CN113374852B - Movable tooth harmonic speed reducer - Google Patents
Movable tooth harmonic speed reducer Download PDFInfo
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- CN113374852B CN113374852B CN202110566875.8A CN202110566875A CN113374852B CN 113374852 B CN113374852 B CN 113374852B CN 202110566875 A CN202110566875 A CN 202110566875A CN 113374852 B CN113374852 B CN 113374852B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract 1
- 230000005489 elastic deformation Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
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- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a movable-tooth harmonic reducer, which comprises a positioning shaft, a flexible gear, a crossed bearing, a screw, a shell, roller pins, a flexible bearing, an input shaft and the like, wherein a plurality of arc groove teeth are processed on the inner cylindrical surface of the shell, the roller pins are installed in the arc grooves, the flexible bearing is installed on the outer surface of the input shaft, the flexible bearing is installed in the flexible gear, the outer surface of the flexible bearing is in contact with the inner surface of the flexible gear, the reference circle of the teeth of the flexible gear is an ellipse, and the teeth on the flexible gear are meshed with the roller pins. The flexible gear is connected with the crossed bearing through a bolt. The invention has the advantages and beneficial effects that: the speed reducer is simple, compact and easy to miniaturize; the requirement on the machining precision is low, and the noise is low; meanwhile, the number of teeth participating in meshing is large, and the bearing capacity is high; under the condition of radial pretension of the meshing pair, the deceleration meshing pair is in a gapless meshing state, and the transmission precision is high; the roller pin is in pure rolling engagement with the cycloid teeth, the transmission efficiency is high, and the wear rate of the engagement surface is low.
Description
Technical Field
The invention relates to the field of mechanical transmission, in particular to a movable tooth harmonic speed reducer.
Background
The structure of the harmonic reducer is composed of a rigid gear with an inner gear ring (equivalent to a central gear rigid wheel in a planetary system), a flexible gear with an outer gear ring (equivalent to a planetary gear) and a wave generator (equivalent to a planet carrier). The working principle of the reducer is that the wave generator is a rod-shaped component, rolling bearings are arranged at two ends of the wave generator to form rolling wheels, and the rolling wheels are mutually pressed with the inner wall of the flexible gear. The flexible gear is a thin-wall gear capable of generating large elastic deformation, and the diameter of an inner hole of the flexible gear is slightly smaller than the total length of the wave generator. The wave generator is a member that produces controlled elastic deformation of the flexspline. When the wave generator is installed in the flexible gear, the cross section of the flexible gear is forced to change from original round to elliptical shape, the teeth near the two ends of the major axis of the flexible gear are completely meshed with the teeth of the rigid gear, and the teeth near the two ends of the minor axis of the flexible gear are completely separated from the rigid gear. The teeth of the other sections on the perimeter are in a transition state of engagement and disengagement. When the wave generator rotates continuously along the direction shown in the figure, the deformation of the flexible gear is changed continuously, so that the meshing state of the flexible gear and the rigid gear is changed continuously, and the flexible gear is meshed with, meshed out, disengaged from and then meshed into … … repeatedly, thereby realizing the slow rotation of the flexible gear relative to the rigid gear along the opposite direction of the wave generator. When the device works, the rigid wheel is fixed, the wave generator is driven by the motor to rotate, the flexible wheel is used as a driven wheel to output and rotate, and the load is driven to move.
The harmonic reducer has the advantages of precise transmission technical effect and easy miniaturization of volume, but the flexspline realizes meshing transmission based on macroscopic elastic deformation of a cylinder material, so the development and application of the harmonic reducer in the field of high power and heavy load are restricted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the oscillating-tooth harmonic reducer.
In order to achieve the purpose, the technical scheme of the invention comprises a positioning shaft, a flexible gear, a crossed bearing, a shell, a roller pin, a flexible bearing and an input shaft;
the input shaft is provided with an outer surface for realizing the action of the wave generator, and the outer surface is a first elliptic curved surface;
the flexible bearing is arranged on the input shaft, the inner surface of the flexible bearing is a second elliptic curved surface, and the second elliptic curved surface is superposed with the equidistant offset surface of the first elliptic curved surface of the input shaft;
the inner cylindrical surface of the shell is provided with Z2A circular arc groove tooth with a diameter d1，Z2The arc groove teeth are uniformly distributed on a circle with the radius of R, and the arc groove is internally provided with a circular groove with the diameter of drNeedle roller of (d)r<d1；
The flexible gear comprises a flexible gear tooth part, a flexible gear transition part and a flexible gear positioning part which are connected along the axial direction;
the flexible bearing is in contact stress fit with the inner surface of the flexible gear tooth part, and the outer surface of the flexible gear tooth part is processed to be Z1The theoretical tooth profile of the outer surface of the tooth part of the flexible gear is as follows:
wherein,
ε＝θ-φ，
a is the semiaxis of the ellipse length, b is the semiaxis of the ellipse section, and theta is solved according to the following formula
Wherein,
φ∈[0,2Z2π)；
the actual tooth profile of the flexible gear is an equidistant offset line of the theoretical tooth profile of the flexible gear, and the equidistant offset distance is dr-d1/2；
The reference circle of the teeth of the flexible gear tooth part is an ellipse;
the flexible bearing is arranged on the outer surface of the input shaft, the flexible gear tooth part is in contact stress connection with the outside of the flexible bearing, the outer surface of the flexible bearing is in contact with the inner surface of the flexible gear tooth part, and the teeth on the flexible gear are in contact stress with the rolling needles to form local meshing fit;
the flexible gear positioning part is fixed on the inner ring of the crossed bearing; the positioning shaft is supported and positioned in the flexible gear positioning part and the inner hole of the crossed bearing inner ring and is used for ensuring the coaxiality of the flexible gear and the crossed bearing; and the outer ring of the crossed bearing is fixedly connected with the end face of the shell.
Through the arrangement, the input shaft pushes the flexible gear to deform radially through the flexible bearing, the outer cylindrical surface teeth of the flexible gear are meshed with the roller pins, the input shaft rotates to realize continuous elliptic change of the flexible gear, the roller pins push the flexible gear to rotate, the roller pins roll on the tooth surfaces, the roller pins slide in the circular arc groove teeth, the motion track is a circular arc, and the diameter of the circular arc is d1-dr. All the teeth are engaged, so that the purpose of strong bearing capacity of the speed reducer is achieved. The roller pins are in pure rolling contact with the tooth surfaces, and the purpose of high transmission efficiency is achieved.
The further arrangement is that the equidistant offset line of the theoretical tooth profile of the flexible gear leads the equidistant offset distance to be less than dr-d1And/2, realizing precise transmission and long service life of the speed reducer.
The device is further provided with a baffle plate for limiting the axial movement of the roller pins on the inner side of the corresponding roller pins on the shell, and a retaining ring for limiting the radial and axial movement of the roller pins is arranged on the outer side of the corresponding roller pins on the shell.
The center of the input shaft is provided with a key slot for accessing power to be decelerated.
The flexible gear positioning part is further fixed on the end face of the inner ring of the crossed bearing through a bolt.
The cross bearing is further provided with an outer ring fixed on the end face of the shell through a screw.
Further provided is that Z is2Is 100, Z198, the said a is 21.92mm and b is 21.4 mm.
Through the structure, the input shaft rotates, the input shaft pushes the flexible gear to deform through the flexible bearing, the flexible gear pushes the roller pins, the roller pins react on the flexible gear, the flexible gear rotates at a low speed under the pushing action of the input shaft and the limiting action of the roller pins, the roller pins roll in the arc grooves in a sliding mode, the flexible gear drives the inner ring of the crossed bearing to rotate, and the power of the output shaft realizes the speed reduction motion of the speed reducer.
Transmission ratio
The invention has the advantages and beneficial effects that: the speed reducer is simple, compact and easy to miniaturize; the flexible gear is an elastic part, generates elastic deformation in the meshing process, has low requirement on processing precision and has small noise; according to the sawtooth-shaped generation principle, the rolling needle is in real-time contact with the flexible gear tooth shape in one period, all the teeth are engaged, and the purpose of strong bearing capacity is achieved; the theoretical tooth shape equidistant offset distance of the flexible gear is less than dr-d1The meshing pair is pre-tightened, so that the backlash is eliminated, and the purposes of precise transmission and long service life are achieved; the diameter of the arc groove teeth is larger than that of the roller pin, so that the roller pin can rotate in the arc groove teeth, pure rolling contact between the roller pin and the upper teeth of the flexible gear is realized, and the purposes of high transmission efficiency and low wear rate of the meshing surface are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a schematic diagram of a movable-tooth harmonic reducer;
FIG. 2 is a sectional view of a reduction gear pair of the oscillating-tooth harmonic reducer;
FIG. 3 is a schematic diagram of a flexible gear structure of the oscillating-tooth harmonic reducer;
FIG. 4 is a schematic view of a structure of a shell of a movable-tooth harmonic reducer;
FIG. 5 is a graph of a theoretical tooth profile of an outer surface of a flexible gear tooth of the present invention;
FIG. 6 is a schematic diagram of an input shaft structure of the oscillating tooth harmonic reducer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The terms of direction and position of the present invention, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., refer to the direction and position of the attached drawings. Accordingly, the use of directional and positional terms is intended to illustrate and understand the present invention and is not intended to limit the scope of the present invention.
As shown in fig. 1 to 6, in the embodiment of the present invention, an input shaft 1, a flexible gear 2, a cross bearing 3, a housing 4, a needle roller 5, a flexible bearing 6, and a positioning shaft 7 are included.
The input shaft 1 described in this embodiment is provided with an outer surface that performs the function of a wave generator, and the outer surface is a first elliptic curved surface 11. The input shaft 1 is provided with a flexible bearing 6, the inner surface of the flexible bearing 6 is a second elliptic curved surface 61, and the second elliptic curved surface 61 is superposed with the equidistant offset surface of the first elliptic curved surface 11 of the input shaft.
The inner cylindrical surface of the shell 4 described in this embodiment is processed with Z2A circular arc groove tooth with a diameter d1，Z2The arc groove teeth are uniformly distributed on a circle with the radius of R, and the arc groove is internally provided with a circular groove with the diameter of drNeedle roller of (d)r<d1(ii) a Preferably, the inner cylindrical surface of the housing 4 of the present embodiment is processed with 100 circular groove teeth 41, the diameter of the circular groove teeth is 1.01mm, the 100 circular groove teeth 41 are uniformly distributed on a circle with a radius of 21.656mm, and the needle roller 5 with a diameter of 1mm is installed in the circular groove.
The flexspline 2 according to the present embodiment includes a flexspline tooth portion 21, a flexspline transition portion 22, and a flexspline positioning portion 23 that are connected in the axial direction.
The flexible bearing 6 is in contact stress fit with the inner surface of the flexible gear tooth part 21, and the outer surface of the flexible gear tooth part 21 is processed to be Z1Tooth, Z as described in the present embodiment198, the theoretical tooth profile of the outer surface of the flexible gear tooth part 21 is as follows:
wherein the sagittal diameter
Angle difference epsilon ═Theta-phi, eccentricity
a is the ellipse semi-axis, b is the ellipse segment semi-axis, and the equal length angle theta is solved according to the following formula
Wherein, the fillet
The argument φ ∈ [0,2Z ]2Pi). The preferred settings for this embodiment are a 21.92mm and b 21.4 mm.
The actual tooth form of the outer surface of the flexible gear tooth part 21 is an equidistant offset line of a flexible gear theoretical tooth form, and the equidistant offset distance is dr-d 12; the present embodiment has a segment, the equidistant offset distance is 0.495mm, and the reference circle of the teeth of the flexible gear teeth is an ellipse.
The flexible bearing 6 of the embodiment is arranged on the outer surface of the input shaft 1, the flexible gear tooth part 21 is in contact stress connection with the outside of the flexible bearing 6, the outer surface of the flexible bearing 6 is in contact with the inner surface of the flexible gear tooth part 21, and the teeth on the flexible gear 2 are in contact stress with the needle roller 5 to form local meshing fit.
In addition, the flexspline positioning portion 23 of the present embodiment is fixed to the inner ring of the cross bearing 3 by a bolt 81; the positioning shaft 7 is supported and positioned in the flexible gear positioning part 23 and the inner hole of the inner ring of the crossed bearing 3 and is used for ensuring the coaxiality of the flexible gear 2 and the crossed bearing 3; the outer ring of the cross bearing 3 is fixedly connected with the end face of the housing 4 through a screw 82, a baffle 83 for limiting the axial movement of the roller pin is arranged on the inner side of the housing 4 corresponding to the roller pin 5, a baffle ring 84 for limiting the radial and axial movement of the roller pin 5 is arranged on the outer side of the housing 4 corresponding to the roller pin 5, and a key groove 12 for accessing power to be decelerated is arranged in the center of the input shaft 1.
Through the arrangement, the input shaft 1 rotates, the input shaft 1 pushes the flexible gear 2 to deform through the flexible bearing 6, the flexible gear 2 pushes the roller pin 5, the roller pin 5 reacts on the flexible gear 2, the flexible gear 2 rotates at a low speed under the pushing action of the input shaft 1 and the limiting action of the roller pin 5, the roller pin 5 rolls in the arc groove in a sliding mode, the flexible gear 2 drives the inner ring of the crossed bearing to rotate, and the power of an output shaft realizes the speed reduction movement of the speed reducer.
Transmission ratio thereof
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (6)
1. The utility model provides a swing tooth harmonic speed reducer ware which characterized in that:
comprises a positioning shaft, a flexible gear, a crossed bearing, a shell, a roller pin, a flexible bearing and an input shaft;
the input shaft is provided with an outer surface for realizing the action of the wave generator, and the outer surface is a first elliptic curved surface;
the flexible bearing is arranged on the input shaft, the inner surface of the flexible bearing is a second elliptic curved surface, and the second elliptic curved surface is superposed with the equidistant offset surface of the first elliptic curved surface of the input shaft;
the inner cylindrical surface of the shell is provided with Z2A circular arc groove tooth with a diameter d1，Z2The arc groove teeth are uniformly distributed on a circle with the radius of R, and the arc groove is internally provided with a circle with the diameter of drNeedle roller of (d)r<d1；
The flexible gear comprises a flexible gear tooth part, a flexible gear transition part and a flexible gear positioning part which are connected along the axial direction;
the flexible bearing is in contact stress fit with the inner surface of the flexible gear tooth part, and the outer surface of the flexible gear tooth part is processed to be Z1The theoretical tooth profile of the outer surface of the flexible gear tooth is as follows:
wherein,
ε＝θ-φ，
a is the semiaxis of the ellipse length, b is the semiaxis of the ellipse section, and theta is solved according to the following formula
Wherein,
φ∈[0,2Z2π)；
the actual tooth form of the flexible gear is an equidistant offset line of the theoretical tooth form of the flexible gear, and the equidistant offset distance is dr-d1/2；
The reference circle of the teeth of the flexible gear tooth part is an ellipse;
the flexible bearing is arranged on the outer surface of the input shaft, the flexible gear tooth part is in contact stress connection with the outside of the flexible bearing, the outer surface of the flexible bearing is in contact with the inner surface of the flexible gear tooth part, and the teeth on the flexible gear are in contact stress with the rolling needles to form local meshing fit;
the flexible gear positioning part is fixed on the inner ring of the crossed bearing; the positioning shaft is supported and positioned in the flexible gear positioning part and the inner hole of the crossed bearing inner ring and is used for ensuring the coaxiality of the flexible gear and the crossed bearing; and the outer ring of the crossed bearing is fixedly connected with the end face of the shell.
2. The oscillating tooth harmonic reducer of claim 1 wherein: the inner side of the shell corresponding to the roller pins is provided with a baffle plate for limiting the axial movement of the roller pins, and the outer side of the shell corresponding to the roller pins is provided with a retaining ring for limiting the radial and axial movement of the roller pins.
3. The oscillating tooth harmonic reducer of claim 1 wherein: and a key groove for connecting power to be decelerated is formed in the center of the input shaft.
4. The oscillating tooth harmonic reducer of claim 1 wherein: and the flexible gear positioning part is fixed on the end surface of the inner ring of the crossed bearing through a bolt.
5. The oscillating tooth harmonic reducer of claim 1 wherein: and the outer ring of the crossed bearing is fixed on the end surface of the shell through a screw.
6. The oscillating tooth harmonic reducer of claim 1 wherein: z is2Is 100, Z198, the said a is 21.92mm and b is 21.4 mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110566875.8A CN113374852B (en) | 2021-05-24 | 2021-05-24 | Movable tooth harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110566875.8A CN113374852B (en) | 2021-05-24 | 2021-05-24 | Movable tooth harmonic speed reducer |
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| CN113374852A CN113374852A (en) | 2021-09-10 |
| CN113374852B true CN113374852B (en) | 2022-06-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116906531A (en) * | 2021-10-15 | 2023-10-20 | 温州大学 | Elliptic shock wave E-shaped tooth-shaped speed reducer and tooth shape design method thereof |
| CN113829383B (en) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | Driving joint |
| CN114263722B (en) * | 2021-12-31 | 2024-05-28 | 浙江如川谐波传动科技有限公司 | Combined harmonic reducer |
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| EP1961997A2 (en) * | 2007-02-23 | 2008-08-27 | Jtekt Corporation | Strain wave reduction gear and variable transmission ratio steering apparatus |
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN107588177A (en) * | 2017-09-28 | 2018-01-16 | 深圳市领略数控设备有限公司 | A kind of cycloidal-pin wheel harmonic drive |
| CN110162924A (en) * | 2019-06-03 | 2019-08-23 | 珠海格力电器股份有限公司 | Harmonic drive mechanism and harmonic speed reducer ware |
| CN110242710A (en) * | 2019-06-05 | 2019-09-17 | 南通振康机械有限公司 | A kind of double firm gear harmonic wave speed reducing machines of no Internal and external cycle needle-type flexible bearing integral type |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7552664B2 (en) * | 2005-11-04 | 2009-06-30 | Northrop Grumman Guidance and Electronics Co., Inc. | Harmonic drive gear assembly with asymmetrical wave generator and associated flexspline |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1961997A2 (en) * | 2007-02-23 | 2008-08-27 | Jtekt Corporation | Strain wave reduction gear and variable transmission ratio steering apparatus |
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN107588177A (en) * | 2017-09-28 | 2018-01-16 | 深圳市领略数控设备有限公司 | A kind of cycloidal-pin wheel harmonic drive |
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| CN113374852A (en) | 2021-09-10 |
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Application publication date: 20210910 Assignee: HENGFENGTAI PRECISION MACHINERY CO.,LTD. Assignor: Wenzhou University Contract record no.: X2023330000146 Denomination of invention: A Harmonic Reducer with Movable Teeth Granted publication date: 20220603 License type: Common License Record date: 20230320 |