CN110094480B - Two-stage harmonic gear reduction transmission device and transmission method and transmission ratio calculation method - Google Patents
Two-stage harmonic gear reduction transmission device and transmission method and transmission ratio calculation method Download PDFInfo
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- CN110094480B CN110094480B CN201910309123.6A CN201910309123A CN110094480B CN 110094480 B CN110094480 B CN 110094480B CN 201910309123 A CN201910309123 A CN 201910309123A CN 110094480 B CN110094480 B CN 110094480B
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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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Abstract
The invention provides a two-stage harmonic gear reduction transmission device, a transmission method and a transmission ratio calculation method.A input shaft is rotatably matched at one end in a shell, the other end of the input shaft is rotatably supported in a central cavity of a connecting disc, and the connecting disc is arranged on an output shaft; a primary wave generator, a central disc and a secondary wave generator are sequentially arranged on the input shaft from left to right; the outer fringe of center plate is fixed with the flexbile gear, the inside wall of flexbile gear constitutes the rolling contact cooperation with first-order wave generator and second-order wave generator simultaneously, the lateral wall of flexbile gear is provided with one-level flexbile gear and second-order flexbile gear. The first-stage wave generator and the second-stage wave generator of the transmission device are coaxial and rotate at the same speed, the first-stage harmonic gear transmission and the second-stage harmonic gear transmission share one flexible gear, the number of parts is small, the weight is light, the number of teeth in meshing is large, the structure is compact, and the large transmission ratio is realized.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a two-stage harmonic gear speed reduction transmission device, a transmission method and a transmission ratio calculation method.
Background
The existing speed reducer mostly adopts a straight cylindrical gear or a helical gear speed reducer, a worm and gear speed reducer is also adopted for realizing large transmission ratio, but the adoption of the straight cylindrical gear speed reducer requires multi-stage speed reduction to meet the requirement of large transmission ratio, and the volume of the speed reducer is increased; the worm gear reducer has low transmission efficiency, so a reduction transmission device with a compact type and a large transmission ratio needs to be designed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a two-stage harmonic gear reduction transmission device which is a two-stage harmonic gear reduction transmission device, wherein a first-stage wave generator and a second-stage wave generator are coaxial and rotate at the same speed, and share one flexible gear, so that the two-stage harmonic gear reduction transmission device has fewer parts, light weight, more meshing teeth, compact structure and large transmission ratio; the input shaft of the transmission device is coaxial with the rotation axis of the output shaft, so that the transmission device is convenient to connect with other devices, and the installation space of the transmission device is reduced; all parts of the transmission device are symmetrically arranged, so that vibration can be effectively reduced.
In order to achieve the technical features, the invention is realized as follows: the two-stage harmonic gear reduction transmission device comprises a shell, wherein an input shaft is rotatably matched with one end in the shell, the other end of the input shaft is rotatably supported in a central cavity of a connecting disc, the connecting disc is arranged on an output shaft, and the output shaft is rotatably supported at the other end of the shell in a matched manner; the input shaft is arranged in the shell and sequentially provided with the following components from left to right: the device comprises a primary wave generator fixedly connected with an input shaft, a central disc rotationally matched with the input shaft through a bearing, and a secondary wave generator fixedly connected with the input shaft; the outer edge of the central disc is fixedly provided with a flexible gear, the inner side wall of the flexible gear is in rolling contact fit with a primary wave generator and a secondary wave generator at the same time, the outer side wall of the flexible gear is provided with a primary flexible gear and a secondary flexible gear, the primary flexible gear and a primary rigid gear form gear meshing transmission, and the secondary flexible gear and a secondary rigid gear form gear meshing transmission; the first-stage rigid wheel is fixedly connected with the shell, and the second-stage rigid wheel is fixedly connected with the connecting disc.
The input shaft is supported and installed on the side wall of the shell through a bearing seat, and the other end of the input shaft is supported on an inner step of the output shaft through a bearing.
The input shaft is supported in a central cavity of the connecting disc in a rotating fit mode through a bearing.
The primary wave generator comprises a primary turntable, a primary pin and a primary roller, the primary turntable is fixedly connected with the input shaft, the primary pin is fixedly connected with a pin hole in the primary turntable, and the primary roller is in running fit with the primary pin through a bearing.
The secondary wave generator comprises a secondary turntable, a secondary pin and a secondary roller wheel, the secondary turntable is fixedly connected with the input shaft, the secondary pin is fixedly connected with a pin hole in the secondary turntable, and the secondary roller wheel is in running fit with the secondary pin through a bearing.
The outer edge of the first-stage roller wheel is in rolling contact fit with the inner side wall of the flexible wheel.
The outer edge of the secondary roller wheel is in rolling contact fit with the inner side wall of the flexible wheel.
According to the transmission method of the two-stage harmonic gear reduction transmission device, when an input shaft rotates, a first-stage wave generator and a second-stage wave generator are synchronously driven to rotate, the first-stage wave generator is in rolling contact with a flexible gear through a first-stage roller wheel, so that the flexible gear is in inner meshing contact with a first-stage rigid gear, the flexible gear rotates to realize first-stage speed reduction due to the fact that the flexible gear and the first-stage rigid gear have tooth number difference, and the rotating direction is opposite to that of the input shaft; the flexible gear rotates and is in rolling contact with a secondary roller of a secondary wave generator, the flexible gear performs compound motion to transmit power to the connecting disc through inner engagement with the secondary rigid gear, and the connecting disc is fixedly connected with the output shaft, so that secondary speed reduction is realized.
Any one of the two-stage harmonic gear reduction transmission device transmission ratio calculation methods is that the total transmission ratio is:
in the formula: i is the total gear ratio, z1aThe number of teeth of the first-stage flexible gear; z is a radical of1bIs the number of teeth of the first-stage rigid gear, z2aThe number of teeth of the second-stage flexible gear, z2bThe number of teeth of the second-stage rigid gear is shown;
when z is1b-z1a＝1,z2b-z2aWhen 1, the total gear ratio:
when the tooth number of the first-stage flexible gear is more than 1 tooth of the second-stage flexible gear, the total transmission ratio is as follows:
i2＝z1az2b
when the tooth number of the first-stage flexible gear is less than the tooth number of the second-stage flexible gear by 1 tooth, the total transmission ratio is as follows:
i3＝-z1az2b
the transmission ratio calculation shows that the maximum transmission ratio can be obtained when the first-stage rigid gear and the first-stage flexible gear, the second-stage rigid gear and the second-stage flexible gear, and the first-stage flexible gear and the second-stage flexible gear are different in tooth number, the maximum transmission ratio depends on the product of the tooth number of the first-stage flexible gear and the tooth number of the second-stage rigid gear, and the rotation direction depends on the sign of the difference value between the tooth number of the first-stage flexible gear and the tooth number of the second-stage flexible gear.
The invention has the following beneficial effects:
1. the transmission device is a two-stage harmonic gear speed reduction transmission device, a first-stage wave generator and a second-stage wave generator are coaxial and rotate at the same speed, the first-stage harmonic gear transmission and the second-stage harmonic gear transmission share one flexible gear, parts are few, the weight is light, the number of teeth to be meshed is large, the structure is compact, and a large transmission ratio is realized.
2. The input shaft of the transmission device is coaxial with the rotation axis of the output shaft, so that the transmission device is convenient to connect with other devices, and the installation space of the transmission device is reduced.
3. All parts of the transmission device are symmetrically arranged, so that vibration can be effectively reduced.
4. The transmission device is a two-stage harmonic gear speed reduction transmission device, a second-stage rigid gear, a flexible gear and a wave generator can rotate relative to a shell, and one of the rigid gear, the flexible gear and the wave generator is fixed in the traditional harmonic gear transmission.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a cross-sectional view of the present invention.
In the figure: the flexible wheel type motor comprises a shell 1, an input shaft 2, a first-stage turntable 3, a first-stage pin 4, a first-stage roller 5, a flexible wheel 6, a first-stage rigid wheel 7, a central disc 8, a second-stage rigid wheel 9, a connecting disc 10, a second-stage roller 11, a second-stage pin 12, a second-stage turntable 13, an output shaft 14, a first-stage flexible wheel 15 and a second-stage flexible wheel 16.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, the two-stage harmonic gear reduction transmission device comprises a housing 1, wherein an input shaft 2 is rotatably matched at one end inside the housing 1, the other end of the input shaft 2 is rotatably supported in a central cavity of a connecting disc 10, the connecting disc 10 is installed on an output shaft 14, and the output shaft 14 is rotatably matched and supported at the other end of the housing 1; the input shaft 2 is arranged in the shell 1 and sequentially provided with the following components from left to right: the device comprises a primary wave generator fixedly connected with an input shaft 2, a central disc 8 rotationally matched with the input shaft 2 through a bearing, and a secondary wave generator fixedly connected with the input shaft 2; a flexible gear 6 is fixed on the outer edge of the central disc 8, the inner side wall of the flexible gear 6 is in rolling contact fit with a primary wave generator and a secondary wave generator at the same time, a primary flexible gear 15 and a secondary flexible gear 16 are arranged on the outer side wall of the flexible gear 6, the primary flexible gear 15 and a primary rigid gear 7 form gear meshing transmission, and the secondary flexible gear 16 and a secondary rigid gear 9 form gear meshing transmission; the first-stage rigid wheel 7 is fixedly connected with the shell 1, and the second-stage rigid wheel 9 is fixedly connected with the connecting disc 10. Through the transmission device adopting the structure, two-stage harmonic gears are adopted for speed reduction, the first-stage wave generator and the second-stage wave generator are coaxial and rotate at the same speed, the first-stage harmonic gear transmission and the second-stage harmonic gear transmission share one flexible gear, the number of parts is small, the weight is light, the number of meshed teeth is large, the structure is compact, and a large transmission ratio is realized.
Further, the input shaft 2 is supported and mounted on the side wall of the housing 1 through a bearing seat, and the other end thereof is supported on an inner step of the output shaft 14 through a bearing.
Further, the input shaft 2 is supported in a center cavity of the connecting plate 10 by a bearing in a rotational fit. The structure ensures that the input shaft and the output shaft have the same rotation center, is convenient to be connected with other structures, and reduces the installation space of the transmission device.
Further, the primary wave generator comprises a primary turntable 3, a primary pin 4 and a primary roller 5, wherein the primary turntable 3 is fixedly connected with the input shaft 1, the primary pin 4 is fixedly connected with a pin hole on the primary turntable 3, and the primary roller 5 is in running fit with the primary pin 4 through a bearing. The secondary wave generator is composed of a secondary rotary table 13, a secondary pin 12 and a secondary roller 11, the secondary rotary table 13 is fixedly connected with the input shaft 1, the secondary pin 12 is fixedly connected with a pin hole in the secondary rotary table 13, and the secondary roller 11 is in running fit with the secondary pin 12 through a bearing. Through the structure, the primary wave generator and the secondary wave generator are coaxial and rotate at the same speed, and the primary harmonic gear transmission and the secondary harmonic gear transmission share one flexible gear.
Further, the outer edge of the primary roller 5 is matched with the inner side wall of the flexible gear 6 in a rolling contact manner. The first-stage wave generator is effectively driven to rotate through rolling matching.
Further, the outer edge of the secondary roller 11 and the inner side wall of the flexible gear 6 form rolling contact fit. The second-stage wave generator is effectively driven to rotate through rolling matching.
Example 2:
according to the transmission method of the two-stage harmonic gear reduction transmission device, when the input shaft 2 rotates, the first-stage wave generator and the second-stage wave generator are synchronously driven to rotate, the first-stage wave generator is in rolling contact with the flexible gear 6 through the first-stage roller 5, so that the flexible gear 6 is in inner meshing contact with the first-stage rigid gear 7, and because the flexible gear 6 and the first-stage rigid gear 7 have the tooth number difference, the flexible gear 6 rotates to realize first-stage speed reduction, and the rotation direction is opposite to that of the input shaft 2; the flexible gear 6 rotates and simultaneously contacts with a secondary roller 11 of a secondary wave generator in a rolling way, the flexible gear 6 transmits power to the connecting disc 10 through inner meshing with the secondary rigid gear 9 in a combined motion, and the connecting disc 10 is fixedly connected with the output shaft 14, so that secondary speed reduction is realized.
Example 3:
any one of the two-stage harmonic gear reduction transmission device transmission ratio calculation methods is that the total transmission ratio is:
in the formula: i is the total gear ratio, z1aThe number of teeth of the first-stage flexible gear 15; z is a radical of1bIs the number of teeth of the primary rigid gear 7, z2aThe number of teeth of the second-stage flexible gear 16, z2bThe number of teeth of the secondary rigid wheel 9;
when z is1b-z1a＝1,z2b-z2aWhen 1, the total gear ratio:
when the tooth number of the first-stage flexible gear 15 is more than that of the second-stage flexible gear 16 by 1 tooth, the total transmission ratio is as follows:
i2＝z1az2b
when the number of teeth of the first-stage flexible gear 15 is less than that of the second-stage flexible gear 16 by 1 tooth, the total transmission ratio is as follows:
i3＝-z1az2b
the above-mentioned transmission ratio calculation shows that the maximum transmission ratio can be obtained when the first-stage rigid gear 7 and the first-stage flexible gear 15, the second-stage rigid gear 9 and the second-stage flexible gear 16, and the first-stage flexible gear 15 and the second-stage flexible gear 16 are different in tooth number, the maximum transmission ratio depends on the product of the tooth number of the first-stage flexible gear 15 and the tooth number of the second-stage rigid gear 9, and the rotation direction depends on the difference sign of the tooth number of the first-stage flexible gear 15 and the tooth number of the second-stage flexible gear 16.
Claims (5)
1. Two-stage harmonic gear speed reduction transmission device, its characterized in that: the novel multifunctional electric wrench comprises a shell (1), wherein an input shaft (2) is rotatably matched with one end in the shell (1), the other end of the input shaft (2) is rotatably supported in a central cavity of a connecting disc (10), the connecting disc (10) is installed on an output shaft (14), and the output shaft (14) is rotatably supported at the other end of the shell (1) in a matched manner; the input shaft (2) is positioned in the shell (1) and is sequentially provided with the following components from left to right: the device comprises a primary wave generator fixedly connected with an input shaft (2), a central disc (8) rotationally matched with the input shaft (2) through a bearing, and a secondary wave generator fixedly connected with the input shaft (2); a flexible gear (6) is fixed at the outer edge of the central disc (8), the inner side wall of the flexible gear (6) is in rolling contact fit with a primary wave generator and a secondary wave generator at the same time, a primary flexible gear (15) and a secondary flexible gear (16) are arranged on the outer side wall of the flexible gear (6), the primary flexible gear (15) and a primary rigid gear (7) form gear meshing transmission, and the secondary flexible gear (16) and a secondary rigid gear (9) form gear meshing transmission; the primary rigid wheel (7) is fixedly connected with the shell (1), and the secondary rigid wheel (9) is fixedly connected with the connecting disc (10);
the primary wave generator consists of a primary turntable (3), a primary pin (4) and a primary roller (5), the primary turntable (3) is fixedly connected with the input shaft (1), the primary pin (4) is fixedly connected with a pin hole in the primary turntable (3), and the primary roller (5) is in running fit with the primary pin (4) through a bearing;
the secondary wave generator consists of a secondary turntable (13), a secondary pin (12) and a secondary roller (11), the secondary turntable (13) is fixedly connected with the input shaft (1), the secondary pin (12) is fixedly connected with a pin hole in the secondary turntable (13), and the secondary roller (11) is in running fit with the secondary pin (12) through a bearing;
the outer edge of the primary roller (5) is in rolling contact fit with the inner side wall of the flexible gear (6);
the outer edge of the secondary roller (11) is in rolling contact fit with the inner side wall of the flexible gear (6).
2. The two-stage harmonic gear reduction transmission of claim 1 wherein: the input shaft (2) is supported and installed on the side wall of the shell (1) through a bearing seat, and the other end of the input shaft is supported on an inner step of the output shaft (14) through a bearing.
3. The two-stage harmonic gear reduction transmission of claim 1 wherein: the input shaft (2) is supported in a central cavity of the connecting disc (10) in a rotating fit mode through a bearing.
4. A transmission method of a two-stage harmonic gear reduction transmission device according to any one of claims 1 to 3, wherein the input shaft (2) rotates to drive the first-stage wave generator and the second-stage wave generator to rotate synchronously, the first-stage wave generator is in rolling contact with the flexible gear (6) through the first-stage roller (5), so that the flexible gear (6) is in inner meshing contact with the first-stage rigid gear (7), and the flexible gear (6) rotates to realize the first-stage reduction due to the difference of the number of teeth between the flexible gear (6) and the first-stage rigid gear (7), and the rotation direction is opposite to that of the input shaft (2); the flexible gear (6) rotates and is in rolling contact with a secondary roller (11) of a secondary wave generator, the flexible gear (6) performs compound motion and transmits power to the connecting disc (10) through inner meshing with the secondary rigid gear (9), and the connecting disc (10) is fixedly connected with the output shaft (14), so that secondary speed reduction is realized.
5. A method of calculating the gear ratio of a two stage harmonic gear reduction transmission as claimed in any of claims 1 to 3, wherein the total gear ratio is:
in the formula: i is the total gear ratio, z1aThe number of teeth of the first-stage flexible gear (15); z is a radical of1bIs the number of teeth of the primary rigid gear (7), z2aIs the number of teeth of the second-stage flexible gear (16), z2bThe number of teeth of the secondary rigid wheel (9);
when z is1b-z1a＝1,z2b-z2aWhen 1, the total gear ratio:
when the tooth number of the first-stage flexible gear (15) is more than that of the second-stage flexible gear (16) by 1 tooth, the total transmission ratio is as follows:
i2＝z1az2b
when the tooth number of the first-stage flexible gear (15) is less than 1 tooth of the second-stage flexible gear (16), the total transmission ratio is as follows:
i3＝-z1az2b
the transmission ratio calculation shows that the first-level rigid gear (7) and the first-level flexible gear (15) can obtain the maximum transmission ratio when the second-level rigid gear (9) and the second-level flexible gear (16) and the first-level flexible gear (15) and the second-level flexible gear (16) are different in tooth number, the maximum transmission ratio depends on the product of the tooth number of the first-level flexible gear (15) and the tooth number of the second-level rigid gear (9), and the rotating direction depends on the difference sign of the tooth number of the first-level flexible gear (15) and the tooth number of the second-level flexible gear (16).
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| CN2657265Y (en) * | 2003-10-19 | 2004-11-17 | 姜启罗 | Zero return difference two-stage precision harmonic driving device |
| BRPI0900747B1 (en) * | 2009-03-09 | 2019-06-25 | Valmor Da Cunha Grávio | ORBITAL MAGNETIC SPEED VARIATOR |
| CN202674184U (en) * | 2012-05-21 | 2013-01-16 | 深圳职业技术学院 | Harmonic wave gear driving device and automatic aligning wave generator |
| CN102927209A (en) * | 2012-10-19 | 2013-02-13 | 陕西渭河工模具总厂 | Complex-wave type harmonic drive speed reducer |
| KR101924387B1 (en) * | 2017-04-14 | 2018-12-03 | 주식회사 로보스타 | Two-stage harmonic drive |
| CN207715681U (en) * | 2017-12-22 | 2018-08-10 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic speed reducer |
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