CN113404839A - Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof - Google Patents
Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof Download PDFInfo
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- CN113404839A CN113404839A CN202010180072.4A CN202010180072A CN113404839A CN 113404839 A CN113404839 A CN 113404839A CN 202010180072 A CN202010180072 A CN 202010180072A CN 113404839 A CN113404839 A CN 113404839A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
- F16H53/02—Single-track cams for single-revolution cycles; Camshafts with such cams
- F16H53/025—Single-track cams for single-revolution cycles; Camshafts with such cams characterised by their construction, e.g. assembling or manufacturing features
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/035—Gearboxes for gearing with endless flexible members
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/1004—Structural association with clutches, brakes, gears, pulleys or mechanical starters with pulleys
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02091—Measures for reducing weight of gearbox
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- General Engineering & Computer Science (AREA)
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- Power Engineering (AREA)
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Abstract
The invention relates to an ultra-flat non-metal harmonic reducer and a ball machine transmission mechanism thereof, wherein the ultra-flat non-metal harmonic reducer is adopted, and a hollow ball machine rotating shaft (20) penetrates through a ball machine base (16) and then is connected with a flexible wheel fixing shaft (7); the flexible gear fixing shaft (7) is communicated with the hollow space of the ball machine rotating shaft (20); a main support bearing which is vertically separated is arranged between the ball machine rotating shaft (20) and the ball machine base (16), and the main support bearings which are vertically separated are separated by a shaft sleeve; a driving motor (25) is arranged beside a ball machine base (16), and a driving belt wheel (27) is combined with an outer tooth surface (311) of a cam through a synchronous belt (26) to form a synchronous transmission mechanism. On the basis of not changing the traditional monitoring cloud platform structure, the motor drives the small synchronous belt pulley to drive the synchronous belt and drive the wave generator with the large synchronous belt pulley on the harmonic reducer, thereby realizing the harmonic speed reduction transmission scheme of the monitoring cloud platform and improving the transmission precision and the speed reduction ratio of the cloud platform.
Description
Technical Field
The invention belongs to the technical field of harmonic drive, and particularly relates to a harmonic drive reducer and a ball machine drive mechanism for monitoring precise drive of a holder.
Background
The harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small back clearance, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic reducer consists of a steel wheel, a flexible wheel and a wave generator, wherein the wave generator with elliptic deformation is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the tooth form of the flexible wheel to be periodically meshed and separated with the tooth form of the steel wheel, so that the staggered tooth difference speed reduction effect is realized. However, the traditional harmonic accelerator belongs to a metal precision instrument, and has a complex process, high manufacturing cost and no wide application.
The traditional monitoring cloud platform adopts a synchronous belt or a traditional gear reducer to transmit to realize the purposes of power transmission and speed reduction, and has the advantages of simple structure and low cost. However, with the development of the monitoring holder technology, especially the requirement of the ball machine linkage technology, the defects of low transmission precision and small speed ratio of the traditional gear reducer and synchronous belt transmission are highlighted, and the method cannot be applied to the monitoring occasions requiring precise capture and quick response. Meanwhile, due to the volume and weight limitation of the existing speed reducer, the occupied space is large, so that the installation occasion is also limited.
Disclosure of Invention
The invention aims to provide an ultra-flat non-metal harmonic speed reducer and a ball machine transmission mechanism which have low manufacturing cost, ultra-flat property, light weight, small back clearance and high transmission precision, and realize a harmonic speed reduction transmission scheme of a monitoring cloud deck on the basis of not changing the structure of the traditional monitoring cloud deck, improve the transmission precision and the speed reduction ratio of the cloud deck, and simultaneously enlarge the installation application occasions.
In order to solve the technical problems, the invention adopts the following technical scheme:
an ultra-flat non-metal harmonic reducer comprises a flexible gear (1), a steel gear (2) and a cam (3) which are arranged from inside to outside; the method is characterized in that:
at least the flexible gear (1) is injection molded by engineering plastics;
the flexible gear (1) is a cover type surrounding structure with a bottom cover (111) and a circumferential wall body on the bottom cover, and the outer wall of the circumferential wall body on the bottom cover is provided with an outer tooth surface (115);
the steel wheel (2) is of an annular gear ring structure with an inner tooth surface (211), and the bottom cover of the flexible gear (1) is reversely buckled in the annular gear ring upwards, so that an outer tooth surface (115) of the flexible gear (1) is matched with the inner tooth surface (211) of the steel wheel (2);
the cam (3) is a cover type enclosing structure with a bottom (314) and a circumferential enclosing wall body on the bottom, and the outer wall of the circumferential enclosing wall body is provided with a cam outer tooth surface (311) to form a large outer synchronous belt wheel;
the oval cam structure (312) positioned in the center of the cover type surrounding structure is convexly arranged on the bottom (314) and extends into the cover type surrounding structure of the flexible gear (1), and a flexible bearing (4) is arranged between the outer wall of the oval cam structure (312) and the circumferential wall body on the bottom cover of the flexible gear (1); a synchronous pulley stabilizing bearing (9) is arranged between the outer wall of the steel wheel (2) and the inner wall of the wall body circumferentially surrounded by the cam (3);
the center of the bottom cover (111) of the flexible gear (1) is provided with a center hole, and the convex part of the oval cam structure (312) is provided with a center through hole which is aligned with the center hole of the flexible gear (1).
In the technical scheme, the inner wall of the circumferential wall body on the bottom cover of the flexible gear (1) is provided with the flexible bearing limiting flange (114), and the flexible bearing (4) is clamped between the flange (114) and the step of the outer wall of the oval cam structure (312).
In the technical scheme, a circle of elastic spiral ribs (112) which are circumferentially distributed in a surrounding manner are arranged on the bottom cover (111) in a region close to the circumferential wall body on the bottom cover, and positioning holes (113) are circumferentially distributed on the periphery of the central hole in the surrounding range of the elastic spiral ribs (112).
In the technical scheme, the hollow flexible gear fixing shaft (7) penetrates through a center hole of the flexible gear (1) and a center through hole of the elliptical cam structure (312) and is fixed through a flexible gear fixing bolt (6) arranged in a cover type surrounding structure of the flexible gear (1).
In the technical scheme, the two end faces of the annular gear ring of the steel wheel (2) are provided with the fixing bolt holes (212), and the synchronous pulley stabilizing bearing fixing bolts (8) penetrate through the fixing bolt holes (212) to fix the synchronous pulley stabilizing bearing (9) on the steel wheel (2).
In the technical scheme, the engineering plastic base material is at least one of nylon, POM, PAI and PEEK, and one of carbon fiber, glass fiber, graphite, PTFE and molybdenum disulfide is added on the base material.
A ball machine transmission mechanism is characterized in that the ultra-flat non-metal harmonic reducer is adopted, and a hollow ball machine rotating shaft (20) penetrates through a ball machine base (16) and then is connected with a flexible wheel fixing shaft (7); the flexible gear fixing shaft (7) is communicated with the hollow space of the ball machine rotating shaft (20); a main support bearing which is vertically separated is arranged between the ball machine rotating shaft (20) and the ball machine base (16), and the main support bearings which are vertically separated are separated by a shaft sleeve; a driving motor (25) is arranged beside a ball machine base (16), a driving belt wheel (27) is installed on an output shaft of the driving motor (25), and the driving belt wheel (27) is combined with an outer tooth surface (311) of a cam through a synchronous belt (26) to form a synchronous transmission mechanism.
Among the above-mentioned technical scheme, set up two axle sleeves that inside and outside coaxial cover was established between the main tributary bearing of upper and lower spaced.
In the technical scheme, a main supporting bearing which is vertically separated is arranged between a shaft neck of a ball machine rotating shaft (20) and a ball machine base (16), the upper part of the shaft neck is of an inverted frustum-shaped hollow structure, and the upper part of the shaft neck is connected with a flexible wheel fixing shaft (7).
A small synchronous belt wheel is installed on the driving motor and drives a synchronous belt to drive a large synchronous belt wheel on the harmonic speed reduction to rotate. The large synchronous belt wheel and the cam of the harmonic wave generator are of an integrated structure, the harmonic flexible wheel and the rotating part of the ball machine are rigidly connected into a whole, the steel wheel is rigidly connected with the ball machine fixing rack, and the cam rotates to drive the flexible wheel and the steel wheel to reduce the speed by the staggered teeth difference, so that the ball machine base and the rotating shaft of the ball machine are driven to rotate relatively. Therefore, the motor can drive the ball machine to rotate at high-precision speed reduction.
Compared with the prior art, the invention has the following beneficial effects:
the cam structure is composed of an inner oval cam and an outer large synchronous pulley. Due to the parallel structure of the synchronous belt wheel and the elliptical cam, the ultra-flattening of the harmonic reducer is realized.
The flexible gear is formed by injection molding of special engineering plastics, the inner ring is provided with a flexible bearing limiting flange, and the bottom of the flexible gear is provided with an elastic spiral rib. Thereby realizing the ultrashort structure of the harmonic reducer. The steel wheel and the cam are selectively injected and molded to realize light weight.
The flexible gear fixing shaft adopts a hollow structure, and hollow wiring of the speed reducer can be realized.
The invention relates to an ultra-flat harmonic reducer which is based on a flexible gear and a wave generator which are formed by injection molding of special materials and has a flat structure. The transmission mechanism has the advantages of flat structure, hollow wiring, high transmission precision, small back clearance, low cost and the like.
Therefore, on the basis of not changing the structure of the traditional monitoring cloud platform, the motor drives the small synchronous belt wheel to drive the synchronous belt and drive the wave generator with the large synchronous belt wheel on the harmonic reducer, thereby realizing the harmonic speed reduction transmission scheme of the monitoring cloud platform and improving the transmission precision and the speed reduction ratio of the cloud platform.
Drawings
Fig. 1 is a schematic structural diagram of a flexible gear of the ultra-flat non-metallic harmonic reducer of the invention.
FIG. 2 is a schematic structural diagram of the ultra-flat non-metallic harmonic reducer steel wheel of the present invention.
FIG. 3 is a schematic structural diagram of the ultra-flat non-metallic harmonic reducer cam of the present invention.
FIG. 4 is a partial view of an ultra-flat non-metallic harmonic reducer of the present invention.
FIG. 5 is a cross-sectional view of the ball machine drive mechanism of the present invention.
FIG. 6 is a perspective view of the transmission mechanism of the ball machine of the present invention.
The reference numerals in the accompanying figures 1-6 correspond to the following:
1. a flexible gear; 2. a rigid wheel; 3. a cam; 4. a compliant bearing; 5. the synchronous belt is provided with a flange; 6. a flexspline fixing bolt; 7. a flexible gear fixing shaft; 8. fixing bolts for the synchronous pulley stabilizing bearings; 9. a synchronous pulley stabilizing bearing; 10. fixing bolts for the outer flanges of the synchronous pulleys; 11. a steel wheel transition piece fixing bolt; 12. fixing bolts for inner flanges of the synchronous belt pulley; 13. an inner flange of the synchronous belt wheel; 14. a steel wheel fixing bolt; 15. a steel wheel transition piece; 16. a ball machine base; 17. a main support lower bearing; 18. the main support bearing flange; 19. bolts are fixed on the flanges of the main support bearing; 20. a ball machine rotating shaft; 21. the main support upper bearing; 22. the main support bearing outer shaft sleeve; 23. the main support bearing inner shaft sleeve; 24. a flexible gear fixed shaft locking bolt; 25. a drive motor; 26. a synchronous belt; 27. a driving pulley.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in the attached drawings 1-4, the ultra-flat non-metal harmonic reducer of the invention mainly comprises a flexible gear 1, a rigid gear 2 and a cam 3; the structure of the cam 3 is composed of an inner oval cam structure 312 and an outer large synchronous pulley 311, the flexible bearing 4 is installed on the oval cam structure 312 of the cam 3, and the cam 3 is respectively and rigidly connected with the outer synchronous belt rib 5 and the inner synchronous pulley rib 13 through the outer synchronous pulley rib fixing bolt 10 and the inner synchronous pulley rib fixing bolt 12.
A synchronous pulley stabilizing bearing 9 is arranged between the cam 3 and the rigid wheel 2, the synchronous pulley stabilizing bearing 9 is arranged on the rigid wheel 2 through a synchronous pulley stabilizing bearing fixing bolt 8, and the synchronous pulley stabilizing bearing 9 can balance the radial force of a large external synchronous pulley 311 on the cam 3; the rigid wheel 2, the steel wheel transition piece 15 and the ball machine base 16 are respectively and rigidly connected together through a steel wheel fixing bolt 14 and a steel wheel transition piece fixing bolt 11; the flexible gear 1, the flexible gear fixing shaft 7 and the ball machine rotating shaft 20 are rigidly fixed together through the flexible gear fixing bolt 6 and the flexible gear fixing shaft locking bolt 24, the flexible gear fixing shaft 7 adopts a hollow structure, and hollow wiring of the ultra-flat non-metal harmonic speed reducer can be realized.
A main support lower bearing 17 and a main support upper bearing 21 are arranged between the ball machine base 16 and the ball machine rotating shaft 20 and are fixed through a main support bearing flange 18 and a main support bearing flange fixing bolt 19, and a main support bearing outer shaft sleeve 22 and a main support bearing inner shaft sleeve 23 are arranged between the main support lower bearing 17 and the main support upper bearing 21.
As shown in fig. 1, the flexspline 1 is a cover-type surrounding structure having a bottom cover 111 and a circumferential wall body on the bottom cover, an outer tooth surface 115 is provided on an outer wall of the circumferential wall body, a flexible bearing limit rib 114 is provided on an inner wall of the circumferential wall body, a circle of elastic spiral ribs 112 circumferentially distributed in a surrounding manner is provided on a region of the bottom cover 111 close to the circumferential wall body, and a central hole and a positioning hole 113 on the periphery of the central hole are provided on the bottom cover 111 within the surrounding range of the elastic spiral ribs 112.
As shown in fig. 2, the steel wheel 2 is of an annular ring gear structure having an inner tooth surface 211, and both end surfaces of the annular ring gear are provided with fixing bolt holes 212. The inner flanks 211 cooperate with the outer flanks 115 of the flexspline 1. Preferably, the inner tooth surface 211 is straight.
As shown in fig. 3, the main body of the cam 3 is a cover-type enclosing structure having a bottom 314 and a circumferentially surrounding wall body on the bottom, the oval cam structure 312 is located at the inner center of the circumferentially surrounding wall body, and the outer wall of the circumferentially surrounding wall body is provided with a cam outer tooth surface 311 to form an outer large synchronous pulley. The positioning holes are distributed between the elliptical cam structure 312 and the inner wall of the circumferential surrounding wall body. The raised portion of the elliptical cam structure 312 is provided with a central through hole that is aligned with the central hole of the flexspline 1.
The flexible gear 1 is formed by injection molding of special engineering plastics, wherein the engineering plastics can be at least one of nylon, POM, PAI and PEEK, and one of carbon fiber, glass fiber, graphite, PTFE and molybdenum disulfide is added. The steel wheel 2 can be formed by engineering plastics or a metal piece; the cam 3 can also be formed by engineering plastics and can also be a metal part, in particular an aluminum alloy die casting part.
As shown in figures 5 and 6, the driving motor 25 of the transmission mechanism of the ball machine is provided with a driving belt wheel 27, and the driving belt wheel 27 drives a synchronous belt 26 to drive a cam 3 on the ultra-flat non-metal harmonic reducer of the invention. The cam 3 rotates to drive the staggered tooth difference of the flexible gear 1 and the steel gear 2 to decelerate, thereby driving the relative rotation between the ball machine base 16 and the ball machine rotating shaft 20. The motor drives the ball machine to rotate at high-precision speed reduction.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An ultra-flat non-metal harmonic reducer comprises a flexible gear (1), a steel gear (2) and a cam (3) which are arranged from inside to outside; the method is characterized in that:
at least the flexible gear (1) is injection molded by engineering plastics;
the flexible gear (1) is a cover type surrounding structure with a bottom cover (111) and a circumferential wall body on the bottom cover, and the outer wall of the circumferential wall body on the bottom cover is provided with an outer tooth surface (115);
the steel wheel (2) is of an annular gear ring structure with an inner tooth surface (211), and the bottom cover of the flexible gear (1) is reversely buckled in the annular gear ring upwards, so that an outer tooth surface (115) of the flexible gear (1) is matched with the inner tooth surface (211) of the steel wheel (2);
the cam (3) is a cover type enclosing structure with a bottom (314) and a circumferential enclosing wall body on the bottom, and the outer wall of the circumferential enclosing wall body is provided with a cam outer tooth surface (311) to form a large outer synchronous belt wheel;
the oval cam structure (312) positioned in the center of the cover type surrounding structure is convexly arranged on the bottom (314) and extends into the cover type surrounding structure of the flexible gear (1), and a flexible bearing (4) is arranged between the outer wall of the oval cam structure (312) and the circumferential wall body on the bottom cover of the flexible gear (1); a synchronous pulley stabilizing bearing (9) is arranged between the outer wall of the steel wheel (2) and the inner wall of the wall body circumferentially surrounded by the cam (3);
the center of the bottom cover (111) of the flexible gear (1) is provided with a center hole, and the convex part of the oval cam structure (312) is provided with a center through hole which is aligned with the center hole of the flexible gear (1).
2. The ultra-flat non-metallic harmonic reducer of claim 1 further comprising: the inner wall of the circumferential wall body on the bottom cover of the flexible gear (1) is provided with a flexible bearing limiting flange (114), and the flexible bearing (4) is clamped between the flange (114) and the step of the outer wall of the oval cam structure (312).
3. The ultra-flat non-metallic harmonic reducer of claim 1 further comprising: the area of the bottom cover (111) close to the upper circumferential wall body of the bottom cover is provided with a circle of elastic spiral ribs (112) which are circumferentially distributed in a surrounding manner, and the periphery of the central hole is circumferentially provided with positioning holes (113) in the surrounding range of the elastic spiral ribs (112).
4. The ultra-flat non-metallic harmonic reducer of claim 1 further comprising: the hollow flexible gear fixing shaft (7) penetrates through a center hole of the flexible gear (1) and a center through hole of the elliptical cam structure (312) and is fixed through a flexible gear fixing bolt (6) arranged in a cover type surrounding structure of the flexible gear (1).
5. The ultra-flat non-metallic harmonic reducer of claim 1 further comprising: fixing bolt holes (212) are formed in two end faces of the annular gear ring of the steel wheel (2), and fixing bolts (8) of the synchronous pulley stabilizing bearing penetrate through the fixing bolt holes (212) to fix the synchronous pulley stabilizing bearing (9) on the steel wheel (2).
6. The ultra-flat non-metallic harmonic reducer of claim 1 further comprising: the engineering plastic base material is at least one of nylon, POM, PAI and PEEK, and one of carbon fiber, glass fiber, graphite, PTFE and molybdenum disulfide is added on the base material.
7. A ball machine transmission mechanism is characterized in that the ultra-flat non-metal harmonic reducer is adopted, and a hollow ball machine rotating shaft (20) penetrates through a ball machine base (16) and then is connected with a flexible wheel fixing shaft (7); the flexible gear fixing shaft (7) is communicated with the hollow space of the ball machine rotating shaft (20); a main support bearing which is vertically separated is arranged between the ball machine rotating shaft (20) and the ball machine base (16), and the main support bearings which are vertically separated are separated by a shaft sleeve; a driving motor (25) is arranged beside a ball machine base (16), a driving belt wheel (27) is installed on an output shaft of the driving motor (25), and the driving belt wheel (27) is combined with an outer tooth surface (311) of a cam through a synchronous belt (26) to form a synchronous transmission mechanism.
8. The ball machine drive mechanism of claim 7, wherein: two shaft sleeves which are coaxially sleeved inside and outside are arranged between the upper and lower separated main supporting bearings.
9. The ball machine drive mechanism of claim 7, wherein: a main supporting bearing which is vertically separated is arranged between a shaft neck of the ball machine rotating shaft (20) and the ball machine base (16), the upper part of the shaft neck is of an inverted frustum-shaped hollow structure, and the upper part of the shaft neck is connected with a flexible wheel fixing shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180072.4A CN113404839A (en) | 2020-03-16 | 2020-03-16 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180072.4A CN113404839A (en) | 2020-03-16 | 2020-03-16 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113404839A true CN113404839A (en) | 2021-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010180072.4A Pending CN113404839A (en) | 2020-03-16 | 2020-03-16 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114017616A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Flat harmonic reducer for monitoring cradle head and cradle head |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
-
2020
- 2020-03-16 CN CN202010180072.4A patent/CN113404839A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114017616A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Flat harmonic reducer for monitoring cradle head and cradle head |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
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