CN110242710A - A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type - Google Patents
A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type Download PDFInfo
- Publication number
- CN110242710A CN110242710A CN201910487659.7A CN201910487659A CN110242710A CN 110242710 A CN110242710 A CN 110242710A CN 201910487659 A CN201910487659 A CN 201910487659A CN 110242710 A CN110242710 A CN 110242710A
- Authority
- CN
- China
- Prior art keywords
- novel
- gear
- inner ring
- firm gear
- flexible bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
Abstract
The present invention provides a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type, including novel wave producer, novel inner ring, new outer lane, novel flexbile gear, needle roller, firm gear end cap, deep groove ball bearing；The novel wave producer is made of wave producer and needle roller flexible bearing inner ring, the novel flexbile gear is made of flexbile gear and needle roller flexible bearing outer ring, the novel inner ring is formed by fixing firm gear and cross roller bearing inner race, the new outer lane is made of output end firm gear and cross roller bearing outer ring, and the novel wave producer, novel inner ring, new outer lane and novel flexbile gear are global facility.The problems such as in harmonic wave speed reducing machine technical field, there are speed reducers radially easily there is gap, is driven unstable, poor rigidity, provide it is a kind of it is small, lightweight structure is compact, double firm gear harmonic wave speed reducing machines of high rigidity.
Description
Technical field
The present invention relates to harmonic wave speed reducing machine technical field more particularly to a kind of no Internal and external cycle needle-type flexible bearing integral types
Double firm gear harmonic wave speed reducing machines.
Background technique
Double firm gear harmonic wave speed reducing machines are a kind of decelerations mainly combined by wave producer, two flexible bearings, two firm gears
Machine, wherein fixing end firm gear and flexbile gear are to engage with the number of teeth, and output end firm gear is that the poor number of teeth engages with flexbile gear, and transmission is slowed down
Than.
Chinese patent CN205877115U discloses a kind of harmonic wave speed reducing machine for improving structure, including cross roller axis
It holds, elliptical wave generator, flexible bearing is filled on elliptical wave generator, the flexbile gear of mounting circular ring shape, flexbile gear on flexible bearing
Exterior firm gear；The flexible bearing is a cylindrical roller flexible bearing.The utility model is structurally reasonable, can greatly improve double
Firm gear harmonic wave speed reducing machine output torque, the load capacity for greatly improving harmonic wave speed reducing machine and impact resistance reduce flexible bearing
Processing cost and harmonic wave speed reducing machine assembly difficulty.
The structure diagram of double firm gear harmonic wave speed reducing machines, main parts size: wave producer, fixing end firm gear, flexbile gear, cross are handed over
Pitch roller bearing, flexible bearing, output end firm gear, firm gear end cap, deep groove ball bearing.Fixing end firm gear and output end firm gear have
One group of internal tooth carries out transmission respectively with the outer tooth engagement of flexbile gear.
Double firm gear harmonic wave speed reducing machine structures have the disadvantage that
(1) inner ring of fixing end firm gear and cross roller bearing be transition fit, fixing end firm gear cooperate outer diameter with
There are gaps for the inner ring inner hole installation of cross roller bearing, nibble in wave producer, flexible bearing, flexbile gear and fixing end firm gear
When closing transmission, under a load, since there are gaps for radial direction, the rigidity of speed reducer can be lost.
(2) output end firm gear and cross roller bearing are tightened together by screw, under high load, screw locking
Afterwards, the face area that output end firm gear is connected with cross roller bearing is small, overcomes frictional resistance small, can cause loosening belt
Phenomena such as transmission is unstable, poor rigidity.
It is connected among (3) two firm gears by cross roller bearing, speed reducer is thicker in the axial direction.
(4) two flexible bearings, the axial installation side by side of two flexible bearings, flexible bearing are mounted on wave producer simultaneously
It is the more weak components of harmonic wave speed reducing machine rigidity, it is double firm gear harmonic waves that when engagement, which about carries stress less than 1/6 steel ball number,
A weak components of speed reducer shock resistance.
Summary of the invention
To overcome speed reducer rigidity existing in the prior art easily to lose, being driven unstable, axial direction speed reducer thickness
Big and flexible bearing rigidity weakness problem, it is double just that the present invention provides a kind of no Internal and external cycle needle-type flexible bearing integral types
Take turns harmonic wave speed reducing machine, including novel wave producer, novel inner ring, new outer lane, novel flexbile gear, needle roller, firm gear end cap, deep-groove ball
Bearing；The novel wave producer is made of wave producer and needle roller flexible bearing inner ring, and the novel flexbile gear is by flexbile gear and rolling
Needle flexible bearing outer ring composition, the novel inner ring is formed by fixing firm gear and cross roller bearing inner race, described novel
Outer ring is made of output end firm gear and cross roller bearing outer ring, and the novel wave producer, novel inner ring, novel outer
Circle and novel flexbile gear are global facility, and the novel wave producer outer wall is connected with deep groove ball bearing and needle roller, wherein one end
Deep groove ball bearing outer wall connected with novel inner ring inner wall, the deep groove ball bearing outer wall of the other end is connect with firm gear end cap inner wall,
The novel inner ring inner wall is also connect with the outer wall of novel flexbile gear, and the outer wall of the novel inner ring and the inner wall of new outer lane connect
It connects, while the inner wall of new outer lane is also connect with the outer wall of novel flexbile gear, the firm gear end cap is fixedly connected with new outer lane.
Structure is simplified, it is increased relative to general double firm gear oblique wave speed reducers by using above-mentioned technical proposal
The figure of rigidity, double firm gear structures becomes smaller, weight saving, by the integration of components, so that the gap between each component subtracts
It is few, increase the rigidity of speed reducer.
Preferably, the novel wave producer is annular ellipsoidal structures, and the outer wall thickness of novel wave producer
For the summation of wave producer and the thickness of needle roller flexible bearing inner ring.
By using above-mentioned technical proposal, novel wave producer instead of wave producer and needle bearing inner ring, as
One whole components has not only lacked a needle bearing inner ring, has reduced cost from amount of parts.And it eliminates
Rigidity is improved in the fit-up gap of wave producer and flexible bearing inner ring, improves the accuracy of mesh.Maintain original wave producer
With the thickness of needle roller flexible bearing inner ring, remain unchanged its other parameter.
Preferably, the needle roller, needle roller flexible bearing outer ring and needle roller flexible bearing inner ring form novel flexibility
Bearing.
By using above-mentioned technical proposal, using needle bearing instead of two original flexible balls in novel flexible bearing
Bearing, relative to original bearing, new bearing is easy to assembly, cost is lower.
Preferably, being connected on the outer wall and new outer lane inner wall contact surface of the novel inner ring by cross roller
It connects.
By using above-mentioned technical proposal, novel inner ring and new outer lane are instead of fixing end firm gear, cross roller
Novel inner ring is connected with new outer lane by a cross roller, and can nibbled with flexbile gear by bearing and output end firm gear
It closes.
Preferably, the inner wall that the novel inner ring is contacted with novel flexbile gear is equipped in identical with fixing end firm gear
Tooth, and the novel inner ring is to engage with the number of teeth with the external tooth of novel flexbile gear.
By using above-mentioned technical proposal, novel inner ring is engaged with flexbile gear with the number of teeth, is guaranteed the stabilization of transmission, is realized pair
The transmission of deceleration mechanism.
Preferably, the section of the new outer lane is " L " type, set on the inner wall that new outer lane is contacted with novel flexbile gear
There is internal tooth identical with output end firm gear, and the new outer lane is that the poor number of teeth engages with the external tooth of novel flexbile gear.
By using above-mentioned technical proposal, section is the new outer lane of " L " type, and the different inner wall in the two sides having can
Contacted respectively with novel inner ring and flexbile gear, new outer lane is connect by cross roller with novel inner ring, new outer lane with it is soft
The external tooth of wheel is poor number of teeth engagement, to form the deceleration ratio of deceleration mechanism.
Preferably, the novel flexbile gear thickness and the hardness of external tooth and the thickness of flexbile gear are consistent, external tooth it is hard
Degree is 30-50HRC, and inner hole hardness is 58-66HRC.
By using above-mentioned technical proposal, the external tooth hardness of novel flexbile gear is remained unchanged, and internal tooth contacts operation with needle roller, is led to
Overheating Treatment realizes the raising of intensity in inner hole, can reach and adapts to needle roller intensity.
Preferably, cylindrical body of the both ends of the needle roller for round end, and the assembly of needle roller and novel flexbile gear composition
Thickness is identical as the thickness of flexbile gear and flexible bearing.
By using above-mentioned technical proposal, the thickness of needle roller becomes larger, and keeps entirely assembling to cooperate novel flexbile gear with this
Body thickness it is constant.
Preferably, the firm gear end cap appearance is a circular metal lid, and the inner ring and outer ring of top surface
Equal Circle-Array is shown equipped with several counter sinks for mounting screw.
By using above-mentioned technical proposal, firm gear end cap is sleeved on entire double firm gear harmonic wave speed reducing machines, and firm gear end cap
Several metal grooves that outer ring is equipped with are for installing metal bolts, and for fixing entire harmonic wave speed reducing machine, firm gear end cap inner ring is set
There are several metal grooves to can be used for that equipment is installed to client.
Preferably, the deep groove ball bearing is mounted in the both ends of the surface of harmonic wave speed reducing machine, and deep groove ball bearing and new
The junction of type inner ring is equipped with metal circlip.
By using above-mentioned technical proposal, double firm gear speed reducers of double steel wheel harmonic wave speed reducing machines are equipped with the different depth of diameter
Ditch ball bearing is mainly used for bearing radial load and axial load in speed reducer, and metal circlip is for further reinforcing deep-groove ball
The connection of bearing and novel inner ring.
Detailed description of the invention
Fig. 1 is the structure diagram of double firm gear harmonic wave speed reducing machines；
Fig. 2 is the double firm gear harmonic wave speed reducing machines of integral type；
Fig. 3 is the double firm gear harmonic wave speed reducing machines of needle-type flexible bearing integral type；
Fig. 4 is the double firm gear harmonic wave speed reducing machines of no inner ring needle-type flexible bearing integral type；
Fig. 5 is the double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type；
Appended drawing reference: 1, novel wave producer；2, novel inner ring；3, new outer lane；4, novel flexbile gear；5, needle roller；6, just
Take turns end cap；7, deep groove ball bearing；11, wave producer；21, fixing end firm gear；31, flexbile gear；41, cross roller bearing；51,
Flexible bearing；61, output end firm gear；53, needle roller flexible bearing outer ring；63, needle roller flexible bearing inner ring.
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Embodiment 1
It is as shown in Figure 5: a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type, including novel wave
Generator 1, novel inner ring 2, new outer lane 3, novel flexbile gear 4, needle roller 5, firm gear end cap 6, deep groove ball bearing 7；Novel wave occurs
Device 1 is made of wave producer 11 and needle roller flexible bearing inner ring 63, and novel flexbile gear 4 is by flexbile gear 31 and needle roller flexible bearing outer ring 53
Composition, novel inner ring 2 are made of fixed firm gear and 41 inner ring of cross roller bearing, and new outer lane 3 is by output end firm gear 61
It is formed with 41 outer ring of cross roller bearing, and novel wave producer 1, novel inner ring 2, new outer lane 3 and novel flexbile gear 4 are equal
For global facility, novel 1 outer wall of wave producer is connected with deep groove ball bearing 7 and needle roller 5, wherein outside the deep groove ball bearing 7 of one end
Wall is connected with novel 2 inner wall of inner ring, and 7 outer wall of deep groove ball bearing of the other end is connect with 6 inner wall of firm gear end cap, in novel inner ring 2
Wall is also connect with the outer wall of novel flexbile gear 4, and the outer wall of novel inner ring 2 is connect with the inner wall of new outer lane 3, while new outer lane 3
Inner wall also connect with the outer wall of novel flexbile gear 4, firm gear end cap 6 is fixedly connected with new outer lane 3.Relative to general double firm gears
Oblique wave speed reducer, simplifies structure, increases its rigidity, and the figure of double firm gear structures becomes smaller, and weight saving passes through components
Integration increase the rigidity of speed reducer so that the gap between each component is reduced.
As shown in Figure 5: novel wave producer 1 is annular ellipsoidal structures, and the outer wall thickness of novel wave producer 1 is wave
The summation of the thickness of generator 11 and needle roller flexible bearing inner ring 63.Novel wave producer 1 instead of wave producer 11 and rolling
Needle flexible bearing inner ring 63, components have not only lacked a needle roller flexible bearing from amount of parts as a whole
Inner ring 63, reduces cost.And the fit-up gap of wave producer 11 Yu 51 inner ring of flexible bearing is eliminated, rigidity is improved, is improved
The accuracy of mesh.The thickness for maintaining original wave producer 11 and needle roller flexible bearing inner ring 63 protects its other parameter
It holds constant.
As shown in Figure 5: needle roller 5, needle roller flexible bearing outer ring 53 and needle roller flexible bearing inner ring 63 form novel flexibility
Bearing 51.Using 5 bearing of needle roller instead of two original flexible ball bearings in novel flexible bearing, relative to original axis
It holds, new bearing is easy to assembly, cost is lower.
As shown in Figure 5: the outer wall of novel inner ring 2 is connected on 3 inner wall contact surface of new outer lane by cross roller.
Novel inner ring 2 and new outer lane 3 pass through instead of fixing end firm gear 21, cross roller bearing 41 and output end firm gear 61
One cross roller connects novel inner ring 2 and new outer lane 3, and can engage with flexbile gear 31.
As shown in Figure 5: the inner wall that novel inner ring 2 is contacted with novel flexbile gear 4 is equipped in identical with fixing end firm gear 21
Tooth, and novel inner ring 2 is to engage with the number of teeth with the external tooth of novel flexbile gear 4.Novel inner ring 2 is engaged with flexbile gear 31 with the number of teeth, is guaranteed
The stabilization of transmission realizes the transmission to deceleration mechanism.
As shown in Figure 5: the section of new outer lane 3 is " L " type, and the inner wall that new outer lane 3 is contacted with novel flexbile gear 4 is equipped with
Internal tooth identical with output end firm gear 61, and new outer lane 3 is that the poor number of teeth engages with the external tooth of novel flexbile gear 4.Section is " L " type
New outer lane 3, the different inner wall in the two sides having can contact with novel inner ring 2 and flexbile gear 31 respectively, and new outer lane 3 is logical
It crosses cross roller to connect with novel inner ring 2, new outer lane 3 is that the poor number of teeth engages with the external tooth of flexbile gear 31, is subtracted to be formed
The deceleration ratio of fast mechanism.
As shown in Figure 5: novel 4 thickness of flexbile gear and the hardness of external tooth and the thickness of flexbile gear 31 are consistent, the hardness of external tooth
For 30-50HRC, inner hole hardness is 58-66HRC.The external tooth hardness of novel flexbile gear 4 remains unchanged, and internal tooth contacts fortune with needle roller 5
Row, the raising of intensity in inner hole is realized by being heat-treated, and can be reached and be adapted to 5 intensity of needle roller.
As shown in Figure 5: the both ends of needle roller 5 are the cylindrical body of round end, and the assembly of needle roller 5 and novel flexbile gear 4 composition is thick
It spends identical as the thickness of flexbile gear 31 and flexible bearing 51.The thickness of needle roller 5 becomes larger, and keeps whole with this to cooperate novel flexbile gear 4
It is a to assemble the constant of body thickness.
As shown in Figure 5: 6 appearance of firm gear end cap is a circular metal lid, and the inner ring and outer ring of top surface is round
All arrays have equipped with several counter sinks for mounting screw.Firm gear end cap 6 is sleeved on entire double firm gear harmonic wave speed reducing machines, and
Several metal grooves that 6 outer ring of firm gear end cap is equipped with are for installing metal bolts, for fixing entire harmonic wave speed reducing machine, firm gear end
6 inner ring of lid, which is equipped with several metal grooves, can be used for installing equipment to client.
As shown in Figure 5: deep groove ball bearing 7 is mounted in the both ends of the surface of harmonic wave speed reducing machine, and deep groove ball bearing 7 with it is novel interior
The junction of circle 2 is equipped with metal circlip.Double firm gear speed reducers of double steel wheel harmonic wave speed reducing machines are equipped with the different deep-groove ball of diameter
Bearing 7 is mainly used for bearing radial load and axial load in speed reducer, and metal circlip is for further reinforcing deep groove ball bearing
7 and novel inner ring 2 connection.
Comparative example 1
Fig. 1 is the structure diagram of double firm gear harmonic wave speed reducing machines.Main parts size: wave producer 11, fixing end firm gear 21, soft
Take turns 31, cross roller bearing 41, flexible bearing 51, output end firm gear 61, firm gear end cap 6, deep groove ball bearing 7.
Fixing end firm gear 21 and output end firm gear 61 have one group of internal tooth, respectively with the outer tooth engagement of flexbile gear 31, carry out
Transmission.
Comparative example 2
Fig. 2 is the double firm gear harmonic wave speed reducing machines of integral type.Main parts size has: wave producer 11, novel inner ring 2, novel outer
Enclose 3, flexbile gear 31, flexible bearing 51, firm gear end cap 6, deep groove ball bearing 7.
Novel cross roller bearing 41 is made of novel inner ring 2 and new outer lane 3 respectively, novel inner ring 2 and novel
Outer ring 3 is formed by connecting by cross roller.Wherein novel inner ring 2 is rolled instead of original fixing end firm gear 21 and right-angled intersection
The two assemblies of sub- 41 inner ring of bearing, a component of the novel inner ring 2 as novel cross roller bearing 41, internal diameter
Above while there is original 21 internal tooth of fixing end firm gear, is engaged with flexbile gear 31.
New outer lane 3 is instead of original output end firm gear 61 and the two assembly of 41 outer ring of cross roller bearing
Body, a component of the new outer lane 3 as novel cross roller bearing 41 have original output end on internal diameter simultaneously
61 internal tooth of firm gear, is engaged with flexbile gear 31.
This novel 41 structure of cross roller bearing, becomes an overall structure by assembly, not only reduces axis
To thickness, mitigate speed reducer weight, it is important to eliminate original fit-up gap and assembly locking mode, improve rigidity and nibble
Close precision and stationarity.
Comparative example 3
Fig. 3 is the double firm gear harmonic wave speed reducing machines of 51 integral type of needle-type flexible bearing.Main parts size has: wave producer 11,
Novel inner ring 2, new outer lane 3, flexbile gear 31, needle roller flexible bearing outer ring 53, needle roller 5, needle roller flexible bearing inner ring 63, firm gear end
Lid 6, deep groove ball bearing 7.
Novel flexible ball bearings are respectively by 63 groups of needle roller 5, needle roller flexible bearing outer ring 53 and needle roller flexible bearing inner ring
At novel flexible bearing is by 5 bearing of needle roller instead of two original ball bearings, and novel bearing not only has Gao Gang
Degree, structure is simple, at low cost, and easy to assembly.
Comparative example 4
Fig. 4 is the double firm gear harmonic wave speed reducing machines of no 51 integral type of inner ring needle-type flexible bearing.Main parts size has: novel wave
Generator 1, novel inner ring 2, new outer lane 3, flexbile gear 31, needle roller flexible bearing outer ring 53, needle roller 5, firm gear end cap 6, deep-groove ball
Bearing 7.
Novel wave producer 1 instead of Fig. 3 wave producer 11 and needle roller flexible bearing inner ring 63, as a whole zero
Component has not only lacked a needle roller flexible bearing inner ring 63, has reduced cost from amount of parts.And eliminate wave hair
The fit-up gap of raw device 11 and 51 inner ring of flexible bearing, improves rigidity, improves the accuracy of mesh.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, modification and
Environment, and can be changed within that scope of the inventive concept describe herein by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of protection of the claims.
Claims (10)
1. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type, it is characterised in that: including novel wave
Generator (1), novel inner ring (2), new outer lane (3), novel flexbile gear (4), needle roller (5), firm gear end cap (6), deep groove ball bearing
(7)；The novel wave producer (1) is made of wave producer (11) and needle roller flexible bearing inner ring (53), the novel flexbile gear
(4) it is made of flexbile gear (31) and needle roller flexible bearing outer ring (63), the novel inner ring (2) is rolled by fixed firm gear and right-angled intersection
Sub- bearing (41) inner ring composition, the new outer lane (3) is by output end firm gear (61) and cross roller bearing (41) outer ring
Composition, and the novel wave producer (1), novel inner ring (2), new outer lane (3) and novel flexbile gear (4) they are global facility,
Novel wave producer (1) outer wall is connected with deep groove ball bearing (7) and needle roller (5), and wherein the deep groove ball bearing (7) of one end is outside
Wall is connected with novel inner ring (2) inner wall, and deep groove ball bearing (7) outer wall of the other end is connect with firm gear end cap (6) inner wall, described new
Type inner ring (2) inner wall is also connect with the outer wall of novel flexbile gear (4), and the outer wall of the novel inner ring (2) is interior with new outer lane (3)
Wall connection, while the inner wall of new outer lane (3) also connect with the outer wall of novel flexbile gear (4), the firm gear end cap (6) and it is novel outside
Circle (3) is fixedly connected.
2. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the novel wave producer (1) is annular ellipsoidal structures, and the outer wall thickness of novel wave producer (1) is wave
The summation of the thickness of generator (11) and needle roller flexible bearing inner ring (53).
3. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the needle roller (5), needle roller flexible bearing outer ring (63) and needle roller flexible bearing inner ring (53) form novel flexibility
Bearing.
4. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the outer wall of the novel inner ring (2) is connected on new outer lane (3) inner wall contact surface by cross roller.
5. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the inner wall that the novel inner ring (2) contacts with novel flexbile gear (4) is equipped in identical with fixing end firm gear (21)
Tooth, and the novel inner ring (2) is to engage with the number of teeth with the external tooth of novel flexbile gear (4).
6. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the section of the new outer lane (3) be " L " type, the inner wall that new outer lane (3) is contacted with novel flexbile gear equipped with
The identical internal tooth of output end firm gear (61), and the new outer lane (3) is that the poor number of teeth engages with the external tooth of novel flexbile gear (4).
7. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: novel flexbile gear (4) thickness and the hardness of external tooth and the thickness of flexbile gear (31) are consistent, and the hardness of external tooth is
30-50HRC, inner hole hardness are 58-66HRC.
8. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the both ends of the needle roller (5) are the cylindrical body of round end, and the assembly of needle roller (5) and novel flexbile gear (4) composition is thick
It spends identical as the thickness of flexbile gear (31) and flexible bearing (51).
9. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: firm gear end cap (6) appearance is a circular metal lid, and the equal Circle-Array of inner ring and outer ring of top surface
It shows and is equipped with several counter sinks for mounting screw.
10. a kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type according to claim 1,
Be characterized in that: the deep groove ball bearing (7) is mounted in the both ends of the surface of harmonic wave speed reducing machine, and deep groove ball bearing (7) with it is novel interior
The junction for enclosing (2) is equipped with metal circlip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487659.7A CN110242710B (en) | 2019-06-05 | 2019-06-05 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487659.7A CN110242710B (en) | 2019-06-05 | 2019-06-05 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110242710A true CN110242710A (en) | 2019-09-17 |
| CN110242710B CN110242710B (en) | 2022-05-10 |
Family
ID=67886199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910487659.7A Active CN110242710B (en) | 2019-06-05 | 2019-06-05 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110242710B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112682493A (en) * | 2020-12-22 | 2021-04-20 | 北京航空航天大学宁波创新研究院 | Cosine oscillating tooth speed reducer with elliptic shock wave device |
| CN113374852A (en) * | 2021-05-24 | 2021-09-10 | 温州大学 | Movable tooth harmonic speed reducer |
| CN114110127A (en) * | 2021-08-31 | 2022-03-01 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Double deep groove ball bearing pre-tightening eccentric cam follower |
| CN114370487A (en) * | 2022-01-24 | 2022-04-19 | 王瑞松 | Harmonic reducer and transmission device |
| EP4130516A1 (en) * | 2021-08-03 | 2023-02-08 | BeijingWest Industries Co. Ltd. | Compact belted strain wave gear apparatus |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103629306A (en) * | 2012-08-20 | 2014-03-12 | 刘旭训 | Harmonic reducer of electric bicycle driver |
| WO2014203293A1 (en) * | 2013-06-20 | 2014-12-24 | 株式会社ハーモニック・ドライブ・システムズ | Hollow strain wave gearing unit |
| CN104321558A (en) * | 2013-05-08 | 2015-01-28 | 谐波传动系统有限公司 | Wave generator of strain wave gear device |
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| JP2018155313A (en) * | 2017-03-17 | 2018-10-04 | 住友重機械工業株式会社 | Deflective meshing type gear device |
| CN208024807U (en) * | 2018-03-01 | 2018-10-30 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
| DE102018115627A1 (en) * | 2017-07-20 | 2019-01-24 | Sumitomo Heavy Industries, Ltd. | Transmission device of the bending engagement type |
| CN210265750U (en) * | 2019-06-05 | 2020-04-07 | 南通振康机械有限公司 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
-
2019
- 2019-06-05 CN CN201910487659.7A patent/CN110242710B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103629306A (en) * | 2012-08-20 | 2014-03-12 | 刘旭训 | Harmonic reducer of electric bicycle driver |
| CN104321558A (en) * | 2013-05-08 | 2015-01-28 | 谐波传动系统有限公司 | Wave generator of strain wave gear device |
| WO2014203293A1 (en) * | 2013-06-20 | 2014-12-24 | 株式会社ハーモニック・ドライブ・システムズ | Hollow strain wave gearing unit |
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| JP2018155313A (en) * | 2017-03-17 | 2018-10-04 | 住友重機械工業株式会社 | Deflective meshing type gear device |
| DE102018115627A1 (en) * | 2017-07-20 | 2019-01-24 | Sumitomo Heavy Industries, Ltd. | Transmission device of the bending engagement type |
| CN208024807U (en) * | 2018-03-01 | 2018-10-30 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
| CN210265750U (en) * | 2019-06-05 | 2020-04-07 | 南通振康机械有限公司 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112682493A (en) * | 2020-12-22 | 2021-04-20 | 北京航空航天大学宁波创新研究院 | Cosine oscillating tooth speed reducer with elliptic shock wave device |
| CN113374852A (en) * | 2021-05-24 | 2021-09-10 | 温州大学 | Movable tooth harmonic speed reducer |
| CN113374852B (en) * | 2021-05-24 | 2022-06-03 | 温州大学 | Movable tooth harmonic speed reducer |
| EP4130516A1 (en) * | 2021-08-03 | 2023-02-08 | BeijingWest Industries Co. Ltd. | Compact belted strain wave gear apparatus |
| CN114110127A (en) * | 2021-08-31 | 2022-03-01 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Double deep groove ball bearing pre-tightening eccentric cam follower |
| CN114110127B (en) * | 2021-08-31 | 2023-06-02 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Double deep groove ball bearing pretension eccentric cam follower |
| CN114370487A (en) * | 2022-01-24 | 2022-04-19 | 王瑞松 | Harmonic reducer and transmission device |
| CN114370487B (en) * | 2022-01-24 | 2023-12-12 | 王瑞松 | Harmonic speed reducer and transmission device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110242710B (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110242710A (en) | A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type | |
| US8082818B2 (en) | Planetary device for conversion between rotary motion and linear motion | |
| US11754162B2 (en) | Double-flexspline harmonic reducer | |
| CN107795662B (en) | Rigid wheel for harmonic reducer, harmonic reducer and robot | |
| CN206072245U (en) | For the firm wheel of harmonic speed reducer, harmonic speed reducer and robot | |
| CN107299970B (en) | Cycloidal steel ball speed reducer and application thereof in robot joint | |
| US11614153B2 (en) | Double-flexspline harmonic reducer with limitable deformation | |
| CN107327543B (en) | Cycloid steel ball planetary transmission mechanism and robot joint speed reducer thereof | |
| CN207093681U (en) | A kind of Cycloid Steel Ball Planetary Transmission mechanism and its joint of robot deceleration device | |
| CN106352024A (en) | Single-eccentric short transmission chain speed reducer | |
| CN112049908A (en) | Planetary roller screw of gear transmission mode | |
| CN110914574A (en) | Wave gear device | |
| CN108400676A (en) | Secondary restraint formula decelerating motor | |
| CN107061637B (en) | Planet transmission system with planet wheel double-row parallel uniform distribution shunting structure | |
| CN104315088A (en) | Novel cycloid needle roller damping speed reducer | |
| CN210265750U (en) | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings | |
| CN212536572U (en) | Ring gear nut planet roller screw | |
| CN212536573U (en) | Planetary roller screw of gear transmission mode | |
| CN208870976U (en) | A kind of RV speed reducer of small reduction ratio | |
| CN211501248U (en) | Improve transmission assembly and self-service financial equipment of axial float | |
| CN210623389U (en) | Flexible bearing for harmonic reducer | |
| CN104819268B (en) | A kind of cycloid disc of speed reducer | |
| CN207661072U (en) | NN type Hypocycloid pinwheel planetary reduction gears | |
| CN208831596U (en) | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer | |
| CN2256962Y (en) | Circulation ball type rolling worm gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |