order to solve the problems existing in the prior art
Device.
The technical scheme is that a kind of novel two-stage harmonic speed reducer, including flexible bearing, the flexible shaft install
Enter into the inner ring of No. I flexbile gear, No. I flexbile gear is encased in the inner ring of No. II flexbile gear, and No. II flexbile gear is encased in steel wheel
In.
I extra tooth of No. I flexbile gear is meshed with No. II internal tooth of No. II flexbile gear, the external tooth and steel of No. II flexbile gear
The internal tooth of wheel is meshed.
Wave producer is provided in the flexible bearing.
No. II flexbile gear is connected with the inner ring of floating bearing.
The steel wheel is connected with the outer ring of floating bearing.
The steel wheel end face forms assembly pilot hole.
Internal tooth and the external tooth difference of No. II flexbile gear are 3 or 4.
Wave producer is encased in flexible bearing in the present invention, and flexible bearing is encased in No. I flexbile gear, and No. I flexbile gear is encased in
In No. II flexbile gear, No. II flexbile gear is encased in steel wheel and forms second level harmonic speed reducer, and axial dimension of the invention reduces, when sealing is empty
Between passing movement and when very big speed ratio, the present invention is simpler than the structure of any Two-Step Harmonic Drive, No. II flexbile gear
Not by torque when work, external tooth and cylinder are born in tangential force mountain.
Detailed description of the invention
Fig. 1 is main view of the invention；
Wherein:
1 steel wheel, 2 flexible bearing
3 flexbile gears of wave producer 4 I
5 No. II 6 pilot holes of flexbile gear.
Specific embodiment
Hereinafter, referring to drawings and examples, the present invention is described in detail:
As shown in Figure 1, a kind of novel two-stage harmonic speed reducer, including flexible bearing 2, the flexible bearing 2 are encased in No. I flexbile gear
In 4 inner ring, No. I flexbile gear 4 is encased in the inner ring of No. II flexbile gear 5, and No. II flexbile gear 5 is encased in steel wheel 1.
I extra tooth of No. I flexbile gear 4 is meshed with No. II internal tooth of No. II flexbile gear 5, the external tooth of No. II flexbile gear 5
It is meshed with the internal tooth of steel wheel 1.
Wave producer 3 is provided in the flexible bearing 2.
No. II flexbile gear 5 is connected with the inner ring of floating bearing.
The steel wheel 1 is connected with the outer ring of floating bearing.
1 end face of steel wheel forms assembly pilot hole.
Internal tooth and the external tooth difference of No. II flexbile gear 5 are 3 or 4.
The external tooth number of teeth of No. I flexbile gear 4 is Z in the present invention1, the internal tooth number of teeth of No. II flexbile gear 5 is Z2, the external tooth number of teeth is Z3,
The internal tooth number of teeth of the steel wheel 1 is Z4。
By Z the case where biharmonic gear drive2-Z1=2, Z4-Z3=2, when wave producer rotates clockwise one week, No. II
Flexbile gear 5 rotates ((Z relative to firm gear 1 counterclockwise4-Z3)/Z3) x360 °, No. I flexbile gear 4 rotates counterclockwise relative to No. II flexbile gear 5
((Z2-Z1)/Z1) x360 °, No. I flexbile gear 4 increases with respect to the corner of firm gear at this time, and speed ratio reduces, if having one in secondary transmission
Grade manufacture is at negative two teeth difference, such as the level-one that No. II flexbile gear 5 and firm gear 1 form, i.e. Z3-Z4=2, then wave producer is again at this time
When rotating clockwise one week, No. II flexbile gear 5 rotates clockwise ((Z with respect to firm gear3-Z4)/Z3) x360 °, and No. I 4 phase of flexbile gear
To No. II flexbile gear 5 still counterclockwise rotation ((Z2-Z1)/Z1) x360 °, in this way, one is inverse along one, makes No. I flexbile gear 4 with respect to firm gear
1 corner just strongly reduces, and is bordering on the harmonic gear transmission this point of secondary transmission afterwards so as to form a speed ratio
It can be seen that in speed ratio calculation.
Because harmonic gear transmission belongs to Planetary Gear Transmission scope, therefore general Planetary Gear Transmission is used to calculate speed ratio
Method.
Give one negative angular velocity (- ω of entire mechanismH) ,-ωH That is the angular speed of wave producer 3, then
iH 1 4 =ω1 -ωH /ω4 -ωH =Z2 / Z2·Z4 /Z3
If iH 14With i1 H4Respectively firm gear 1 consolidate timing-wave generator 3 be actively, No. I flexbile gear 4 is passive and No. I soft
Speed ratio when the solid timing-wave generator 3 of wheel 4 is active, firm gear 1 is passive,
Then there is i4 H1 =1/ iH 1 4 =Z1 Z3/ (Z1 Z3- Z2 Z4)
I1 H 4 =1- i4 H 1 =Z2 Z4/ (Z1 Z4- Z1 Z3)
If taking Z1=200, Z2=202, Z3=206, Z4=204, i4 H1=-5150, i1 H4=5151；
If taking Z1=200, Z2=202, Z3=206, Z4=204, i4 H1≈i1 H 4≈10000
But make Z3With Z2Difference be 2, this can not achieve in structure, because No. II flexbile gear 5 will have certain wall thickness, due to wall
Thick condition, about makes Z3With Z2Difference 3~4, here it is this schemes can only realize the reason of being bordering on secondary transmission.
Wave producer is encased in flexible bearing in the present invention, and flexible bearing is encased in No. I flexbile gear, and No. I flexbile gear is encased in
In No. II flexbile gear, No. II flexbile gear is encased in steel wheel and forms second level harmonic speed reducer, and axial dimension of the invention reduces, when sealing is empty
Between passing movement and when very big speed ratio, the present invention is simpler than the structure of any Two-Step Harmonic Drive, No. II flexbile gear
Not by torque when work, external tooth and cylinder are born in tangential force mountain.
Claims (7)
1. a kind of novel two-stage harmonic speed reducer, including flexible bearing (2), it is characterised in that: the flexible bearing (2) is encased in
In the inner ring of No. I flexbile gear (4), No. I flexbile gear (4) is encased in the inner ring of No. II flexbile gear (5), No. II flexbile gear (5) dress
Enter in steel wheel (1).
2. a kind of novel two-stage harmonic speed reducer according to claim 1, it is characterised in that: the I of No. I flexbile gear (4)
Extra tooth is meshed with No. II internal tooth of No. II flexbile gear (5), and the internal tooth of the external tooth and steel wheel (1) of No. II flexbile gear (5) is mutually nibbled
It closes.
3. a kind of novel two-stage harmonic speed reducer according to claim 2, it is characterised in that: in the flexible bearing (2)
It is provided with wave producer (3).
4. a kind of novel two-stage harmonic speed reducer according to claim 1, it is characterised in that: No. II flexbile gear (5) with
The inner ring of floating bearing is connected.
5. a kind of novel two-stage harmonic speed reducer according to claim 1, it is characterised in that: the steel wheel (1) and revolution
The outer ring of bearing is connected.
6. a kind of novel two-stage harmonic speed reducer according to claim 5, it is characterised in that: steel wheel (1) end face shape
At assembly pilot hole.
7. a kind of novel two-stage harmonic speed reducer according to claim 1, it is characterised in that: No. II flexbile gear (5)
Internal tooth and external tooth difference are 3 or 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039924.2A CN109723797A (en) | 2017-10-31 | 2017-10-31 | A kind of novel two-stage harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039924.2A CN109723797A (en) | 2017-10-31 | 2017-10-31 | A kind of novel two-stage harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109723797A true CN109723797A (en) | 2019-05-07 |
Family
ID=66293008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711039924.2A Pending CN109723797A (en) | 2017-10-31 | 2017-10-31 | A kind of novel two-stage harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109723797A (en) |
-
2017
- 2017-10-31 CN CN201711039924.2A patent/CN109723797A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190507 |
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| WD01 | Invention patent application deemed withdrawn after publication |