CN114087339B - Small-tooth-gap double-rigid-wheel harmonic speed reducer - Google Patents
Small-tooth-gap double-rigid-wheel harmonic speed reducer Download PDFInfo
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- CN114087339B CN114087339B CN202210012088.3A CN202210012088A CN114087339B CN 114087339 B CN114087339 B CN 114087339B CN 202210012088 A CN202210012088 A CN 202210012088A CN 114087339 B CN114087339 B CN 114087339B
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- rigid
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- wave generator
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
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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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
- F16H2057/0221—Axial adjustment
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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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
- F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a small-backlash double-rigid-wheel harmonic speed reducer, which comprises: the flexible gear is in a straight cylinder shape, the outer wall of the flexible gear is provided with flexible gear teeth, two rigid gears are arranged outside the flexible gear, the inner walls of the two rigid gears are provided with rigid gear teeth, the two rigid gears are externally provided with crossed roller bearings, one rigid gear is fixed with the outer end cover on the outer side of the rigid gear and the inner ring of the crossed roller bearing, the other rigid gear is fixed with the outer end cover on the outer side of the rigid gear and the outer ring of the crossed roller bearing, the number of teeth of one rigid gear is the same as that of the flexible gear teeth meshed with the rigid gear teeth, and the number of teeth of the other rigid gear is two more than that of the flexible gear teeth meshed with the rigid gear teeth; the axes of the flexible gear teeth, the rigid gear teeth and the wave generator form an inclination angle beta; elastic wave-shaped rings are arranged at two ends of the wave generator. The harmonic speed reducer can keep the tooth clearance precision within 1 arc minute.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a harmonic speed reducer.
Background
The harmonic speed reducer has the characteristics of high precision, small volume and high bearing torque, and is widely applied to the field of industrial robots. A harmonic speed reducer with a traditional double-rigid-wheel structure adopts an open structure, and two rigid wheels can be separated. In order to facilitate assembly, sufficient backlash is required to be reserved between the flexible gear and the rigid gear, so that the backlash precision of the conventional double-rigid-gear harmonic reducer is over 3 arc minutes, and if the flexible gear of the rigid gear is worn in operation, the backlash is further increased, so that the harmonic reducer with the double-rigid-gear structure is difficult to apply to the high-precision field.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the small-backlash double-rigid-wheel harmonic reducer has a totally-enclosed structure, can greatly reduce backlash, and can keep the backlash precision within 1 arc minute all the time.
In order to solve the problems, the invention adopts the technical scheme that: little tooth clearance double rigid wheel harmonic speed reducer machine includes: wave generator, wave generator's both ends are provided with a pair of end cover, and wave generator can rotate in a pair of end cover through the bearing, is provided with flexible bearing on the wave generator between a pair of end cover, is provided with flexbile gear, its characterized in that on flexible bearing's the outer lane: the flexible gear is in a straight cylinder shape, flexible gear teeth are arranged on the outer wall of the flexible gear, a first rigid gear and a second rigid gear are arranged outside the flexible gear, rigid gear teeth which are used for being meshed with the flexible gear teeth are arranged on the inner walls of the first rigid gear and the second rigid gear, a cross roller bearing is arranged outside the first rigid gear and the second rigid gear, the first rigid gear is fixed with a rear end cover outside the first rigid gear and an inner ring of the cross roller bearing, the second rigid gear is fixed with a front end cover outside the first rigid gear and an outer ring of the cross roller bearing, wherein the number of teeth of the second rigid gear is the same as that of the flexible gear teeth meshed with the second rigid gear, the number of teeth of the first rigid gear is more than that of the flexible gear teeth meshed with the first rigid gear by two teeth, the flexible gear teeth, the rigid gear teeth and the axis of the wave generator form an inclination angle beta with the same direction and size, the axial position of the wave generator can be adjusted, so that the tooth gaps of the flexible gear teeth and the rigid gear teeth can be adjusted; all be provided with an elasticity wave circle between the bearing inner race at wave generator's both ends and the end cover that corresponds, be first elasticity wave circle and second elasticity wave circle respectively, the elasticity of first elasticity wave circle is greater than second elasticity wave circle, when gentle teeth of a cogwheel and the rigid teeth of a cogwheel took place wearing and tearing at the operation in-process and lead to the tooth clearance grow, first elasticity wave circle can be with wave generator, the bearing at wave generator both ends, flexible bearing, the flexbile gear pushes second elasticity wave circle place end together, second elasticity wave circle can be compressed, the tooth clearance can diminish, until the axial force that wave generator received reaches the balance.
Further, aforementioned two rigid wheel harmonic speed reducers of little backlash, wherein: the inclination angle beta is 0.5-5 deg.
Further, aforementioned two rigid wheel harmonic speed reducers of little backlash, wherein: the wave generator is provided with a pair of flexible bearings, the flexible gear is arranged on the outer rings of the pair of flexible bearings, and the pair of rigid gears are respectively arranged outside the flexible gears at the corresponding positions of the pair of flexible bearings.
Further, aforementioned two rigid wheel harmonic speed reducers of little backlash, wherein: the two flexible bearings are the same in size, the inner wall of the flexible gear is not inclined relative to the axis of the wave generator, and the flexible gear teeth form an inclination angle which is beta relative to the axis of the wave generator during processing.
The invention has the advantages that: the flexible gear is in a straight cylinder shape, is not in a cup shape or a hat shape of the traditional single rigid gear structure, is convenient to process, greatly reduces the processing cost and enhances the shock resistance; a second rigid wheel 7 with better rigidity replaces a 90-degree bend angle of a traditional flexible wheel, the possibility that the harmonic speed reducer fails at a 90-degree thin-wall position of the flexible wheel is eliminated, the wall thickness of a straight cylindrical flexible wheel can be properly increased, and the load capacity and the shock resistance of the harmonic speed reducer are greatly enhanced; thirdly, the flexible gear teeth and the rigid gear teeth form an inclination angle beta with the axis of the harmonic reducer, so that the initial backlash of the harmonic reducer with double rigid gears can be minimized during assembly, and the backlash precision of the harmonic reducer with a single rigid gear structure is the same level; because the inclination angles beta of the flexible gear and the rigid gear relative to the axis of the harmonic reducer are the same, the flexible gear teeth and the rigid gear teeth can ensure full tooth surface meshing, and the phenomenon of rigidity reduction or tooth part interference caused by local contact of the tooth surfaces can not be generated; and fifthly, the upper end and the lower end of the wave generator are respectively provided with an elastic wave ring with different elastic constants, so that when the harmonic reducer runs to the flexible gear teeth and the rigid gear teeth to generate abrasion and the tooth clearance is increased, the wave generator and the flexible gear are pushed to generate axial displacement, the tooth clearance is eliminated, and the tooth clearance of the harmonic reducer is kept in a very small range.
Drawings
Fig. 1 is a schematic structural diagram of a small-backlash double-rigid-wheel harmonic reducer provided by the invention.
Detailed Description
The small-backlash double-rigid-wheel harmonic reducer of the present invention will be further described in detail with reference to the preferred embodiments.
As shown in fig. 1, the small-backlash double-rigid-wheel harmonic reducer includes: the wave generator 1, two ends of the wave generator 1 are provided with a pair of end covers, namely a rear end cover 2 and a front end cover 3, the wave generator 1 can rotate in the pair of end covers through bearings, a flexible bearing 4 is arranged on the wave generator 1 between the pair of end covers, a flexible gear 5 is arranged on the outer ring of the flexible bearing 4, the flexible gear 5 is in a straight cylinder shape, flexible gear teeth are arranged on the outer wall of the flexible gear 5, a first rigid gear 6 and a second rigid gear 7 are arranged outside the flexible gear 5, rigid gear teeth meshed with the flexible gear teeth are arranged on the inner walls of the first rigid gear 6 and the second rigid gear 7, a cross roller bearing 8 is arranged outside the first rigid gear 6 and the second rigid gear 7, the first rigid gear 6 is fixed with the rear end cover 2 outside the first rigid gear and the inner ring of the cross roller bearing 8 to serve as a fixed end of a harmonic reducer, the second rigid gear 7 is fixed with the front end cover 3 outside the first rigid gear and the outer ring of the cross roller bearing 8, the output end of the harmonic speed reducer is provided with a second rigid gear 7, the number of teeth of the second rigid gear is the same as that of teeth of a flexible gear meshed with the second rigid gear, the second rigid gear and the flexible gear do not rotate relatively, the number of teeth of the first rigid gear 6 is two more than that of teeth of a flexible gear meshed with the first rigid gear, and the first rigid gear and the flexible gear are meshed with a rigid gear of the harmonic speed reducer with a single rigid gear in the same state; the axes of the flexible gear teeth, the rigid gear teeth and the wave generator 1 form an inclination angle beta with the same direction and size, so that the axial position of the wave generator 1 can be adjusted, and the backlash of the flexible gear teeth and the rigid gear teeth can be adjusted; an elastic wave ring is arranged between the outer ring of the bearing at the two ends of the wave generator 1 and the corresponding end cover, namely a first elastic wave ring 9 and a second elastic wave ring 10 respectively, the elastic force of the first elastic wave ring 9 is greater than that of the second elastic wave ring 10, when the teeth of the flexible gear and the teeth of the rigid gear are abraded in the running process to cause tooth gaps to be enlarged, the first elastic wave ring 9 can push the bearings at the two ends of the wave generator 1, the flexible bearing 4 and the flexible gear 5 to the end where the second elastic wave ring 10 is located together, the second elastic wave ring 10 can be compressed, the tooth gaps can be reduced until the axial force borne by the wave generator 1 is balanced, at the moment, the tooth gaps of the harmonic reducer can be restored to the initial state, and therefore the tooth gaps of the harmonic reducer with the structure can be always kept within a small range (within 1 arc minute).
The elastic force of the first elastic wave ring 9 is slightly greater than that of the second elastic wave ring 10, because only a slight axial force is needed to eliminate the gap, which if large would cause the flexible and rigid gear teeth to seize.
The first elastic wave-shaped ring 9 pushes the wave generator 1, the flexible bearing 4 and the flexible gear 5 to integrally and axially move together so as to eliminate the backlash, and the axial force is small, and the abrasion loss is small, so the axial movement is small, and the normal use of the harmonic speed reducer cannot be influenced.
In the present embodiment, the wave generator 1 is provided with a pair of flexible bearings, the flexible gear 5 is provided on the outer rings of the pair of flexible bearings 4, and the first and second rigid gears 6 and 7 are provided outside the flexible gear 5 at positions corresponding to the pair of flexible bearings 4, respectively.
The two flexible bearings 4 have the same size, the inner wall of the flexible gear 5 has no inclination relative to the axis of the wave generator 1, and the flexible gear teeth form an inclination angle beta relative to the axis of the wave generator 1 during processing.
The small-backlash double-rigid-wheel harmonic reducer has the following advantages:
(1) the flexible gear is in a straight cylinder shape, is not in a cup shape or a hat shape of the traditional single rigid gear structure, is convenient to process, greatly reduces the processing cost and enhances the shock resistance;
(2) the second rigid wheel 7 with better rigidity replaces a 90-degree bend angle of a traditional flexible wheel, the possibility that the harmonic speed reducer fails at a 90-degree thin-wall position of the flexible wheel is eliminated, the wall thickness of the straight cylindrical flexible wheel can be properly increased, and the load capacity and the shock resistance of the harmonic speed reducer are greatly enhanced;
(3) the flexible gear teeth and the rigid gear teeth form an inclination angle beta with the axis of the harmonic reducer, so that the initial backlash of the harmonic reducer with double rigid gears can be minimized during assembly, and the backlash precision of the harmonic reducer with a single rigid gear structure is the same level;
(4) because the inclination angles beta of the flexible gear and the rigid gear relative to the axis of the harmonic reducer are the same, the flexible gear and the rigid gear can ensure full tooth surface meshing, and the phenomenon of rigidity reduction or tooth interference caused by local contact of tooth surfaces can not be generated;
the upper end and the lower end of the wave generator are respectively provided with an elastic wave ring with different elastic constants, so that when the harmonic reducer runs to the flexible gear teeth and the rigid gear teeth to generate abrasion and increase the tooth clearance, the wave generator and the flexible gear are pushed to generate axial displacement, the tooth clearance is eliminated, and the tooth clearance of the harmonic reducer is kept in a very small range.
Claims (4)
1. Little tooth clearance double rigid wheel harmonic speed reducer machine includes: wave generator, wave generator's both ends are provided with a pair of end cover, and wave generator can rotate in a pair of end cover through the bearing, is provided with flexible bearing on the wave generator between a pair of end cover, is provided with flexbile gear, its characterized in that on flexible bearing's the outer lane: the flexible gear is in a straight cylinder shape, flexible gear teeth are arranged on the outer wall of the flexible gear, a first rigid gear and a second rigid gear are arranged outside the flexible gear, rigid gear teeth which are used for being meshed with the flexible gear teeth are arranged on the inner walls of the first rigid gear and the second rigid gear, a cross roller bearing is arranged outside the first rigid gear and the second rigid gear, the first rigid gear is fixed with a rear end cover outside the first rigid gear and an inner ring of the cross roller bearing, the second rigid gear is fixed with a front end cover outside the first rigid gear and an outer ring of the cross roller bearing, wherein the number of teeth of the second rigid gear is the same as that of the flexible gear teeth meshed with the second rigid gear, the number of teeth of the first rigid gear is more than that of the flexible gear teeth meshed with the first rigid gear by two teeth, the flexible gear teeth, the rigid gear teeth and the axis of the wave generator form an inclination angle beta with the same direction and size, the axial position of the wave generator can be adjusted, so that the tooth gaps of the flexible gear teeth and the rigid gear teeth can be adjusted; all be provided with an elasticity wave circle between the bearing inner race at wave generator's both ends and the end cover that corresponds, be first elasticity wave circle and second elasticity wave circle respectively, the elasticity of first elasticity wave circle is greater than second elasticity wave circle, when gentle teeth of a cogwheel and the rigid teeth of a cogwheel took place wearing and tearing at the operation in-process and lead to the tooth clearance grow, first elasticity wave circle can be with wave generator, the bearing at wave generator both ends, flexible bearing, the flexbile gear pushes second elasticity wave circle place end together, second elasticity wave circle can be compressed, the tooth clearance can diminish, until the axial force that wave generator received reaches the balance.
2. The small-backlash double-rigid-wheel harmonic reducer according to claim 1, wherein: the inclination angle beta is 0.5-5 deg.
3. The small-backlash double-rigid-wheel harmonic reducer according to claim 1 or 2, characterized in that: the wave generator is provided with a pair of flexible bearings, the flexible gear is arranged on the outer rings of the pair of flexible bearings, and the pair of rigid gears are respectively arranged outside the flexible gears at the corresponding positions of the pair of flexible bearings.
4. The small-backlash double-rigid-wheel harmonic reducer of claim 3, wherein: the two flexible bearings are the same in size, the inner wall of the flexible gear is not inclined relative to the axis of the wave generator, and the flexible gear teeth form an inclination angle which is beta relative to the axis of the wave generator during processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210012088.3A CN114087339B (en) | 2022-01-07 | 2022-01-07 | Small-tooth-gap double-rigid-wheel harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210012088.3A CN114087339B (en) | 2022-01-07 | 2022-01-07 | Small-tooth-gap double-rigid-wheel harmonic speed reducer |
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| Publication Number | Publication Date |
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| CN114087339A CN114087339A (en) | 2022-02-25 |
| CN114087339B true CN114087339B (en) | 2022-03-29 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4491033A (en) * | 1983-06-23 | 1985-01-01 | Usm Corporation | Double eccentric wave generator arrangement |
| CN101929527A (en) * | 2009-06-23 | 2010-12-29 | 谐波传动系统有限公司 | Wave gear device |
| CN104832605A (en) * | 2015-05-11 | 2015-08-12 | 上海鑫君传动科技有限公司 | High-output torque harmonic speed reducer |
| CN104864066A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Harmonic-wave speed reducer with improved structure |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| CN207814374U (en) * | 2018-02-05 | 2018-09-04 | 深圳市山卓谐波传动科技有限公司 | A kind of flexbile gear of harmonic gear reducer |
| CN110469651A (en) * | 2018-05-11 | 2019-11-19 | 日本电产新宝株式会社 | Wave gear device |
-
2022
- 2022-01-07 CN CN202210012088.3A patent/CN114087339B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4491033A (en) * | 1983-06-23 | 1985-01-01 | Usm Corporation | Double eccentric wave generator arrangement |
| CN101929527A (en) * | 2009-06-23 | 2010-12-29 | 谐波传动系统有限公司 | Wave gear device |
| CN104832605A (en) * | 2015-05-11 | 2015-08-12 | 上海鑫君传动科技有限公司 | High-output torque harmonic speed reducer |
| CN104864066A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Harmonic-wave speed reducer with improved structure |
| CN106015514A (en) * | 2016-07-20 | 2016-10-12 | 上海鑫君传动科技有限公司 | Harmonic speed reducer of improved structure |
| CN207814374U (en) * | 2018-02-05 | 2018-09-04 | 深圳市山卓谐波传动科技有限公司 | A kind of flexbile gear of harmonic gear reducer |
| CN110469651A (en) * | 2018-05-11 | 2019-11-19 | 日本电产新宝株式会社 | Wave gear device |
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| CN114087339A (en) | 2022-02-25 |
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