CN115492912A - High-precision low-vibration double-rigid-wheel harmonic speed reducer - Google Patents

High-precision low-vibration double-rigid-wheel harmonic speed reducer Download PDF

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Publication number
CN115492912A
CN115492912A CN202211208126.9A CN202211208126A CN115492912A CN 115492912 A CN115492912 A CN 115492912A CN 202211208126 A CN202211208126 A CN 202211208126A CN 115492912 A CN115492912 A CN 115492912A
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China
Prior art keywords
gear
rigid
flexible
clearance
tooth
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CN202211208126.9A
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Chinese (zh)
Inventor
顾京君
童彤
魏小龙
陈树君
郭志强
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Nantong Zhenkang Welding Electromachinery Co ltd
NANTONG ZHENKANG MACHINERY CO Ltd
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Nantong Zhenkang Welding Electromachinery Co ltd
NANTONG ZHENKANG MACHINERY CO Ltd
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Priority to CN202211208126.9A priority Critical patent/CN115492912A/en
Publication of CN115492912A publication Critical patent/CN115492912A/en
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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • F16H2049/006—Wave generators producing a non-elliptical shape of flexsplines, i.e. with a qualified different shape than elliptical
    • 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
    • F16H2055/176—Ring gears with inner teeth

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention relates to the technical field of speed reducers, in particular to a high-precision low-vibration double-rigid-wheel harmonic speed reducer, which aims to solve the technical problems of large tooth clearance between a flexible gear and a rigid wheel and low precision of the traditional double-rigid-wheel harmonic speed reducer in the prior art and is mainly realized by the following technical scheme: comprises a wave generator, a flexible bearing is sleeved outside the wave generator, a flexible gear is sleeved outside the flexible bearing, a first rigid gear and a second rigid gear are sleeved outside the flexible gear in parallel, and an inclination angle beta exists between the first rigid gear and the flexible gear 1 An inclined angle beta exists between the second rigid gear and the flexible gear 2 (ii) a The flexible gear is in a ring shape, so that the failure of a thin wall is avoided, and the harmonic speed reducer runs more stably and greatly reduces vibration due to the existence of an inclination angle or drum-shaped teeth.

Description

High-precision low-vibration harmonic speed reducer with double rigid wheels
Technical Field
The invention relates to the technical field of speed reducers, in particular to a high-precision low-vibration double-rigid-wheel harmonic speed reducer.
Background
The harmonic reducer is a speed reducer, and consists of three basic components: the flexible gear comprises a rigid gear with an inner gear ring, a flexible gear with an outer gear ring and a wave generator for radially deforming the flexible gear. The reducer is usually in the form of wave generator driving, rigid wheel fixing and flexible wheel output. 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.
In the prior art, in a conventional single-rigid-wheel harmonic speed reducer, a flexible gear is cup-shaped or silk hat-shaped, a tooth part is arranged at a cylinder part, and a bottom flange part is usually used for outputting torque. When the wave generator and the flexible bearing are arranged in the cylinder body of the flexible gear, the cylinder body of the flexible gear is expanded to generate deformation, the flexible gear teeth are expanded and are inclined outwards by an angle alpha relative to the axis of the flexible gear, namely, the flexible gear teeth and the internal teeth of the rigid gear form an included angle alpha; the traditional harmonic speed reducer with a double rigid wheel structure has six main components: two rigid gears, a flexible gear, two flexible bearings and a wave generator. The flexible gear is in a circular ring shape, a traditional 90-degree corner structure is not arranged, the flexible gear is prevented from being distorted and deformed and even damaged, and the bearing capacity and the impact resistance of the flexible gear can be improved. However, the flexible gear of the conventional harmonic speed reducer with a double-rigid-gear structure still has a straight-cylinder annular shape after the wave generator and the flexible bearing are installed, and at the moment, the axis of the external teeth of the flexible gear is completely parallel to the internal teeth of the rigid gear, so that the meshing surface of the external teeth of the flexible gear and the internal teeth of the rigid gear is small; in addition, in order to facilitate assembly, a sufficient gap is reserved between the flexible gear and the rigid gear, so that the tooth gap precision of the traditional double-rigid-gear harmonic speed reducer is over 3 arc minutes, the large tooth gap usually causes the vibration of the harmonic speed reducer to be increased, and the harmonic speed reducer with the double-rigid-gear structure is not suitable for the high-precision field.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects of large backlash between a flexible gear and a rigid gear and low precision of the traditional double rigid gear harmonic reducer in the prior art, thereby providing the double rigid gear harmonic reducer with high precision and low vibration.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a two rigid wheel harmonic speed reducers of high accuracy low vibration, includes wave generator, and wave generator overcoat is equipped with a pair of flexible bearing, flexible bearing sets up side by side along wave generator's axial, the flexible bearing overcoat is equipped with the flexbile gear, the flexbile gear overcoat is equipped with first rigid wheel and second rigid wheel side by side, first rigid wheel and second rigid wheel set up side by side along the flexbile gear axial, its characterized in that, first rigid wheel inner wall ring is equipped with first internal tooth, first internal tooth sets up with first rigid wheel an organic whole, second rigid wheel inner ring is equipped with the second internal tooth, the second internal tooth sets up with second rigid wheel an organic whole, there is two tooth number differences first internal tooth number and second internal tooth, flexbile wheel outside ring is equipped with the flexbile gear tooth number, the tooth number of flexbile gear tooth is the same with the tooth number of second, one of first rigid wheel and second rigid wheel is the stiff end, and another is the output, there is the clearance between first rigid wheel and second rigid wheel, and the clearance is 1mm; an inclination angle beta exists between the first rigid gear and the flexible gear 1 An inclined angle beta exists between the second rigid gear and the flexible gear 2 Said angle of inclination β 1 And an angle of inclination beta 2 The inclination angle beta is opposite to the center line of the flexible gear axis 1 And an angle of inclination beta 2 Is 0.01 to 1 degree.
By adopting the technical scheme, the flexible gear is sleeved outside the wave generator in a circular ring shape, and is not a cup type or a hat type of the traditional single rigid gear structure, so that the possibility of failure at a 90-degree thin-wall position of the flexible gear is eliminated, the impact resistance is greatly enhanced, the straight cylindrical flexible gear is convenient to process, and the processing cost can be reduced; an inclination angle exists between the first rigid gear and the flexible gear and between the second rigid gear and the flexible gear, so that the directions of the inclination angles of the two rigid gears and the flexible gear are opposite, the processing errors of the two rigid gears and the flexible gear are further counteracted, or the axial force between the flexible gear and the rigid gear, which is caused by the incomplete consistency of the two flexible bearings, is counteracted, the axial float between the flexible gear and the wave generator is reduced, the harmonic reducer operates more stably, and the vibration is greatly reduced.
Furthermore, the axis of the first rigid gear and one side of the first internal teeth close to the flexible gear form an inclination angle beta 1 The axis of the second rigid gear and one side of the second internal teeth close to the flexible gear form an inclination angle beta 2 And the clearance that first internal tooth is close to flexbile gear external teeth tip is less than the clearance that first internal tooth is close to the flexbile gear center, the clearance that the second internal tooth is close to the flexbile gear external teeth tip is less than the clearance that the second internal tooth is close to the flexbile gear center, the axis and the equal level setting in edge of the flexbile gear and the flexbile gear teeth.
Through adopting above-mentioned technical scheme, first internal tooth and second internal tooth form relative angle of inclination with the harmonic speed reducer machine axis respectively, position meshing clearance when meshing with second internal tooth and flexbile gear tooth is being close to the speed reducer machine both ends is very little when first internal tooth and flexbile gear tooth mesh, can eliminate the backlash even, thereby can keep improving the backlash precision of two rigid gear harmonic speed reducers by a wide margin under the condition in enough installation clearance guaranteeing to keep, the vibration is reduced by a wide margin simultaneously, and can improve two pairs of meshing's continuity, improve the running stability.
Furthermore, the axis of the flexible gear and one side of the flexible gear tooth close to the first rigid gear form an inclination angle beta 1 The axis of the flexible gear and one side of the flexible gear tooth close to the second rigid gear form an inclination angle beta 2 The first internal tooth is less than the first internal tooth and is close to the clearance at flexbile gear center near the clearance of flexible gear tooth tip, the second internal tooth is less than the clearance that the second internal tooth is close to the flexbile gear center near the clearance of flexible gear tooth tip, flexbile gear and flexbile gear tooth set up about the central line symmetry of flexbile gear axis.
Through adopting above-mentioned technical scheme, flexbile gear external tooth forms relative angle of inclination with the harmonic speed reducer machine axis, and the position meshing clearance that is close to the speed reducer machine both ends is very little when meshing with second internal tooth and flexbile gear tooth when first internal tooth and flexbile gear tooth mesh, keeps keeping the backlash precision that improves two rigid gear harmonic speed reducer machines by a wide margin under the condition of installing the clearance.
Furthermore, the inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 1 The inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 2 The angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about a centre line of the flexspline axis, said angle of inclination γ 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear and the flexible bearing is smaller than the clearance between the center of the flexible gear and the flexible bearing, and the distance between the end part of the flexible gear and the flexible bearing corresponding to the first rigid gear is d 1 The distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the second rigid gear is d 2 。
By adopting the technical scheme, when the inner wall of the flexible gear and the flexible bearing form a relative inclination angle, a gap is generated between the inner wall of the flexible gear and the outer wall of the outer ring of the flexible bearing, so that the flexible gear has certain elasticity in the radial direction, and further the flexible gear can expand towards the direction of the teeth of the rigid gear when the harmonic speed reducer runs to the flexible gear teeth and the teeth of the rigid gear to generate abrasion and the tooth gap is increased, so that the tooth gap is eliminated, and the tooth gap of the harmonic speed reducer is always kept in a small range.
Furthermore, the axis of the flexible gear and one side of the flexible gear tooth close to the first rigid gear form an inclination angle beta 1 The axis of the flexible gear and one side of the flexible gear tooth close to the second rigid gear form an inclination angle beta 2 The clearance that first internal tooth is close to gentle teeth of a cogwheel tip is greater than the clearance that first internal tooth is close to the flexbile gear center, the clearance that the second internal tooth is close to gentle teeth of a cogwheel tip is greater than the clearance that the second internal tooth is close to the flexbile gear center, flexbile gear and flexbile gear tooth set up about the central line symmetry of flexbile gear axis.
By adopting the technical scheme, the relative inclination angle is formed between the flexible gear outer teeth and the axis of the harmonic speed reducer, the meshing gap close to the central position of the speed reducer is very small when the first inner teeth and the flexible gear teeth are meshed and the second inner teeth and the flexible gear teeth are meshed, and the backlash precision of the double-rigid gear harmonic speed reducer is greatly improved under the condition of ensuring that enough installation gaps are reserved.
Furthermore, the inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 1 The inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 2 Said angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the flexspline axis, said angle of inclination γ 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear and the flexible bearing is larger than the clearance between the center of the flexible gear and the flexible bearing, and the distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear is d 1 The distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the second rigid gear is d 2 。
By adopting the technical scheme, when the inner wall of the flexible gear and the flexible bearing form a relative inclination angle, the flexible gear has certain elasticity in the radial direction, and can play a role in buffering in the running process of the harmonic reducer, thereby achieving the purpose of effectively reducing vibration.
A high-precision low-vibration harmonic speed reducer with double rigid gears comprises a wave generator, wherein a pair of flexible bearings is sleeved outside the wave generator, the flexible bearings are arranged in parallel along the axial direction of the wave generator, a flexible gear is sleeved outside the flexible gear, a first rigid gear and a second rigid gear are sleeved outside the flexible gear in parallel, the first rigid gear and the second rigid gear are arranged in parallel along the axial direction of the flexible gear, the harmonic speed reducer is characterized in that the inner wall of the first rigid gear is annularly provided with a first rigid gear, the first rigid gear and the first rigid gear are integrally arranged, the inner ring of the second rigid gear is provided with a second rigid gear, the second rigid gear and the second rigid gear are integrally arranged, the number of teeth of the first rigid gear is greater than that of teeth of the second rigid gear, the outer ring of the flexible gear is provided with a flexible gear, the number of teeth of the flexible gear is the same as that of teeth of the second rigid gear, one of the first rigid gear and the second rigid gear is a fixed end, the other rigid gear is an output end, a gap exists between the first rigid gear and the second rigid gear, and the gap is 1mm; the flexible gear is in a shape of a modified double drum in the tooth length direction, a first drum shape and a second drum shape are arranged on the flexible gear teeth, the first drum shape and the second drum shape are oppositely arranged relative to the center line of the axis of the flexible gear, the vertex of the first drum shape is located on the center line of the axis of the first rigid gear, and the vertex of the second drum shape is located on the center line of the axis of the second rigid gear.
By adopting the technical scheme, the flexible gear is modified into a double drum shape in the tooth length direction, the machining errors of the rigid gear and the flexible gear, the interference of tooth meshing between the flexible gear and the rigid gear caused by the assembly error of the speed reducer or the incomplete consistency of two flexible bearings can be greatly reduced, the continuity of meshing of two pairs of teeth is effectively improved, the running stability is improved, and the vibration is reduced.
Further, the drum shape of the first drum shape and the drum shape of the second drum shape is 0.002 mm-0.05 mm.
By adopting the technical scheme, the drum shape of the flexible gear teeth is limited to meet the ISO standard, the external teeth and the contact condition of the flexible gear are improved, the noise is effectively reduced, and the abrasion condition is improved.
In summary, the technical scheme of the invention has the following advantages:
1. according to the high-precision low-vibration harmonic speed reducer with the double rigid gears, the flexible gear is in a circular ring shape, the flexible gear is not in a cup shape or a hat shape of a traditional single rigid gear structure, the possibility of failure at a 90-degree thin-wall position of the flexible gear is eliminated, the impact resistance is greatly enhanced, the straight cylindrical flexible gear is convenient to machine, and the machining cost can be reduced.
2. According to the high-precision low-vibration double-rigid-gear harmonic speed reducer, the rigid gear internal teeth or the flexible gear external teeth and the axis of the harmonic speed reducer form an inclination angle, and the directions of the inclination angles of two pairs of meshing teeth of the rigid gear and the flexible gear are opposite, so that the axial force between the flexible gear and the rigid gear caused by the machining errors of the rigid gear and the flexible gear or the incomplete consistency of two flexible bearings can be counteracted, the axial movement of the flexible gear and a wave generator is reduced, the harmonic speed reducer can run more stably, and the vibration is greatly reduced; the tooth clearance precision of the double-rigid-wheel harmonic speed reducer can be greatly improved, the vibration is greatly reduced, the meshing continuity of two pairs of teeth can be improved, and the running stability is improved.
3. According to the high-precision low-vibration double-rigid-wheel harmonic speed reducer, a gap is formed between the inner wall of the flexible gear and the outer wall of the outer ring of the flexible bearing, so that the flexible gear has certain elasticity in the radial direction, and the flexible gear can expand towards the rigid-wheel tooth direction when the harmonic speed reducer runs until the flexible gear and the rigid-wheel tooth are worn and the tooth gap is increased, so that the tooth gap is eliminated, and the tooth gap of the harmonic speed reducer is always kept in a very small range; the flexible gear has certain elasticity in the radial direction and can play a role in buffering in the running process of the harmonic reducer, so that the vibration is effectively reduced.
4. According to the high-precision low-vibration harmonic speed reducer with the double rigid gears, the flexible gears are modified into double drums in the tooth length direction, machining errors of the rigid gears and the flexible gears, interference of tooth meshing between the flexible gears and the rigid gears caused by assembly errors of the speed reducer or incomplete consistency of two flexible bearings can be greatly reduced, the meshing continuity of two pairs of teeth is effectively improved, the running stability is improved, and vibration is reduced.
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 embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of a conventional harmonic reducer with double rigid wheels
FIG. 2 is a schematic diagram of an overall configuration of the internal teeth tilting of a first rigid gear and a second rigid gear provided in one embodiment of the present invention;
FIG. 3 is a schematic diagram of an overall structure of a flexible gear outer tooth bevel according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an overall structure of the outer teeth and inner wall inclination of the flexible gear according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of an overall structure of a flexible gear outer teeth inclination mechanism according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of an overall structure of the outer teeth and inner wall inclination of the flexible gear according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of an external spline of a flexible gear according to an embodiment of the present invention.
Description of the reference numerals:
1. a wave generator; 2. a compliant bearing; 3. a flexible gear; 4. flexible gear teeth; 41. a first drum shape; 42. a second drum shape; 5. a first rigid wheel; 51. a first internal tooth; 6. a second rigid wheel; 61. and a second internal tooth.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, as shown in figure 1, including wave generator 1, wave generator 1 overcoat is equipped with a pair of flexible bearing 2, flexible bearing 2 sets up side by side along the axial of wave generator 1, flexible bearing 2 overcoat is equipped with flexible gear 3, flexible gear 3 overcoat is equipped with first rigid wheel 5 and second rigid wheel 6, first rigid wheel 5 and second rigid wheel 6 set up side by side along the axial of flexible wheel 3 and axial thickness is unanimous, first rigid wheel 5 inner wall ring is equipped with first rigid wheel 5 teeth, first rigid wheel 5 teeth and first rigid wheel 5 an organic whole set up, second rigid wheel 6 inner ring is equipped with second rigid wheel 6 teeth, second rigid wheel 6 teeth and second rigid wheel 6 an organic whole set up, 5 tooth number of teeth of first rigid wheel and 6 tooth number of teeth of second rigid wheel have two tooth difference numbers, flexible gear 3 outside ring is equipped with flexible gear tooth 4, the tooth number of teeth of flexible gear tooth is the same with the tooth number of second rigid wheel 6 teeth, one of first rigid wheel 5 and second rigid wheel 6 tooth number, another is 5 and the second rigid wheel clearance exists for the output, there is the interval between the second rigid wheel 6 mm. The flexible gear 3 of the conventional harmonic speed reducer with a double-rigid-gear structure is still in a straight-cylinder annular shape after the wave generator 1 and the flexible bearing 2 are installed, and the axis of the flexible gear teeth 4 is completely parallel to the inner teeth of the rigid gear.
Example 1:
as shown in FIG. 2, the axis of the first rigid gear 5 and the side of the first internal teeth 51 close to the flexible gear 3 form an inclination angle β 1 The axis of the second rigid gear 6 and the side of the second internal teeth 61 close to the flexible gear 3 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 Disposed opposite to the center line of the axis of the flexible gear 3 at an angle of inclination beta 1 And an angle of inclination beta 2 The angles being the same or different, the angle of inclination beta 1 And an angle of inclination beta 2 The angle value range of be 0.01 ~ 1, first internal tooth 51 is less than the clearance that first internal tooth 51 is close to the gentle clearance that 4 tip of teeth are close to the flexbile gear 3 center, and the clearance that second internal tooth 61 is close to the gentle clearance that 4 tip of teeth are less than the clearance that second internal tooth 61 is close to the flexbile gear 3 center, and the axis and the equal level in edge of flexbile gear 3 and flexbile gear 4 set up.
First internal tooth 51 and second internal tooth 61 form relative angle of inclination with the harmonic speed reducer axis respectively, position meshing clearance when meshing with second internal tooth 61 and flexspline tooth 4 when meshing first internal tooth 51 and flexspline tooth 4 is being close to the speed reducer both ends is very little, can eliminate the backlash even, thereby can keep the backlash precision that improves two rigid gear harmonic speed reducers by a wide margin under the condition in installation clearance enough guaranteeing, simultaneously the vibration is greatly reduced, and can improve the continuity of two pairs of tooth meshing, improve the running stability.
Example 2:
as shown in FIG. 3, the axis of the flexible gear 3 and the side of the flexible gear tooth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and one side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles may be the same or different, the angle of inclination being beta 1 And an angle of inclination beta 2 The angle value range of be 0.01 ~ 1, first internal tooth 51 is less than the clearance that first internal tooth 51 is close to the gentle 4 tip of teeth of a cogwheel and is close to the clearance at the flexbile gear 3 center, the clearance that second internal tooth 61 is close to the gentle 4 tip of teeth of a cogwheel is less than the clearance that second internal tooth 61 is close to the flexbile gear 3 center, the relative slope in 4 outsides of flexbile gear sets under this condition, the clearance between 4 both ends of flexbile gear and first rigid gear 5 and second rigid gear 6 is less than gentle 4 centers of teeth of a cogwheel and first rigid gear 5 and second rigid gear 6The flexible gear teeth 4 are symmetrically arranged about the central line of the axis of the flexible gear 3 in the gap between the two rigid gears 6.
As shown in fig. 3 and 4, the axis of the flexible gear 3 and the side of the flexible gear tooth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles being the same or different, the angle of inclination beta 1 And an angle of inclination beta 2 The angle value range of the flexible gear 3 is 0.01-1 degrees, and the inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 also form an inclination angle gamma 1 The inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 also form an inclination angle gamma 2 Angle of inclination gamma 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the axis of the flexspline 3, at an angle of inclination gamma 1 Angle of inclination beta 1 The angle and direction are the same, and the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear 3 and the flexible bearing 2 is smaller than the clearance between the center of the flexible gear 3 and the flexible bearing 2, and the distance between the end part of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 is d 1 The distance between the end of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the second rigid gear 6 is d 2 。
When the inner wall of the flexible gear 3 and the flexible bearing 2 form a relative inclination angle, a gap is generated between the inner wall of the flexible gear 3 and the outer ring of the flexible bearing 2, so that the flexible gear 3 has certain elasticity in the radial direction, and then the flexible gear 3 can expand towards the tooth direction of the rigid gear when the harmonic speed reducer runs to the flexible gear teeth 4 and the rigid gear teeth to generate abrasion and the tooth gap is increased, so that the tooth gap is eliminated, and the tooth gap of the harmonic speed reducer is always kept in a small range.
Example 3:
as shown in FIG. 5, the axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles may be the same or different, the angle of inclination being beta 1 And an angle of inclination beta 2 The angle value range of (1) is 0.01-1 degrees, the first internal teeth 51 are close to the end part of the flexible gear teeth 4The clearance of being greater than first internal tooth 51 and being close to the clearance at flexbile gear 3 center, the clearance that second internal tooth 61 is close to the 4 tip of flexbile gear is greater than the clearance that second internal tooth 61 is close to flexbile gear 3 center, and the relative slope sets up in the flexible gear 4 outside under this condition, and the clearance between 4 both ends of flexbile gear and first rigid gear 5 and second rigid gear 6 is greater than the clearance between the flexible gear 4 center and first rigid gear 5 and second rigid gear 6, and flexbile gear 4 sets up about the central line symmetry of flexbile gear 3 axis.
When the first internal teeth 51 are meshed with the flexible gear teeth 4, the meshing gap close to the center of the speed reducer is small when the first internal teeth 51 are meshed with the second internal teeth 61 and the flexible gear teeth 4, and the backlash precision of the double rigid gear harmonic speed reducer is greatly improved under the condition that enough installation gaps are reserved.
As shown in FIGS. 5 and 6, the axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the first rigid gear 5 form an inclination angle beta 1 The axis of the flexible gear 3 and one side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And the angle of the tilt angle beta 2 can be the same or different, the tilt angle beta 1 And an angle of inclination beta 2 The angle dereferencing range of the flexible gear 3 is 0.01-1 degrees, and the inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 form an inclination angle gamma 1 The inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 form an inclination angle gamma 2 Angle of inclination gamma 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the axis of the flexspline 3, at an angle of inclination gamma 1 Angle of inclination beta 1 The angle and the direction are the same, and the inclination angle gamma is 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear 3 and the flexible bearing 2 is larger than the clearance between the center of the flexible gear 3 and the flexible bearing 2, and the distance between the end part of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 is d 1 The distance between the end of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the second rigid gear 6 is d 2 。
When the inner wall of the flexible gear 3 and the flexible bearing 2 form a relative inclination angle, the flexible gear 3 has certain elasticity in the radial direction, and can play a role in buffering in the running process of the harmonic reducer, thereby achieving the purpose of effectively reducing vibration.
Example 4:
the utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, as shown in fig. 1 and fig. 6, including wave generator 1, wave generator 1 overcoat is equipped with a pair of flexible bearing 2, flexible bearing 2 sets up side by side along the axial of wave generator 1, flexible bearing 2 overcoat is equipped with flexible wheel 3, flexible wheel 3 overcoat is equipped with first rigid wheel 5 and second rigid wheel 6, first rigid wheel 5 and second rigid wheel 6 set up side by side along flexible wheel 3 axial and axial thickness is unanimous, first rigid wheel 5 inner wall ring is equipped with first rigid wheel 5 teeth, first rigid wheel 5 teeth and first rigid wheel 5 an organic whole set up, second rigid wheel 6 inner ring is equipped with second rigid wheel 6 teeth, second rigid wheel 6 teeth and second rigid wheel 6 an organic whole set up, first rigid wheel 5 teeth number and second rigid wheel 6 teeth number have two tooth difference numbers, flexible wheel 3 outside ring is equipped with teeth 4, the teeth number of teeth of rigid wheel 4 is the same with second rigid wheel 6 teeth's output, first rigid wheel 5 and second rigid wheel 6 teeth number are one of them, another rigid wheel 5 clearance exists for the second rigid wheel, there is the second clearance.
The flexspline 3 is in a double-drum shape in the tooth length direction, a first drum shape 41 and a second drum shape 42 are arranged on the flexspline tooth 4, the first drum shape 41 and the second drum shape 42 are oppositely arranged relative to the center line of the axis of the flexspline 3, the vertex of the first drum shape 41 is located on the center line of the axis of the first rigid gear 5, namely the highest point of the first drum shape 41 corresponds to the axial center position of the first rigid gear 5, and the vertex of the second drum shape 42 is located on the center line of the axis of the second rigid gear 6, namely the highest point of the second drum shape 42 corresponds to the axial center position of the second rigid gear 6. The drum shape of the first drum shape 41 and the second drum shape 42 ranges from 0.002mm to 0.05mm.
The flexible gear 3 is modified into a double-drum shape in the tooth length direction, so that machining errors of a rigid gear and the flexible gear 3 can be greatly reduced, the interference of tooth meshing between the flexible gear 3 and the rigid gear caused by the assembly error of a speed reducer or the incomplete consistency of two flexible bearings 2 is avoided, the meshing continuity of two pairs of teeth is effectively improved, the running stability is improved, and the vibration is reduced.
The working principle and the using method of the high-precision low-vibration double-rigid-wheel harmonic speed reducer comprise the following steps: in order to reduce the backlash between the flexible gear 3 and the first rigid gear 5 and the second rigid gear 6 and improve the precision of the double rigid gear harmonic speed reducer, the following structure is adopted: (1) the first internal teeth 51 of the first rigid wheel 5 and the second internal teeth 61 of the second rigid wheel 6 are provided with inclination angles; (2) the flexible gear teeth 4 on the flexible gear 3 are provided with inclination angles, and the clearance between the two ends of the flexible gear teeth 4 and the rigid gear is smaller than that between the flexible gear teeth 4 and the rigid gear; (3) on the basis of (2), the inner wall of the flexible gear 3 is also provided with an inclination angle; (4) the flexible gear teeth 4 on the flexible gear 3 are provided with an inclination angle, and the clearance between the two ends of the flexible gear teeth 4 and the rigid gear is larger than that between the flexible gear teeth 4 and the rigid gear; (5) on the basis of (4), the inner wall of the flexible gear 3 is also provided with an inclination angle; (6) the flexspline 3 has flexspline teeth 4 which are modified into a double drum shape in the tooth length direction.
While the foregoing specification illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the precise forms disclosed herein and is not to be interpreted as excluding the existence of additional embodiments that are also intended to be encompassed by the present invention as modified within the spirit and scope of the invention as described herein. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, includes wave generator (1), wave generator (1) overcoat is equipped with a pair of flexible bearing (2), flexible bearing (2) set up side by side along the axial of wave generator (1), flexible bearing (2) overcoat is equipped with flexible gear (3), flexible gear (3) outer side by side the cover is equipped with first rigid gear (5) and second rigid gear (6), first rigid gear (5) and second rigid gear (6) set up side by side along flexible gear (3) axial, its characterized in that, first rigid gear (5) inner wall ring is equipped with first internal tooth (51), first internal tooth (51) and first rigid gear (5) an organic whole set up, second rigid gear (6) inner ring is equipped with second internal tooth (61), second internal tooth (61) and second rigid gear (6) an organic whole set up, there are two tooth differences in first internal tooth (51) number of teeth and second rigid gear (61), flexible gear (3) outer side ring is equipped with flexible gear (4), the number of teeth (61) is the same with second rigid gear (5) and second rigid gear (6) the clearance, one of rigid gear (1) is the clearance, one of rigid gear (5) and second rigid gear (6) is one, rigid gear (5) and second rigid gear (6) the clearance exists; an inclined angle beta exists between the first rigid wheel (5) and the flexible wheel (3) 1 An inclined angle beta exists between the second rigid gear (6) and the flexible gear (3) 2 Said angle of inclination β 1 And an angle of inclination beta 2 The inclination angle beta is opposite to the center line of the axis of the flexible gear (3) 1 And an angle of inclination beta 2 Is 0.01-1 degree.
2. A high precision low vibration double rigid gear harmonic reducer according to claim 1 characterized in that the axis of the first rigid gear (5) and the side of the first internal teeth (51) near the flexspline (3) form an inclination angle β 1 The axis of the second rigid gear (6) and one side of the second internal teeth (61) close to the flexible gear (3) form an inclination angle beta 2 And, the clearance that first internal tooth (51) is close to flexbile gear (3) external tooth tip is less than the clearance that first internal tooth (51) is close to flexbile gear (3) center, the clearance that second internal tooth (61) is close to flexbile gear (3) external tooth tip is less than the clearance that second internal tooth (61) is close to flexbile gear (3) center, the axis and the equal level setting in edge of the flexbile gear (3) and the gentle teeth of a cogwheel (4).
3. A high precision low vibration double rigid gear harmonic reducer according to claim 1 wherein the axis of the flexible gear (3) and the side of the flexible gear teeth (4) close to the first rigid gear (5) form an inclination angle β 1 The axis of the flexible gear (3) and one side of the flexible gear teeth (4) close to the second rigid gear (6) form an inclination angle beta 2 And, the clearance that first internal tooth (51) is close to gentle teeth of a cogwheel (4) tip is less than the clearance that first internal tooth (51) is close to flexbile gear (3) center, the clearance that second internal tooth (61) is close to gentle teeth of a cogwheel (4) tip is less than the clearance that second internal tooth (61) is close to flexbile gear (3) center, flexbile gear (3) and gentle teeth of a cogwheel (4) set up about the central line symmetry of flexbile gear (3) axis.
4. A high precision low vibration double rigid gear harmonic reducer according to claim 3 wherein the inner wall of said flexspline (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an angle of inclination γ 1 The inner wall of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle gamma 2 Said angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the central line of the axis of the flexspline (3), said angle of inclination γ 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear (3) and the flexible bearing (2) is smaller than the clearance between the center of the flexible gear (3) and the flexible bearing (2), and the distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) is d 1 The distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the second rigid gear (6) is d 2 。
5. A high precision low vibration double rigid gear harmonic reducer according to claim 1 wherein the axis of the flexible gear (3) and the side of the flexible gear teeth (4) close to the first rigid gear (5) form an inclination angle β 1 The axis of the flexible gear (3) and one side of the flexible gear teeth (4) close to the second rigid gear (6) form an inclination angle beta 2 And, the clearance that first internal tooth (51) is close to gentle teeth of a cogwheel (4) tip is greater than the clearance that first internal tooth (51) is close to flexbile gear (3) center, the clearance that second internal tooth (61) is close to gentle teeth of a cogwheel (4) tip is greater than the clearance that second internal tooth (61) is close to flexbile gear (3) center, flexbile gear (3) and gentle teeth of a cogwheel (4) set up about the central line symmetry of flexbile gear (3) axis.
6. A high accuracy low vibration double rigid gear harmonic reducer machine according to claim 5, characterized in that the inner wall of said flexspline (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle γ 1 The inner wall of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle gamma 2 The angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the central line of the axis of the flexspline (3), said angle of inclination γ 1 Angle of inclination beta 1 The angle and the direction are the same, and the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear (3) and the flexible bearing (2) is larger than the clearance between the center of the flexible gear (3) and the flexible bearing (2), and the distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5)Is d 1 The distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the second rigid gear (6) is d 2 。
7. The utility model provides a two rigid wheel harmonic speed reducer machine of high accuracy low vibration, includes wave generator (1), wave generator (1) overcoat is equipped with a pair of flexible bearing (2), flexible bearing (2) set up side by side along the axial of wave generator (1), flexible bearing (2) overcoat is equipped with flexbile gear (3), flexbile gear (3) outer side by side the cover is equipped with first rigid wheel (5) and second rigid wheel (6), first rigid wheel (5) and second rigid wheel (6) set up side by side along flexbile gear (3) axial, its characterized in that, first rigid wheel (5) inner wall ring is equipped with first rigid wheel (5) tooth, first rigid wheel (5) tooth sets up with first rigid wheel (5) an organic whole, second rigid wheel (6) inner ring is equipped with second rigid wheel (6) tooth, second rigid wheel (6) tooth sets up with second rigid wheel (6) an organic whole, first rigid wheel (5) tooth number is greater than second rigid wheel (6) tooth, flexible wheel (3) tooth number 4) tooth number, flexible wheel (6) tooth number and second rigid wheel (6) tooth are the clearance is the same with second rigid wheel (5) tooth, wherein there is the clearance (5) and second rigid wheel (6) clearance, the clearance is one the second rigid wheel (5) tooth is the output end (5) and the clearance is the second rigid wheel (6); the flexible gear (3) is modified to be in a double-drum shape in the tooth length direction, a first drum shape (41) and a second drum shape (42) are arranged on the flexible gear teeth (4), the first drum shape (41) and the second drum shape (42) are oppositely arranged relative to the center line of the axis of the flexible gear (3), the vertex of the first drum shape (41) is located on the center line of the axis of the first rigid gear (5), and the vertex of the second drum shape (42) is located on the center line of the axis of the second rigid gear (6).
8. A high accuracy low vibration double rigid wheel harmonic reducer machine according to claim 7, characterized in that the drum shape amount of said first drum shape (41) and second drum shape (42) is 0.002 mm-0.05 mm.
CN202211208126.9A 2022-09-30 2022-09-30 High-precision low-vibration double-rigid-wheel harmonic speed reducer Pending CN115492912A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230250865A1 (en) * 2020-10-16 2023-08-10 Midea Group Co., Ltd. Harmonic Gear Device and Actuator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230250865A1 (en) * 2020-10-16 2023-08-10 Midea Group Co., Ltd. Harmonic Gear Device and Actuator

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