CN112081896A - A harmonic reducer - Google Patents

Abstract

The application provides a harmonic reducer, which comprises a flexible gear and a rigid gear; the rigid wheel is provided with internal teeth; the flexible gear is positioned on the inner side of the rigid gear and is correspondingly provided with corresponding external teeth; the flexspline includes a first addendum and a first dedendum; the first tooth top and the first tooth root are respectively arc-shaped, and a plane along the common tangential direction is connected between the first tooth top and the first tooth root; the rigid wheel comprises a second tooth top and a second tooth root; the second tooth top is a plane, and transition arcs are respectively arranged at vertex angles at two sides; the second tooth root is arc-shaped; a plane along the common tangential direction is connected between the second tooth crest and the second tooth root. According to the technical scheme provided by the embodiment of the application, the tooth tops are in arc transition, so that tooth profile interference and tooth top interference are avoided in the process of engagement and engagement, engagement and engagement are smoother, and engagement noise is reduced; the tooth root adopts circular arc transition, has avoided stress concentration, has reduced the cracked possibility of tooth root, has improved bearing capacity.

Description

A harmonic reducer

technical field

The present application relates to the technical field of reducers, in particular to a harmonic reducer.

Background technique

Harmonic reducer is a kind of mechanical transmission reducer that relies on elastic deformation of flexible parts to transmit power and motion. Large carrying capacity, small size, light weight, high transmission efficiency, stable transmission, and can transmit motion to a confined space; however, the flex wheel adopts an involute tooth shape, and the flex wheel teeth are engaged and meshed with the rigid wheel teeth. The tooth profile interference and tooth top interference are easy to occur during the process of spooling out, resulting in noise; the flex wheel is a thin-walled part, and the involute tooth root transition fillet is small, which is prone to stress concentration, resulting in tooth root fracture and limited bearing capacity. .

SUMMARY OF THE INVENTION

In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a harmonic reducer.

The application provides a harmonic reducer, comprising a flexible wheel and a rigid wheel; the rigid wheel is provided with internal teeth; the flexible wheel is located on the inner side of the rigid wheel, and is correspondingly provided with corresponding external teeth; the flexible wheel includes a first tooth tip and a second tooth tip. a tooth root; the first tooth top and the first tooth root are arc-shaped respectively, and a plane along the common tangent direction is connected between them; the rigid wheel includes a second tooth top and a second tooth root; the second tooth top is a plane, The top corners on both sides are respectively provided with excessive circular arcs; the second tooth root is in the shape of a circular arc; a plane along the common tangent direction is connected between the second tooth top and the second tooth root.

Further, it also includes an oval cam; the cam is located on the inner side of the flexible wheel and is connected with the flexible wheel through a flexible bearing.

Further, the flex wheel is a thin-walled cup type, and includes a connecting seat at one end; the connecting seat is coaxially connected with a crossed roller bearing through a positioning sleeve at an outer end of the connecting seat; the inner ring of the crossed roller bearing is fixedly connected with the connecting seat.

Further, the end of the inner ring of the crossed roller bearing away from the flexible wheel is provided with a threaded hole for connecting with the outside; the outer ring of the crossed roller bearing is fixedly connected with the rigid wheel.

Further, it also includes a high-speed shaft; one end of the high-speed shaft is coaxially connected to the positioning sleeve through a first bearing; a cam is also installed on the high-speed shaft; the cam and the high-speed shaft are connected by a key.

Further, an end cover is provided at one end of the rigid wheel away from the crossed roller bearing; the end cover is provided with a corresponding through hole corresponding to the high-speed shaft; the high-speed shaft passes through the end cover and is located outside the end cover.

Further, a corresponding second bearing is provided on the end cover corresponding to the high-speed shaft.

The advantages and positive effects of the present application are as follows: by adopting an excessive arc of the tooth tip, the tooth profile interference and tooth tip interference are avoided in the process of meshing and meshing, so that the meshing and meshing are smoother and the meshing is reduced. Noise; the tooth root adopts arc transition to avoid stress concentration, reduce the possibility of tooth root fracture, and improve the bearing capacity.

Description of drawings

1 is a schematic structural diagram of a harmonic reducer provided by an embodiment of the application;

2 is a schematic structural diagram of the meshing of the flexible wheel and the rigid wheel of the harmonic reducer provided by the embodiment of the application;

FIG. 3 is a schematic diagram of a cam structure of a harmonic reducer provided by an embodiment of the present application.

The text in the figure is marked as: 100-flexible wheel; 110-first tooth tip; 120-first tooth root; 130-connecting seat; 131-positioning sleeve; 200-rigid wheel; 210-second tooth tip; 220-second tooth root; 300-cam; 310-high-speed shaft; 311-first bearing; 400-flexible bearing; 500-crossed roller bearing; 600-end cover; 610-second bearing.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present invention. .

Please refer to FIG. 1 and FIG. 2 , the present embodiment provides a harmonic reducer, including a flexible wheel 100 and a rigid wheel 200 ; the inner ring of the rigid wheel 200 is provided with a circle of internal teeth, and the flexible wheel 100 is located on the inner ring of the rigid wheel 200 . The inner side is provided with corresponding external teeth. The flexible wheel 100 includes a first tooth top 110 and a first tooth root 120. The first tooth top 110 and the first tooth root 120 are arc-shaped respectively. The adjacent first tooth tops A plane along the common tangent direction is connected between 110 and the first tooth root 120; the steel wheel 200 includes a second tooth top 210 and a second tooth root 220, and the second tooth top 210 is a plane, located at the top corners of the two sides respectively. An excessive arc is provided; the second tooth root 220 is in a circular arc shape, and a plane along the common tangent direction is connected between the adjacent second tooth roots and the second tooth tops. The tooth top adopts the excessive arc to avoid the tooth profile interference and tooth top interference during the process of engaging and engaging, making the engaging and engaging more smooth and reducing the meshing noise; the tooth root adopts the arc transition, Stress concentration is avoided, the possibility of tooth root fracture is reduced, and the bearing capacity is improved.

Referring further to FIG. 3 , in a preferred embodiment, an oval cam 300 is further included. The cam 300 is located inside the flexible wheel 100 and is connected to the flexible wheel 100 through a flexible bearing 400 . The difference a-b between the long semi-axis a of the cam 300 and the short semi-axis b of the cam 300 is called the wave height; the first tooth tip 110 of the flexible wheel 100 adopts an arc transition, which can reduce the wave height, and the reduction of the wave height can improve the meshing between the flexible wheel and the rigid wheel The number of teeth can reduce the root stress and improve the fatigue life of the flexible wheel, thereby increasing the bearing capacity of the reducer. Taking XSF-80-100 reducer as an example, before improvement a=60.86mm, b=59.14mm, a-b=60.86-59.14=1.72 After improvement, a=60.70mm, b=59.30mm, a-b=1.4.

In a preferred embodiment, the flexible pulley 100 is a thin-walled cup type, including a circular connecting seat 130 at one end, and a corresponding positioning sleeve 131 is provided inside the connecting seat 130 corresponding to the central circular hole, and the positioning sleeve 131 passes through the center. Round hole; the outside of the connecting seat 130 is coaxially connected with the crossed roller bearing 500 through the positioning sleeve 131 , and the positioning sleeve 131 and the inner ring of the crossed roller bearing 500 are fixedly connected to the connecting seat 130 respectively.

In a preferred embodiment, the end of the inner ring of the crossed roller bearing 500 away from the flexible wheel 100 is provided with a threaded hole for connecting with the outside; the outer ring of the crossed roller bearing 500 is fixedly connected to the rigid wheel 200 .

In a preferred embodiment, a high-speed shaft 310 is also included. One end of the high-speed shaft 310 is coaxially connected to the positioning sleeve 131 through the first bearing 311. The high-speed shaft 310 is also mounted with a cam 300, and the cam 300 and the high-speed shaft 310 are connected by a key. .

In a preferred embodiment, an end cover 600 is provided at one end of the rigid wheel 200 away from the crossed roller bearing 500 , a corresponding through hole is provided on the end cover 600 corresponding to the high-speed shaft 310 , and the end of the high-speed shaft 310 away from the positioning sleeve 131 passes through the end cover 600 is located outside the end cap 600 .

In a preferred embodiment, the end cover 600 is provided with a corresponding second bearing 610 corresponding to the high-speed shaft 310 .

Specific examples are used herein to illustrate the principles and implementations of the present invention, and the descriptions of the above examples are only used to help understand the method and the core idea of the present invention. The above are only the preferred embodiments of the present invention. It should be pointed out that due to the limited expression of words, there are objectively unlimited specific structures. For those of ordinary skill in the art, without departing from the principles of the present invention However, some improvements, modifications or changes can also be made, and the above-mentioned technical features can also be combined in an appropriate manner; these improvements, modifications, or combinations, or the concept and technical solutions of the invention are directly applied to other occasions without improvement. should be regarded as the protection scope of the present invention.

Claims (7)

1. A harmonic reducer, comprising a flexspline (100) and a rigid spline (200); the rigid wheel (200) is provided with internal teeth; the flexible gear (100) is positioned on the inner side of the rigid gear (200) and is correspondingly provided with corresponding external teeth; the flexspline (100) includes a first addendum (110) and a first dedendum (120); the first tooth top (110) and the first tooth root (120) are respectively arc-shaped, and a plane along the common tangential direction is connected between the first tooth top and the first tooth root; the rigid gear (200) comprises a second addendum (210) and a second dedendum (220); the second tooth top (210) is a plane, and transition arcs are respectively arranged at vertex angles at two sides; the second tooth root (220) is arc-shaped; a plane along the common tangential direction is connected between the second tooth top (210) and the second tooth root (220).

2. Harmonic reducer according to claim 1, characterized in that it further comprises a cam (300) having an elliptical shape; the cam (300) is positioned on the inner side of the flexible gear (100) and is connected with the flexible gear (100) through a flexible bearing (400).

3. Harmonic reducer according to claim 1, characterized in that the flexspline (100) is of the thin-walled cup type, comprising a connection seat (130) at one end; one end of the connecting seat (130) positioned outside is coaxially connected with a crossed roller bearing (500) through a positioning sleeve (131); the inner ring of the crossed roller bearing (500) is fixedly connected with the connecting seat (130).

4. A harmonic reducer according to claim 3, in which the end of the inner race of the crossed roller bearing (500) remote from the flexspline (100) is provided with a threaded hole for connection to the outside; and the outer ring of the crossed roller bearing (500) is fixedly connected with the rigid wheel (200).

5. A harmonic reducer according to claim 3 further comprising a high speed shaft (310); one end of the high-speed shaft (310) is coaxially connected with the positioning sleeve (131) through a first bearing (311); the high-speed shaft (310) is also provided with the cam (300); the cam (300) is in key connection with the high-speed shaft (310).

6. A harmonic reducer according to claim 5 in which the end of the rigid wheel (200) remote from the cross roller bearing (500) is provided with an end cap (600); the end cover (600) is provided with a corresponding through hole corresponding to the high-speed shaft (310); the high speed shaft (310) is located outside the end cover (600) through the end cover (600).

7. Harmonic reducer according to claim 6, characterized in that the end cover (600) is provided with a corresponding second bearing (610) corresponding to the high speed shaft (310).

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