CN202707948U - Harmonic reducer with fixed gear wheel - Google Patents

Harmonic reducer with fixed gear wheel Download PDF

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Publication number
CN202707948U
CN202707948U CN 201220291182 CN201220291182U CN202707948U CN 202707948 U CN202707948 U CN 202707948U CN 201220291182 CN201220291182 CN 201220291182 CN 201220291182 U CN201220291182 U CN 201220291182U CN 202707948 U CN202707948 U CN 202707948U
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Prior art keywords
gear
wheel
gear wheel
flexbile
fixed
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CN 201220291182
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Chinese (zh)
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叶骏绅
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SUZHOU HANMENG HARMONIC WAVE ELECTROMECHANICAL CO., LTD.
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SUZHOU HANMENG HARMONIC WAVE ELECTROMECHANICAL Co Ltd
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Abstract

The utility model provides a harmonic reducer with a fixed gear wheel. The harmonic reducer with the fixed gear wheel comprises the fixed gear wheel, a rigid wheel, a flexible wheel and a wave generator. The fixed gear wheel and the rigid wheel are respectively provided with a first internal gear wheel and a second internal gear wheel. The flexible wheel is provided with an external gear wheel, the number of teeth of the external gear wheel is the same as that of the first internal gear wheel and different from that of the second internal gear wheel. The wave generator is combined in the flexible wheel and a power source, the flexible wheel is combined in the fixed gear wheel and the rigid wheel, and therefore the flexible wheel deforms to enable a part of the external gear wheel of the flexible wheel to be meshed with the first internal gear wheel of the fixed gear wheel and a second internal gear wheel of the rigid wheel. The fixed gear wheel is fixed and can not move, when the power source is used to drive the wave generator to rotate, the flexible wheel only produces deformation but does not rotate relative to the fixed gear wheel and simultaneously produces deformation and relative rotation relative to the rigid wheel, and therefore the rigid wheel and the output shaft can rotate synchronously and in speed-reducing mode.

Description

Harmonic speed reducer with fixed gear
Technical field
The utility model relates to a kind of harmonic speed reducer, does not particularly a kind ofly produce counterrotating cooperating structure during about the fixed gear that wherein comprises and flexbile gear engagement.
Background technique
Harmonic speed reducer is that a kind of flexible unit that utilizes produces a kind of gear transmission that the elastic mechanical ripple comes transferring power and motion, also is called " Harmonic Gears (abbreviation harmonic driving) ".
Fig. 1 is for showing existing harmonic speed reducer structure, and consist predominantly of three assemblies: one has the firm A of wheel of internal gear, the flexbile gear B with external gear, and a wave-generator C.When using as retarder, generally all be adopt just that wheel A fixes, the form of wave-generator C active transport, flexbile gear B outputting power.
Flexbile gear B then is a kind of thin-wall gear that produces larger resiliently deformable, and its internal diameter equals or be slightly larger than total external diameter of wave-generator.Wave-generator C makes flexbile gear B produce the member of controlled elasticity distortion; Wave-generator C has a central shaft, but this central shaft the deformation rolling bearing is housed and consists of roller, it is inner that wave-generator C is combined in flexbile gear B, and the inwall of its external diameter and flexbile gear B is compressed mutually, and wave-generator C connection power source (being generally motor).After wave-generator C packs flexbile gear B into, force the end face of flexbile gear to become ellipse by original circle, and then near the outer gear teeth its oval-shaped major axis two ends are meshed fully with the interior gear teeth of just taking turns A, near the outer gear teeth the minor axis two ends are then thrown off fully with the interior gear teeth of firm wheel; The outer gear teeth of other section then are in and the interior gear teeth meshing of firm wheel and the transition state of disengaging on the girth.When wave-generator rotates continuously, the distortion meeting of flexbile gear constantly changes, make flexbile gear B and the just also constantly change of engagement of wheel A, produce engaging-in, mesh, nibble out, throw off, engaging-in again ..., carry out again and again, thereby the realization flexbile gear has relatively just been taken turns the rightabout slow circumvolve along wave-generator C.
In transmission process, wave-generator C rotates a circle, and the cycle-index of upper certain point deformation of flexbile gear B is called wave number, represents with n.Commonly used is the double wave transmission, and its flexbile gear stress is less, relatively simple for structure, is easy to obtain large velocity ratio, so be present most widely used a kind of.The flexbile gear of Harmonic Gears is identical with the circular pitch of just having taken turns, but the number of teeth does not wait.
When firm wheel is fixed, when wave-generator active rotation, the driven rotation of flexbile gear, the velocity ratio of Harmonic Gears is i=-B1/ (A1-B1)
A1, B1 are respectively the number of teeth of the firm A of wheel and flexbile gear B in the formula.
Because the flexbile gear number of teeth is a lot, therefore, harmonic speed reducer can obtain very large velocity ratio.
Harmonic speed reducer is in harmonic driving, because tooth is that face contacts with the engagement of tooth, adds that total number of teeth in engagement is more simultaneously, thereby the load of unit area is little, so that bearing capacity is high than other type of belt drive, and velocity ratio is large, and the velocity ratio of single-stage Harmonic Gears can reach i=70~500; Add, have that volume is little, lightweight, transmission efficiency is high, the life-span is long, stable drive, without impact, noise free, kinematic accuracy high, be very widely retarder of a kind of application therefore.
Because flexbile gear needs to bear larger stress alternation in the gearing down process, cause flexbile gear to be easier to damage, thereby fatigue resistance, processing and the heat treatment technology of flexbile gear material are had relatively high expectations, process technique is also complicated; In addition, the firm wheel of traditional harmonic speed reducer and flexbile gear engaging position and output shaft distant, thereby produce easily the situation that disalignment is rocked, increased the problems such as frictional heating and noise.
In order to solve aforesaid problem, No. 101210934 the harmonic speed reducer application case that this case claimant proposes then is that wave-generator is combined in flexbile gear and a power source, makes flexbile gear produce distortion and the firm wheel of local engagement, and just wheel has then connected an output shaft; When driving the wave-generator rotation by power source, drive just wheel and output shaft synchronous rotation via flexbile gear.
But existing harmonic speed reducer only has firm wheel and flexbile gear to cooperatively interact, when fixing just wheel makes flexbile gear produce output, flexbile gear is cap shape or cup-like structure, because flexbile gear needs to bear larger stress alternation in the gearing down process, the turning point can produce stress, cause flexbile gear to be easier to damage, so fatigue resistance, processing and the heat treatment technology of flexbile gear material are had relatively high expectations, process technique is also complicated.And just wheel and flexbile gear engaging position and output shaft is distant, thereby produces easily the situation that disalignment is rocked, and has increased the problems such as frictional heating and noise.
Again or fixedly flexbile gear is so that when just wheel has produced output, if flexbile gear is increased the ring-type fixed edge or increase fixed hole on the flexbile gear body, easily make flexbile gear in the deformation engagement process, produce turning point stress, or tapping stress, cause the flexbile gear fatigue resistance low, be easy to break and make failure mechanisms.
The model utility content
The purpose of this utility model is to solve firm wheel and the flexbile gear cooperating structure of existing harmonic speed reducer, in transmission process, flexbile gear needs to bear larger stress alternation in the gearing down process, and the internal stress that produces because of the flexbile gear structure reduces working life, and number of spare parts is more various, the problem that manufacture cost is higher.
The wheeled harmonic speed reducer of the fixing tooth that the utility model provides, its major character are to increase by a fixed gear, and flexbile gear then is matched with simultaneously this fixed gear and has just taken turns; When flexbile gear is driven rotation by wave-generator, do not produce relative speed difference with fixed gear, the support of flexbile gear additional stabilization is provided by this, though making flexbile gear deformation does not but rotate, flexbile gear produces relative speed difference with just wheel engagement simultaneously, provide by this this just wheel deceleration turning effort, so that be located at the output shaft deceleration output of taking turns out firm wheel.
Technological means of the present utility model includes that a fixed gear, has just been taken turns, a flexbile gear and a wave-generator; Described fixed gear is respectively equipped with the first internal gear and secondary annulus with firm wheel; Described flexbile gear then is provided with external gear, and this external gear is identical with the number of teeth of the first internal gear, but not identical with the number of teeth of secondary annulus; This wave-generator is combined in flexbile gear and a power source, and makes flexbile gear be combined in this fixed gear and just take turns, and makes flexbile gear produce distortion and make its local external gear mesh simultaneously first internal gear and the secondary annulus of just having taken turns of fixed gear; Fixed gear is fixed motionless, when driving the wave-generator rotation by power source, flexbile gear only produces deformation with respect to fixed gear but not relatively rotation, and flexbile gear then produces deformation and relative rotation simultaneously with respect to firm wheel, and then makes flexbile gear drive just wheel and output shaft synchronous deceleration rotation.
The utility model is that fixed gear and firm wheel are axial closing, and flexbile gear then is matched with in the fixed gear and firm wheel of axial binding simultaneously.
By aforesaid structure, harmonic speed reducer of the present utility model in transmission process, the load of gear can on average disperse and reduce the load and stressed more even, thereby reduce noise and wheel odontotripsis, promote working life, more can reduce one-piece parts, reduce manufacture cost.
Description of drawings
Fig. 1 is for showing the section plan of existing harmonic speed reducer structure;
Fig. 2 is the three-dimensional exploded view of the assembly combination relation of demonstration the utility model harmonic speed reducer;
Fig. 3 is for showing the section plan of the utility model harmonic speed reducer structure; And
Fig. 4 is for showing the end face floor map of the utility model harmonic speed reducer structure.
The primary clustering symbol description
1 harmonic speed reducer
The 11A fixed gear
11A1 the first internal gear
11B just takes turns
The 11B1 secondary annulus
The 11B2 output shaft
12 flexbile gears
121 external gears
13 wave-generators
131 central shafts
132 outer ring bodies
A just takes turns
The B flexbile gear
The C wave-generator
Embodiment
Those skilled in the art below cooperate graphic and element numbers is done more detailed description to mode of execution of the present utility model, so that can implement after studying this specification carefully according to this.
Such as Fig. 2 and shown in Figure 3, the harmonic speed reducer 1 that the utility model provides includes just wheel 11B, a flexbile gear 12 and a wave-generator 13 of a fixed gear 11A; Wherein, fixed gear 11A and firm wheel 11B all have interior space, the interior space internal face circumference of fixed gear 11A is formed with the first internal gear 11A1 that is made of a plurality of first interior gear teeth, and the interior space internal face circumference of just having taken turns 11B then is formed with the secondary annulus 11B1 that is made of a plurality of second interior gear teeth; Just wheel 11B also axially is connected with an output shaft 11B2.Fixed gear 11A and just wheel 11B are axially mutually closing, and fixed gear 11A is fixed in the casing (figure shows) of retarder, have just taken turns 11B and then can rotate with respect to fixed gear 11A.
The thin walled cylinder of described flexbile gear 12 for adopting tubing with suitable thickness to make, or utilize forging manufacturing technique to cooperate lathe grinding and make thin walled cylinder, the recycling gear hobbing machine molds external gear 121 with its outer surface circumference, the number of teeth of this external gear 121 is same as the number of teeth of the first internal gear 11A1 of fixed gear 11A, but the number of teeth of external gear 121 is not same as the number of teeth of the secondary annulus 11B1 of the firm 11B of wheel, that is it is poor to have the number of teeth; Flexbile gear 12 is combined in the interior space of fixing just wheel 11A and firm wheel 11B.
But described wave-generator 13 is for having the deformation bearing of a central shaft 131 and an outer ring body 132, and this central shaft 131 is near orbicular ellipse, so that outer ring body 132 can rotate relatively with central shaft 131; This central shaft 131 is used for connecting a power source (figure does not show), and generally speaking, described power source is a kind of motor.
The assembly compound mode of harmonic speed reducer 1 of the present utility model is that flexbile gear 12 is combined in the fixed gear 11A of axial closing and the interior space of just taking turns 11B, and wave-generator 13 then is combined in flexbile gear 12 internal diameters; Flexbile gear 12 is a kind of thin-wall gears that produce larger resiliently deformable, and its internal diameter equals or be slightly larger than total external diameter of wave-generator 13; 13 of wave-generators are to make flexbile gear 12 produce the member of controlled elasticity distortion, after wave-generator 13 is packed flexbile gear 12 into, force the end face of flexbile gear 12 to become ellipse (as shown in Figure 4) by original circle, and then near the part external gear 121 its oval-shaped major axis two ends is meshed fully with the first internal gear 11A1 of fixed gear 11A and the secondary annulus 11B1 of firm wheel 11B simultaneously, near the external gear the minor axis two ends is then all thrown off with the first internal gear and the firm secondary annulus of taking turns of fixed gear fully; The external gear of other section then is in and the first internal gear 11A1 of fixed gear 11A and the just secondary annulus 11B1 engagement of wheel 11B and the transition state that breaks away from the girth.When wave-generator 13 rotates continuously, the distortion meeting of flexbile gear 12 constantly changes, make flexbile gear 12 and fixed gear 11A and the just also constantly change of engagement of wheel 11B, produce engaging-in, mesh, nibble out, throw off, engaging-in again ..., carry out again and again, thereby realization flexbile gear 12 has relatively just been taken turns 11B along the rightabout slow circumvolve of wave-generator.Because external gear 121 numbers of teeth of flexbile gear 12 are identical with the first internal gear 11A1 number of teeth of fixed gear 11A, therefore, flexbile gear 12 only produces deformation with respect to fixed gear 11A and can relatively not rotate, that is it is poor can not to produce relative rotational between flexbile gear 12 and the fixed gear 11A; But because of the secondary annulus 11B1 number of teeth of external gear 121 numbers of teeth of flexbile gear 12 and just wheel 11B not identical, therefore, flexbile gear 12 produces deformation and relatively rotation simultaneously with respect to the firm 11B of wheel, that is flexbile gear 12 and taken turns just between the 11B that can to produce relative rotational poor, thereby make the output shaft 11B2 that is connected in the firm 11B of the wheel rotation output that obtains to slow down.
By aforesaid structure, harmonic speed reducer of the present utility model in transmission process, the load of gear can on average disperse and reduce the load and stressed more even, thereby reduce noise and wheel odontotripsis, promote working life, more can reduce one-piece parts, reduce manufacture cost.
The above person only is in order to explain preferred embodiment of the present utility model; be not that attempt is done any pro forma restriction to the utility model according to this; therefore; all have in that identical creation spirit is lower do relevant any modification of the present utility model or change, all must be included in the category of the utility model intention protection.

Claims (2)

1. the harmonic speed reducer with fixed gear is characterized in that, includes:
One fixed gear has interior space, and internal face circumference in space is formed with the first internal gear in this;
One has just taken turns, and has interior space, and internal face circumference in space is formed with secondary annulus in this, and this has just been taken turns and has been connected with an output shaft;
One flexbile gear is a thin walled cylinder, and the outer surface circumference of this flexbile gear is formed with external gear, and the number of teeth of this external gear is same as the number of teeth of this first internal gear, but is not same as the number of teeth of this secondary annulus, and this flexbile gear is combined in this fixing just wheel and firm wheel;
One wave-generator, be combined in the internal diameter of this flexbile gear, make this flexbile gear produce distortion and make the described external gear of part mesh simultaneously this first internal gear and this secondary annulus, this wave-generator connects a power source being driven in rotation, and then drives just via this flexbile gear that wheel rotates.
2. the harmonic speed reducer with fixed gear as claimed in claim 1 is characterized in that, described fixed gear and firm wheel shaft are to mutual closing.
CN 201220291182 2012-06-20 2012-06-20 Harmonic reducer with fixed gear wheel Active CN202707948U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220291182 CN202707948U (en) 2012-06-20 2012-06-20 Harmonic reducer with fixed gear wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220291182 CN202707948U (en) 2012-06-20 2012-06-20 Harmonic reducer with fixed gear wheel

Publications (1)

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CN202707948U true CN202707948U (en) 2013-01-30

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104308482A (en) * 2014-08-25 2015-01-28 浙江来福谐波传动股份有限公司 Manufacturing process of elastic flexible gear
CN104864037A (en) * 2014-02-21 2015-08-26 住友重机械工业株式会社 Flexible engagement gear device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104864037A (en) * 2014-02-21 2015-08-26 住友重机械工业株式会社 Flexible engagement gear device
CN104308482A (en) * 2014-08-25 2015-01-28 浙江来福谐波传动股份有限公司 Manufacturing process of elastic flexible gear

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C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20170105

Address after: 215000 Dongtai City, Jiangsu Province East New District Four Road West two road north latitude

Patentee after: Jiangsu Han Technology Co., Ltd.

Address before: 215200 Jiangsu province Suzhou city Wujiang town of Tongli city science and Technology Industrial Park, No. 88, Liaoning

Patentee before: SUZHOU HANMENG HARMONIC WAVE ELECTROMECHANICAL CO., LTD.

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20190215

Address after: No. 88 Liaobin Road, Science and Technology Industrial Park, Wujiang Economic and Technological Development Zone (Tongli Town), Suzhou City, Jiangsu Province, 215000

Patentee after: SUZHOU HANMENG HARMONIC WAVE ELECTROMECHANICAL CO., LTD.

Address before: 215000 Chengdong New Area, Dongtai City, Jiangsu Province, on the west side of Jingsi Road and the north side of Wei2 Road

Patentee before: Jiangsu Han Technology Co., Ltd.