CN1151341C - Axial wave type harmonic gear pair - Google Patents
Axial wave type harmonic gear pair Download PDFInfo
- Publication number
- CN1151341C CN1151341C CNB021137129A CN02113712A CN1151341C CN 1151341 C CN1151341 C CN 1151341C CN B021137129 A CNB021137129 A CN B021137129A CN 02113712 A CN02113712 A CN 02113712A CN 1151341 C CN1151341 C CN 1151341C
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- Prior art keywords
- wave
- generator
- eccentric
- axial
- axle
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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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Abstract
The present invention relates to an axial wave type harmonic gear transmission pair which is composed of a rigid gear, flexible gears, a wave generator, flexible bearings, a shaft for the wave generator and a flexible gear shaft or a rigid gear shaft, wherein the wave generator is an axial wave generator, and is formed by axially assembling at least two eccentric discs with the same eccentricity; each eccentric disc is assembled with the flexible bearings. In the harmonic gear transmission pair, because any radial sections where the flexible gears are engaged with the rigid gear are engaged in one position, compared with the prior art, the alternate deformation frequency of the flexible gear is reduced by more than one time; because the alternate deformation is obviously reduced, inner and outer rings of the flexible bearings are not alternately deformed so as to effectively improve the fatigue service life.
Description
Technical field
The invention belongs to the Harmonic Gears field, particularly a kind of harmonic gear pair.
Background technique
Harmonic Gears is a kind of modification of Gear Planet Transmission, and characteristics such as it is big with velocity ratio, bearing capacity is big, transmission accuracy is high, stable drive are celebrated, and has obtained using widely.The Chinese utility model patent that application number is 92213487.1, notification number is CN2122973U discloses a kind of Harmonic Gears speed reducer, axial wave generator in this speed reducer is formed with the interlace eccentric part of 180 ° of installations of eccentric position by two groups, and each eccentric part is made of the eccentric bushing, eccentric disk, roller and middle gland, the bearing that are fixed on key on the motor shaft; Assembling mode is: Bearing Installation is on the eccentric bushing that is connected with motor shaft, rely on the shaft shoulder axially locating on the eccentric bushing, roller housing be contained on the bearing and with the outer ring drive fit of bearing, in the firm ring that wave-generator is set in place in flexbile gear and installs with the flexbile gear drive fit, the roller excircle anchor ring that constitutes wave-generator directly with just loop contacts transferring power.The patent No. a kind of double wave generator harmonic drive that has been 4491033 U.S. Patent Publication, this transmission device has interlace 180 ° harmonic generator disk of two eccentric positions, interlace 120 ° harmonic generator disk of three eccentric positions also can be arranged, each harmonic generator disk be sleeved on the standard rolling bearing and with the outer ring drive fit of standard rolling bearing, standard rolling bearing is installed on the axle sleeve that is connected with input shaft, rely on the shaft shoulder axially locating on the axle sleeve, the excircle anchor ring of each harmonic generator disk directly contacts transferring power with flexbile gear.Owing to have the said structure characteristics, thereby all there is following problem in two parts of patents: 1, realize off-centre between roller or the disk by being fixed on axle sleeve on input shaft or the motor shaft or eccentric bushing, but also will dispose relevant member, thereby the structure of wave-generator is comparatively complicated; 2, the mounting point of bearing makes the inner ring of bearing, outer ring be interference fit, and dual interference fit makes definite increase difficulty of magnitude of interference, and excessive bearing destruction, the too small transmission failure that easily causes of value of interference fit of easily causing of value of interference fit; 3, the excircle anchor ring of roller or disk directly contacts transferring power with firm ring or flexbile gear, and the mechanical property requirements of inevitable pair roller or disk improves, thereby causes the complicated process of preparation of roller or disk, not only will carry out cold working, also will heat-treat.4, the shaft shoulder of axle sleeve or eccentric bushing only has the axially locating effect, can not adjust the axial spacing between roller or the disk.
Summary of the invention
The present invention is directed to the deficiency that prior art exists, provide a kind of structure more simple, stressed more reasonable, axial wave type harmonic gear pair that operation is more simplified.
Technological scheme of the present invention is: the axial wave generator in the existing harmonic gear pair is improved, take into account stressed rationality in simplified structure.This kind axial wave generator is axially assembled by the eccentric part that two group switching centres are staggeredly located at least, each is organized eccentric part and is the identical eccentric disc of throw of eccentric, with the assembling mode of wave-generator axle (input shaft) for being connected, all be equipped with flexible bearing on the excircle anchor ring of each eccentric disc, flexible bearing directly contacts transferring power with flexbile gear.The throw of eccentric of eccentric disc is determined by the modulus and the number of teeth of harmonic gear pair.When the axial wave generator was axially assembled by two eccentric discs, the center of circle of two eccentric discs was the center in axial projection with the axle center of wave-generator axle, 180 ° of distributions; When the axial wave generator was axially assembled by three eccentric discs, the center of circle of three eccentric discs was the center in axial projection with the axle center of wave-generator axle, 120 ° of distributions; When the axial wave generator is axially assembled by four eccentric discs, the angle of the Y-axis that it is the center that the center of circle of four eccentric discs is distributed in axle center with the wave-generator axle in axial projection, be used to locate during with respect to assembling be ± 22.5 °～30 ° two intersect diagonal.Be provided with pad between the eccentric disc of composition axial wave generator.
The present invention has the following advantages and beneficial effect:
1, the eccentric part of composition axial wave generator only is an eccentric disc, and this eccentric disc is direct and the wave-generator axle is connected, and both simplifies the structure, and has simplified assembly technology again, helps reducing cost.
2, adopt flexible bearing and it is assemblied on the excircle anchor ring of eccentric disc directly contacts transferring power with flexbile gear, alternately distortion can not take place in its Internal and external cycle, thereby prevented the fatigue fracture of bearing enclose effectively, also can reduce mechanical property requirements simultaneously, reduce manufacturing procedure eccentric disc.
3, form axially locating and the adjustment of the gap between the eccentric disc function that the pad that is provided with between the eccentric disc of axial wave generator has eccentric disc concurrently, can reduce assembly error during assembling, can finely tune flexbile gear and firm wheel meshing zone during maintenance.
Description of drawings
Fig. 1 is the radial cross section engagement figure of the harmonic gear pair of radial wave generator formation;
Fig. 2 is the radial cross section engagement figure according to axial wave type harmonic gear pair proposed by the invention;
Fig. 3 is a kind of structural drawing according to axial wave type harmonic gear pair proposed by the invention;
Fig. 4 is the axial wave generator among Fig. 3 and the structural drawing of flexible bearing;
Fig. 5 is the side view of Fig. 4;
Fig. 6 is second kind of structural drawing according to axial wave type harmonic gear pair proposed by the invention;
Fig. 7 is the axial structural drawing of wave-generator and flexible bearing among Fig. 6;
Fig. 8 is the side view of Fig. 7;
Fig. 9 is the third structural drawing according to axial wave type harmonic gear pair proposed by the invention;
Figure 10 is axial a kind of structural drawing of wave-generator and flexible bearing among Fig. 9;
Figure 11 is the side view of Figure 10;
Figure 12 is axial another structural drawing of wave-generator and flexible bearing among Fig. 9;
Figure 13 is the side view of Figure 12.
Embodiment
Embodiment 1:
The structure of the axial wave type harmonic gear pair in the present embodiment mainly is made of firm wheel 1, flexbile gear 2, the wave-generator 3 that is arranged in the flexbile gear cavity, flexible bearing 4, wave-generator axle 5 and flexbile gear axle 6 as shown in Figure 3, and modulus is 2.Just the number of teeth of wheel 1 is 162, and material is the 45# steel; The number of teeth of flexbile gear 2 is 160, and material is 30GrMnSiA.The structure of wave-generator 3 such as Fig. 4, shown in Figure 5, axially assemble by two eccentric discs 7, all be equipped with flexible bearing 4 on the excircle anchor ring of each eccentric disc, the eccentric distance e of two eccentric discs is 6 millimeters, two eccentric discs are connected by key and wave-generator axle 5, and their center of circle O ' is the center in axial projection with the axle center O of wave-generator axle 5,180 ° of distributions, be provided with pad 8 between two eccentric discs, the material of pad 8 is A
3Steel.
Embodiment 2:
The structure of the axial wave type harmonic gear pair in the present embodiment mainly is made of firm wheel 1, flexbile gear 2, the wave-generator 3 that is arranged in the flexbile gear cavity, flexible bearing 4, wave-generator axle 5 and flexbile gear axle 6 as shown in Figure 6, and modulus is 2.Just the number of teeth of wheel 1 is 163, and material is the 45# steel; The number of teeth of flexbile gear 2 is 160, and material is 30GrMnSiA.The structure of wave-generator 3 such as Fig. 7, shown in Figure 8, axially assemble by three eccentric discs 7, all be equipped with flexible bearing 4 on the excircle anchor ring of each eccentric disc, the eccentric distance e of three eccentric discs is 5.6 millimeters, three eccentric discs are connected by key and wave-generator axle 5, and their center of circle O ' is the center in axial projection with the axle center O of wave-generator axle 5,120 ° of distributions, be provided with pad 8 between three eccentric discs, the material of pad is A
3Steel.
Embodiment 3:
The structure of the axial wave type harmonic gear pair in the present embodiment as shown in Figure 9, the structure of wave-generator 3 such as Figure 10, shown in Figure 11.Difference from Example 1 is: (1) has just taken turns 1 the number of teeth is 164; The number of teeth of flexbile gear 2 is 160; (2) wave-generator 3 is axially assembled by four eccentric discs 7, four eccentric discs are alternately arranged on wave-generator axle 5, eccentric distance e is 5 millimeters, the angle of the Y-axis that it is the center that the center of circle O ' of four eccentric discs is distributed in axle center O with wave-generator axle 5 in axial projection, be used to locate during with respect to assembling be ± 25 ° two intersect diagonal.
Embodiment 4:
The structure of the axial wave type harmonic gear pair in the present embodiment as shown in Figure 9, the structure of wave-generator 3 is as shown in Figure 12 and Figure 13.Difference from Example 3 is: (1) four eccentric disc 7 is arranged in parallel on wave-generator axle 5; The angle of the Y-axis that it is the center that the center of circle O ' of (2) four eccentric discs 7 is distributed in axle center O with wave-generator axle 5 in axial projection, be used to locate during with respect to assembling be ± 28 ° two intersect diagonal.
Claims (5)
1, a kind of axial wave type harmonic gear pair, comprise firm wheel (1), flexbile gear (2) with firm wheel assembly, be arranged in the wave-generator (3) of flexbile gear cavity, wave-generator axle (5) and flexbile gear axle or firm wheel shaft (6), wave-generator (3) is the axial wave generator, at least the eccentric part that is staggeredly located by two group switching centres axially assembles, it is characterized in that respectively organizing eccentric part and be the identical eccentric disc of throw of eccentric (7), with the assembling mode of wave-generator axle (5) for being connected, all be equipped with flexible bearing (4) on the excircle anchor ring of each eccentric disc, flexible bearing directly contacts transferring power with flexbile gear (2).
2, axial wave type harmonic gear pair according to claim 1, it is characterized in that wave-generator (3) by four eccentric discs (7) when axially assembling, the angle of the Y-axis that it is the center that the center of circle of four eccentric discs is distributed in axle center with wave-generator axle (5) in axial projection, be used to locate during with respect to assembling be ± 22.5 °～30 ° two intersect diagonal.
3, axial wave type harmonic gear pair according to claim 2 is characterized in that four eccentric discs (7) are in upward alternately arrangement of wave-generator axle (5).
4, axial wave type harmonic gear pair according to claim 2 is characterized in that four eccentric discs (7) are arranged in parallel on wave-generator axle (5).
5,, it is characterized in that forming between each eccentric disc (7) of axial wave generator and be provided with pad (8) according to claim 1 or 2 or 3 or 4 described axial wave type harmonic gear pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021137129A CN1151341C (en) | 2002-05-09 | 2002-05-09 | Axial wave type harmonic gear pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021137129A CN1151341C (en) | 2002-05-09 | 2002-05-09 | Axial wave type harmonic gear pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1376867A CN1376867A (en) | 2002-10-30 |
| CN1151341C true CN1151341C (en) | 2004-05-26 |
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ID=4742772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021137129A Expired - Fee Related CN1151341C (en) | 2002-05-09 | 2002-05-09 | Axial wave type harmonic gear pair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1151341C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100465475C (en) * | 2006-12-14 | 2009-03-04 | 重庆大学 | Equivalent ellipsoidal harmonic speed reducer |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101135357B (en) * | 2006-08-31 | 2010-09-08 | 北京工商大学 | Harmonic gear power transmission with double circular arc tooth outline |
| CN101147985B (en) * | 2006-09-18 | 2011-06-29 | 山东威达机械股份有限公司 | Flexible wheel driving type drill clamping head |
| CN102235463A (en) * | 2010-04-30 | 2011-11-09 | 长江大学 | Petroleum drilling trajectory-controlled harmonic gear transmission device |
| CN109723800A (en) * | 2019-03-05 | 2019-05-07 | 苏州绿的谐波传动科技股份有限公司 | A kind of triple-frequency harmonics retarder |
-
2002
- 2002-05-09 CN CNB021137129A patent/CN1151341C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100465475C (en) * | 2006-12-14 | 2009-03-04 | 重庆大学 | Equivalent ellipsoidal harmonic speed reducer |
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| Publication number | Publication date |
|---|---|
| CN1376867A (en) | 2002-10-30 |
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| CF01 | Termination of patent right due to non-payment of annual fee |