CN110332297A - Accuracy compensation type harmonic wave speed reducing machine - Google Patents

Abstract

Accuracy compensation type harmonic wave speed reducing machine, it is characterized in that: accuracy compensation type harmonic wave speed reducing machine includes outer flexbile gear, interior flexbile gear, wave producer, outer deformation of flexible wheel amount limit part, accuracy compensation adjusts worm screw and case member forms；Described outer flexbile gear pipe dress wall one end is connected and fixed with case member, the outer flexbile gear tubular wall other end is equipped with internal tooth, the interior flexbile gear and the coaxial axial restraint of outer flexbile gear are simultaneously radially fixed, interior flexbile gear is equipped with can be with the intermeshing external tooth of internal gear of outer flexbile gear, the outer flexbile gear number of teeth is greater than the interior flexbile gear number of teeth, wave producer setting makes interior flexbile gear that non-circular elastic deformation occur in interior flexbile gear and engages with outer flexbile gear part, the non-circular elastic deformation of radial pressure generation of outer flexbile gear and interior flexbile gear contact portion by interior flexbile gear；The outer tube wall of rear flank is equipped with the limit contact surface of circular cone or cambered surface in the outer flexbile gear flexible tubular wall, and the outer deformation of flexible wheel amount limit part is equipped with external screw thread and outer oblique gear.

Description

Accuracy compensation type harmonic wave speed reducing machine

Technical field

The present invention relates to speed reducer fields, more particularly, to a kind of accuracy compensation type harmonic wave speed reducing machine.

Background technique

Harmonic gear transmission is American inventor C.W.Musser in nineteen fifty-five innovation and creation, it is a kind of using flexible The elastic deformation of working component carries out a kind of novel transmission mode of movement or power transmitting, it breaches machine driving using rigid Property Component Mechanism mode, used a flexible member to realize machine driving, thus obtain it is a series of other transmission institutes Unapproachable specific function.Since the deformation process of middle flexible component is substantially a symmetrical harmonic wave, so gain the name. In addition to this transmission is known as waveform transmission or compliant wheel transmission by the former Soviet Union, referred to as " harmonic wave is passed for American and Britain, moral, Deng state It is dynamic ".

Traditional harmonic gear transmission deceleration principle refers to the relative motion using flexbile gear, firm gear and wave producer, mainly It is the controlled elasticity deformation of flexbile gear to realize movement and power transmitting.Oval cam in wave producer rotates in flexbile gear It is deformed flexbile gear.The flexbile gear gear teeth and the firm gear gear teeth at the oval cam long axis both ends of wave producer enter engagement When, the flexbile gear gear teeth and the firm gear gear teeth at short axle both ends disengage.For the tooth between major axis of wave generator and short axle, along flexbile gear and It is referred to as engaging-in in the semi-engagement state for progressing into engagement in the different sections of firm gear perimeter；In being gradually backed out engagement Semi-engagement state is known as nibbling out.When wave producer continuous rotation, flexbile gear constantly generates deformation, make the two-wheeled gear teeth it is engaging-in, nibble It closes, nibble out and disengages four kinds of movements and constantly change respectively original working condition, generate side set movement, realize the generation of active wave The movement of device to flexbile gear is transmitted.

The composition of existing harmonic gear transmission device 1. firm gear: rigid internal gear, under normal circumstances 2 more than flexbile gear Tooth is typically secured on casing；2. flexbile gear: the cogged thin cup shaped metal elastomeric element of opening portion outer ring band, it occurs with wave The rotation of device and deform, usually couple with output shaft；3. wave producer: by an oval cam and a flexible bearing group At being usually connected with input shaft.Flexible bearing inner ring is fixed on cam, and outer ring can implement elastic deformation into ellipse by ball Shape.

But after under the action of wave producer ovalizing deflection occurs for the return difference of harmonic wave speed reducing machine depending on flexbile gear at present The tightness degree that engages of the tooth of transverse and steel wheel tooth, the not close then return difference of engagement is larger, and engagement interference can not then assemble Or rotation is difficult, can flexbile gear accurately engage the production precision depending on harmonic reduction machine part with steel wheel；At the same time, Flexbile gear, steel wheel and wave producer all can a degree of abrasion during operation, abrasion will also result in nibbling for flexbile gear and steel wheel It closes tightness degree to gradually decrease, the return difference of speed reducer can be gradually increased, which dictates that the accuracy life of speed reducer cannot be too long.

Summary of the invention

The invention proposes a kind of accuracy compensation type harmonic wave speed reducing machines.

The technical scheme adopted by the invention is that.

Accuracy compensation type harmonic wave speed reducing machine, it is characterized in that: accuracy compensation type harmonic wave speed reducing machine include outer flexbile gear, interior flexbile gear, Wave producer, outer deformation of flexible wheel amount limit part, accuracy compensation adjust worm screw and case member composition；The outer flexbile gear pipe fills wall One end is connected and fixed with case member, and the outer flexbile gear tubular wall other end is equipped with internal tooth, and the interior flexbile gear and outer flexbile gear are coaxially axial Fixed and radially fixed, interior flexbile gear is equipped with can be greater than with the intermeshing external tooth of internal gear of outer flexbile gear, the outer flexbile gear number of teeth The interior flexbile gear number of teeth, wave producer setting make interior flexbile gear that non-circular elastic deformation occur in interior flexbile gear and engage with outer flexbile gear part, The non-circular elastic deformation of radial pressure generation of outer flexbile gear and interior flexbile gear contact portion by interior flexbile gear；The outer flexbile gear flexible tubular The outer tube wall of rear flank is equipped with the limit contact surface of circular cone or cambered surface in wall, and the outer deformation of flexible wheel amount limit part is equipped with External screw thread and outer oblique gear, the outer deformation of flexible wheel amount limit the limit contact surface that circular cone or cambered surface are set on part, shell Component is equipped with internal screw thread, and the outer deformation of flexible wheel amount limit part is assembled by the screw thread of screw thread and housing parts, the shell Component, which is equipped with, adjusts worm hole, and the accuracy compensation adjusting worm screw is assemblied in adjusting worm hole and axial restraint, the precision Bevel gear set on compensation adjustment worm screw and outer deformation of flexible wheel amount limit part is at worm and helical gear pair, and the outer flexbile gear is by interior soft Limit face contact on the limit contact surface in wheel radial pressure distortion region and the outer deformation of flexible wheel amount limit part, outer flexbile gear Non-circular deflection limit feature contacts with outer deformation of flexible wheel amount after outer deformation of flexible wheel due to be restricted, the accuracy compensation is adjusted Worm screw is equipped with driver socket, and the housing parts are equipped with mounting flange, and the interior flexbile gear part is equipped with connecting flange Disk.When driving accuracy compensation to adjust worm screw rotation by driver, accuracy compensation, which adjusts worm screw, can pass through worm and helical gear pair Transmission drives outer deformation of flexible wheel amount limit part relative to housing parts rotation, outer deformation of flexible wheel amount limit part and outer flexbile gear it Between axial displacement occurs, outer deformation of flexible wheel amount and the contact surface diameter of outer flexbile gear change, to adjust the maximum of outer flexbile gear Deflection realizes the accuracy compensation operation of harmonic wave speed reducing machine；Outer flexbile gear is tightened deflection most in adjustable range It is small, it realizes that most compact state is arrived in the tooth intermeshing of outer flexbile gear and interior flexbile gear, reaches and arrive reducer gear transmission return difference adjusting It is minimum.It is especially highlighted in the present invention and is then threaded into shell equipped with outer oblique gear and external screw thread on outer deformation of flexible wheel amount limit part Internal screw thread assembling on body, and be equipped with accuracy compensation on shell and adjust worm screw mounting hole, it accommodates accuracy compensation and adjusts worm screw And the structure for realizing that accuracy compensation adjusts the external tooth composition worm and helical gear pair of worm screw and outer deformation of flexible wheel amount limit part is this One of important feature of invention, because realizing the transmission and connection relationship between above-mentioned part in a limited space and in number of parts Be it is more difficult, it is most important be the structure contain accuracy compensation adjust worm screw do not significantly increase speed reducer outer diameter or Change the cylindrical configuration of harmonic wave speed reducing machine, because the shape of speed reducer is to entirety in appearance and the structure design of manipulator It is affected, the cylinder moulding of speed reducer and size is kept to be conducive to the design that speed reducer is applied to manipulator；Accuracy compensation type Harmonic wave speed reducing machine is exactly the steel wheel that existing harmonic wave speed reducing machine is substituted with a deflection limit part and an outer flexbile gear, is led to simultaneously It crosses the helical gear pair that the accuracy compensation on shell is adjusted between worm screw and outer deformation of flexible wheel amount limit part and adjusts outer deformation of flexible wheel The relative axial position of amount limit part and outer flexbile gear realizes the maximum distortion outer diameter for being adjusted to flexbile gear, most due to outer flexbile gear Large deformation outer diameter is the effective outer diameter of outer flexbile gear of outer flexbile gear and the interior flexbile gear position of engagement, is also equivalent to be by accuracy compensation tune The reference diameter that worm screw adjusts steel wheel internal tooth in harmonic wave speed reducing machine in the prior art is saved, steel wheel can be tightened by being equivalent to realize Technical effect.Thus outer flexbile gear be different from existing steel wheel one is noteworthy characterized by: the outer flexbile gear have with it is existing humorous The similar flexible thin-walled of wave speed reducer flexbile gear, that is to say, that outer flexbile gear include can with elastic deformation annular gear structure end with separately Not resiliently deformable one be connected and fixed between structure section in one end can be with elastically-deformable tubulose thin-wall construction；Accuracy compensation type Another of harmonic wave speed reducing machine machine is noteworthy characterized by, and non-circular deformed distance occurs under the action of wave producer and subtracts for interior flexbile gear The reference radius of round gear ring of the reference radius of the farthest tooth of the fast arbor heart greater than outer flexbile gear before unassembled；It is stated Non-circular elastic deformation occurs under the action of wave producer for interior flexbile gear and outer flexbile gear is in the non-circular deformed engaging section of interior flexbile gear Divide under the radial pressure of tooth and non-circular elastic deformation occurs, the interior flexbile gear remains part tooth with the rotation of wave producer The continuous engaging-in tooth for nibbling flexbile gear out in direction, since there are number of teeth differences for outer flexbile gear and interior flexbile gear, so showing wave producer The outer flexbile gear of rotation rotate driving and interior flexbile gear can relatively rotate, the speed reducer effect of realization deceleration torque increase, on wave producer Equipped with the axis hole or ring flange connecting with input power source, fixed flange and output method is respectively set on interior flexbile gear and shell Blue disk；The wave producer selects elliptic cam mostly and is equipped with the structure of rolling bearing in cam outer ring when practical application, ellipse Boss wheel, which belongs to 2 cams and can result in interior flexbile gear, has symmetric teeth at two to engage with outer flexbile gear, the outer flexbile gear and interior flexbile gear it Between teeth number difference should be wave producer cam head number integral multiple, single head cam or three or more can also be used theoretically Bull cam make interior flexbile gear there are one or more to engage with outer flexbile gear, use the internal flexbile gear of cam of different head numbers and outer flexbile gear The number of teeth and tooth form have corresponding requirement；Cycloidal profile, involute profile, lance tooth can be used in outer flexbile gear and interior flexbile gear Wide, trapezoidal flank profil and circle cycloidal profile etc.；It is connect to reduce the confined planes between outer flexbile gear and outer deformation of flexible wheel amount limit part It presses by force, the limit contact surface on limit contact surface and outer deformation of flexible wheel amount limit part on outer flexbile gear is processed at the time of contact Mutually identical face, for example, the approximate chamfering annular surface of angle or the approximate fillet annular surface equal diameter gradual change of radius of corner can With mutually identical face, the diameter of opposite contact area can be changed when two part axial relative positions change；Institute Similarly, it is basic that keep the flank of tooth, which be contact face, for the gear drive for stating accuracy compensation type harmonic wave speed reducing machine and most of flank profil lines Tooth Profile Design common sense, for the present invention will be in view of in entire abrasion and adjusting interior flexbile gear and outer flexbile gear under deformation state Tooth is kept based on face stress rather than based on other position stress such as tooth tip.The housing parts can be a part It can also be formed by multiple assembling parts.

The outer deformation of flexible wheel amount limit part is a bearing parts, the bearing outer ring be equipped with external screw thread and it is outer tiltedly Gear, the bearing inner race are equipped with confined planes.Because outer flexbile gear and outer deformation of flexible wheel amount limit during speed reducer drive Contact surface between part has micro opposite sliding, becomes outer flexbile gear from the point of view of improving deceleration engine efficiency and reduction abrasion Shape amount limits Element Design into bearing parts, and bearing inner race can be with rotating with the contact surface of outer flexbile gear, bearing outer ring screw thread Adjusted by accuracy compensation that worm screw is circumferentially fixed remains stationary with helical gear.

The accuracy compensation type harmonic wave speed reducing machine further includes the pin or spiral shell that worm screw axial restraint is adjusted for accuracy compensation Silk, the accuracy compensation adjust worm screw and are equipped with annular groove, pass through after the accuracy compensation for being packed into housing parts adjusts worm hole The pin or half tooth screw vertical with accuracy compensation adjusting worm screw being assemblied on shell is caught in accuracy compensation and adjusts the recessed of worm screw Slot realizes that accuracy compensation adjusts the axial restraint of worm screw.Most simplified method is selected to realize that the axial direction of accuracy compensation adjusting worm screw is solid It is fixed extremely important because accuracy compensation adjust the installation site of worm screw perpendicular to reductor shaft to and be located at speed reducer outer diameter, Complicated assembly fixed form will increase the outer diameter of speed reducer or destroy the cylindrical structure of speed reducer, slow down to subsequent applications Machine design robot affects greatly, and is caught in accuracy compensation using the pin for adjusting worm screw perpendicular to accuracy compensation and adjusts worm screw Annular groove mode, effectively axial restraint accuracy compensation can adjust worm screw and not influence its rotation again.

The accuracy compensation adjusts and is additionally provided with sealed rubber ring on worm screw, and the sealant ring set adjusts worm screw in accuracy compensation On, rubber ring outer wall adjusts worm screw inner wall of the hole installing with the accuracy compensation on the housing parts and contacts.Sealed rubber ring guarantees worm screw Resistance also is generated to the rotation of accuracy compensation worm screw while the grease of gear pair position is not leaked from accuracy compensation worm screw mounting hole Power realizes anti-loosing effect, avoids because worm screw caused by factors such as vibration in speed reducer operational process loosens rotation.

The outer flexbile gear is machined with Flange disk, and outer flexbile gear is fixed by Flange disk with housing parts.In flexbile gear Upper processing Flange, then passing through screw and the fixation of another flange part is that flexbile gear is done with the routine that other parts are connected and fixed Method.

Spline is machined on the outer flexbile gear, outer flexbile gear is fixed by close-fitting spline with housing parts.It is slight using spline The fixing means of interference fit can save screw or reduce the space hold of fixed position, it is contemplated that precision of the invention The control by outer deformation of flexible wheel amount limit part in the axial direction of the outer flexbile gear of offset-type harmonic wave speed reducing machine, uses spline and shell Component is circumferentially fixed and slight interference cooperation is than more preferably scheme.

The interior flexbile gear or outer flexbile gear are using polymer plastic glue material or copper at while shell selects aluminium alloy or magnesium Alloy is made.Other than traditional speed reducer steel material, accuracy compensation type harmonic wave speed reducing machine of the invention can also be wider General selection material, the toughness and fatigue performance of copper are better than most of steel, and heat dissipation performance is excellent, because the present invention's couple The tooth requirement on machining accuracy of the internal flexbile gear of accuracy compensation type harmonic wave speed reducing machine and outer flexbile gear relative to conventional harmonic speed reducer It reduces, the range of choice of processing technology and material is with regard to broader, nylon, PEEK, PPS, PVDF, RENY, Vespel at present (PI), the macromolecules plastic material such as Torlon (PAI) has good mechanical performance and processing performance, while shell uses magnesium alloy Or aluminium alloy can effectively reduce weight；Especially plastic material and be all that can be processed with mold hot investment casting with magnesium alloy, has Conducive to raising production efficiency.

The interior flexbile gear and bearing inner race are an one-piece parts.Traditional harmonic wave speed reducing machine has selected pressing plate and pin on probation The structure that flexbile gear and bearing inner race or outer ring are fixed together is followed closely, and because of accuracy compensation type harmonic reduction proposed by the present invention Machine can receive larger range of part tolerance, and be able to maintain relatively low return difference, so the material of part is allowed to select and process Technique has more feasible programs, therefore selects same material and be integrally machined molding and can optimize interior flexbile gear and bearing inner race and subtract Fast machine overall structure is also beneficial to increase inner via hole.

The accuracy compensation type harmonic wave speed reducing machine further includes deceleration main bearing, the outer flexbile gear and interior flexbile gear respectively with master The inner ring of bearing or outer ring are fixed.Deceleration main bearing wants that axial moment, radial torque and tilting moment, deceleration owner can be born Bearing usually selects crossed roller bearing or double row angular contact bearing, can also select a pair of of the angular contact bearing installed respectively or A pair of of tapered roller bearing, can be in specific speed reducer structure it is any it is same have bear axial moment, radial torque and The bearing or bearing of tilting moment combine；The outer flexbile gear and interior flexbile gear are fixed with the inner ring of base bearing or outer ring respectively, are realized Coaxial axial restraint is simultaneously radially fixed.And all or part of bearing inner race of deceleration main bearing and bearing outer ring can be direct It is processed on interior flexbile gear and outer flexbile gear respectively, the methods of the fixed outer flexbile gear and interior of being separately fixed at of bolt or keyway can also be passed through On flexbile gear；The output flange and mounting flange of accuracy compensation type harmonic wave speed reducing machine can be processed respectively in interior flexbile gear and outer flexbile gear On, the bearing inner race and bearing outer ring in deceleration main bearing, certain speed reducer main shafts in special circumstances can also be processed respectively Holding can select the form of sliding bearing to realize, it might even be possible to directly processed respectively on interior flexbile gear and outer flexbile gear all or The inner ring and outer ring of partial sliding bearing.

Outer flexbile gear includes one section between gear ring structure one end and the fixed structure of the other end can be elastically-deformable Thin-wall construction, it is similar to the mechanical structure of conventional harmonic speed reducer flexbile gear on this point.

The accuracy compensation type harmonic wave speed reducing machine, interior flexbile gear occur under the action of wave producer it is non-circular it is deformed away from The reference radius of round gear ring of the reference radius of the tooth farthest from speed reducer axle center greater than outer flexbile gear before unassembled.This A outer flexbile gear for being greater than amount guarantee can generate a certain amount of elastic deformation after assembling, this is greater than the bullet for measuring namely outer flexbile gear Property deformation quantity, suggest under normal circumstances magnitude that this is greater than at least in 0.1mm or more, this magnitude being greater than in some cases Even require in 0.2mm or 1mm or more.The significant benefit of one of accuracy compensation type harmonic wave speed reducing machine is the containing to machining tolerance Property it is stronger, the part that more low-level tolerance can be used realizes the small return difference of the high-precision even accurate harmonic reduction of zero return difference Machine；Worm screw can be adjusted by accuracy compensation simultaneously, and degree of regulation compensating coefficient realizes that speed reducer can using wearing at any time Precision is maintained into a more excellent state for a long time, in this way can effective lifting speed reducer service life；Since drop The low requirement to part machining tolerance, then just being expanded much to the range of choice of material and processing technology, it is meant that can To use more cheap material and processing technology to realize the manufacturing of accurate harmonic wave speed reducing machine, this reduces same accurate journeys The cost of the harmonic wave speed reducing machine of degree, while each part for having connection relationship of speed reducer can be processed at one in specific processing It is the method for advantageously reducing packaging technology and reducing volume and weight on part.

Although above-mentioned outer flexbile gear Bu Tong can still belong to the portions such as flexbile gear and wave producer, bearing with interior flexbile gear intensity Part is the same to be all known to the those skilled in the art in harmonic wave speed reducing machine field and the those skilled in the art of transmission technical field, right Its detailed technical indicator and processing technology and common used material are not done herein excessively to be explained in detail.

Detailed description of the invention

The accuracy compensation type harmonic wave speed reducing machine main view of Fig. 1 embodiment 1.

The accuracy compensation type harmonic wave speed reducing machine rearview of Fig. 2 embodiment 1.

The accuracy compensation type harmonic wave speed reducing machine perspective view of Fig. 3 embodiment 1.

The accuracy compensation type harmonic wave speed reducing machine sectional view 1 of Fig. 4 embodiment 1.

The accuracy compensation type harmonic wave speed reducing machine sectional view 2 of Fig. 5 embodiment 1.

The accuracy compensation type harmonic wave speed reducing machine sectional view 3 of Fig. 6 embodiment 1.

Mark meaning is as follows in figure: 1, wave producer；2, interior flexbile gear；3, outer flexbile gear；4, outer deformation of flexible wheel amount limits part； 5, deceleration main bearing outer ring (top half)；6, accuracy compensation adjusts worm screw；7, housing parts.

Specific embodiment

Example is proposed to specific embodiment with reference to the accompanying drawing.

Embodiment 1: as shown in Fig. 1 ~ 6, accuracy compensation type harmonic wave speed reducing machine includes outer flexbile gear, interior flexbile gear, wave producer, outer Deformation of flexible wheel amount limits part, accuracy compensation adjusts worm screw, case member and deceleration main bearing and forms；The outer flexbile gear tubulose Wall one end is connected and fixed with case member, and the outer flexbile gear tubular wall other end is equipped with 202 internal tooths, and the interior flexbile gear and outer flexbile gear are same Axis axial restraint is simultaneously radially fixed, interior flexbile gear be equipped with can with intermeshing 200 external tooths of internal gear of outer flexbile gear, it is inside and outside Flexbile gear all selects stepped tooth, and wave producer is that oval wave producer setting makes interior flexbile gear that oval elastic shape occur in interior flexbile gear Become, transverse position and with tooth engagement in outer flexbile gear, outer flexbile gear and radial pressure of the interior flexbile gear contact portion by interior flexbile gear Generate oval elastic deformation；The limit that the outer tube wall of rear flank is equipped with circular cone in the outer flexbile gear flexible tubular wall contacts External screw thread and outer oblique gear, the outer flexbile gear are processed by steel and are machined with to face, the outer deformation of flexible wheel amount limit part The limit contact surface of circular cone is set on deflection limit part, housing parts are equipped with internal screw thread, the outer deformation of flexible wheel amount limit Position part is assembled by the screw thread of screw thread and housing parts, and the housing parts, which are equipped with, adjusts worm hole, the accuracy compensation tune Section worm screw is processed into be assemblied in by steel and be adjusted in worm hole, and the accuracy compensation type harmonic wave speed reducing machine further includes for precision The pin of compensation adjustment worm screw axial restraint, the accuracy compensation adjust worm screw and are equipped with annular groove, are being packed into housing parts Precision is caught in by the pin vertical with accuracy compensation adjusting worm screw being assemblied on shell after accuracy compensation adjusting worm hole to mend The axial restraint for adjusting the groove realization accuracy compensation adjusting worm screw of worm screw is repaid, the accuracy compensation adjusts worm screw and outer flexbile gear becomes Shape amount limits the bevel gear set on part into worm and helical gear pair, and the outer flexbile gear is ellipse by interior flexbile gear radial pressure ovalizing deflection Limit face contact on circle long axis region limit contact surface and the outer deformation of flexible wheel amount limit part, the ovalizing deflection of outer flexbile gear Amount limits feature contacts with outer deformation of flexible wheel amount after outer deformation of flexible wheel due to is restricted, and the accuracy compensation adjusts worm screw and is equipped with One word driver socket, the housing parts section are equipped with 12 threaded holes as mounting flange；The accuracy compensation is adjusted The fine sealed rubber ring of fourth is additionally provided on worm screw, the sealant ring set is adjusted on worm screw in accuracy compensation, rubber ring outer wall and the shell Accuracy compensation on body component adjusts the contact of worm screw inner wall of the hole installing；The outer flexbile gear is process by steel, solid with housing parts Spline is machined on fixed one end, shell corresponding position is also machined with internal spline, and outer flexbile gear passes through close-fitting spline and housing parts It is fixed；The bearing type of the deceleration main bearing of the present embodiment first is to intersect rod bearing, the interior flexbile gear and bearing inner race Being integrally machined molding one-piece parts for one by copper and be equipped with 8 threaded holes on end face becomes mounting flange, the axis The lower part of bearing outer-ring processes on decelerator shell component, and the case member is one by high-strength aluminum alloy machine-shaping One-piece parts, the upper part of bearing outer ring is also a ring-shaped work pieces by high-strength aluminum alloy machine-shaping, and passes through spiral shell Silk is combined with housing parts.

Claims (9)

1. accuracy compensation type harmonic wave speed reducing machine, it is characterized in that: accuracy compensation type harmonic wave speed reducing machine includes outer flexbile gear, interior flexbile gear, wave Generator, outer deformation of flexible wheel amount limit part, accuracy compensation adjust worm screw and case member composition；The outer flexbile gear pipe fills wall one End is connected and fixed with case member, and the outer flexbile gear tubular wall other end is equipped with internal tooth, and the interior flexbile gear and outer flexbile gear are coaxially axially solid Fixed and radially fixed, interior flexbile gear is equipped with can be greater than interior with the intermeshing external tooth of internal gear of outer flexbile gear, the outer flexbile gear number of teeth The flexbile gear number of teeth, wave producer setting make interior flexbile gear that non-circular elastic deformation occur in interior flexbile gear and engage with outer flexbile gear part, outside The non-circular elastic deformation of radial pressure generation of flexbile gear and interior flexbile gear contact portion by interior flexbile gear；The outer flexbile gear flexible tubular wall The outer tube wall of interior rear flank is equipped with the limit contact surface of circular cone or cambered surface, and the outer deformation of flexible wheel amount limit part is equipped with outer Screw thread and outer oblique gear, the outer deformation of flexible wheel amount limit the limit contact surface that circular cone or cambered surface are set on part, housing section Part is equipped with internal screw thread, and the outer deformation of flexible wheel amount limit part is assembled by the screw thread of screw thread and housing parts, the housing section Part, which is equipped with, adjusts worm hole, and the accuracy compensation adjusting worm screw is assemblied in adjusting worm hole and axial restraint, the precision are mended It repays and adjusts worm screw with the bevel gear set on outer deformation of flexible wheel amount limit part into worm and helical gear pair, the outer flexbile gear is by interior flexbile gear Limit face contact on the limit contact surface of radial pressure deformed region and the outer deformation of flexible wheel amount limit part, outer flexbile gear Non-circular deflection limits feature contacts with outer deformation of flexible wheel amount after outer deformation of flexible wheel due to is restricted, and the accuracy compensation adjusts snail Bar is equipped with driver socket, and the housing parts are equipped with mounting flange, and the interior flexbile gear part is equipped with mounting flange.

2. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the outer deformation of flexible wheel amount limit zero Part is a bearing parts, and the bearing outer ring is equipped with external screw thread and outer oblique gear, and the bearing inner race is equipped with confined planes.

3. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the accuracy compensation type harmonic reduction Machine further includes the pin or screw that worm screw axial restraint is adjusted for accuracy compensation, and the accuracy compensation adjusts worm screw and is equipped with annular Groove adjusts worm screw with accuracy compensation by being assemblied on shell after the accuracy compensation for being packed into housing parts adjusts worm hole Vertical pin or half tooth screw is caught in the axial restraint that accuracy compensation adjusts the groove realization accuracy compensation adjusting worm screw of worm screw.

4. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the accuracy compensation is adjusted on worm screw It is additionally provided with sealed rubber ring, the sealant ring set is adjusted on worm screw in accuracy compensation, on rubber ring outer wall and the housing parts Accuracy compensation adjusts the contact of worm screw inner wall of the hole installing.

5. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the outer flexbile gear is machined with flange method Blue disk, outer flexbile gear are fixed by Flange disk with housing parts.

6. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: being machined with flower on the outer flexbile gear Key, outer flexbile gear are fixed by close-fitting spline with housing parts.

7. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the interior flexbile gear or outer flexbile gear are adopted With polymer plastic glue material or copper at while shell selects aluminium alloy or magnesium alloy to be made.

8. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the interior flexbile gear and bearing inner race are One one-piece parts.

9. accuracy compensation type harmonic wave speed reducing machine according to claim 1, it is characterized in that: the accuracy compensation type harmonic reduction Machine further includes deceleration main bearing, and the outer flexbile gear and interior flexbile gear are fixed with the inner ring of base bearing or outer ring respectively.