CN202732859U - Harmonic reducer with flexibility felly - Google Patents
Harmonic reducer with flexibility felly Download PDFInfo
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- CN202732859U CN202732859U CN 201220293046 CN201220293046U CN202732859U CN 202732859 U CN202732859 U CN 202732859U CN 201220293046 CN201220293046 CN 201220293046 CN 201220293046 U CN201220293046 U CN 201220293046U CN 202732859 U CN202732859 U CN 202732859U
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- outer wheel
- foreign steamer
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003116 impacting effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
本实用新型涉及一种带柔性外轮的谐波减速器，包括波发生器、柔轮、外轮；所述柔轮，包含柔轮本体、柔轮圆环；所述柔轮本体大致呈圆盘状；所述柔轮圆环同心地设置在柔轮本体的外圆周上；所述柔轮圆环的外圆周上设置有第一齿；所述外轮，包含外轮本体、外轮圆环；所述外轮本体呈成圆环状设置；所述外轮圆环设置在外轮本体的端面；所述外轮圆环的内圆周上设置有第二齿；所述波发生器设在柔轮圆环的内圆周上；所述柔轮圆环的外圆周设在外轮圆环的内圆周上，所述第一齿与第二齿相互啮合；所述外轮圆环随柔轮圆环一起变形；本实用新型方案的啮合的齿数更多、传动的精度更高、输出平稳，无冲击、使用寿命长。
The utility model relates to a harmonic reducer with a flexible outer wheel, comprising a wave generator, a flex wheel, and an outer wheel; the flex wheel includes a flex wheel body and a flex wheel ring; the flex wheel body is roughly disc-shaped ; The flexspline ring is concentrically arranged on the outer circumference of the flexspline body; the outer circumference of the flexspline ring is provided with first teeth; the outer wheel includes the outer wheel body and the outer wheel ring; the outer wheel The body is arranged in a ring shape; the outer ring is arranged on the end face of the outer ring body; the second tooth is arranged on the inner circumference of the outer ring; the wave generator is arranged on the inner circumference of the flexspline ring The outer circumference of the flexspline ring is set on the inner circumference of the outer ring, and the first teeth and the second teeth mesh with each other; the outer ring deforms together with the flexspline ring; the utility model scheme More meshing teeth, higher transmission precision, stable output, no impact, and long service life.
Description
Technical field
The utility model relates to a kind of improvement of harmonic speed reducer, and particularly a kind of number of teeth of engagement precision more, transmission are higher, output is steady, and nothing is impacted, the harmonic speed reducer of the flexible foreign steamer of the band of long service life, belongs to the retarder technical field.
Background technique
Retarder is a kind of power transmission mechanism, utilizes the rate conversion of gear train, the winding number of electric motor is decelerated to desired winding number, and obtain the mechanism of larger torque.Retarder of a great variety, model is different, variety classes has different purposes, wherein harmonic speed reducer is a kind of a kind of Novel reducer that utilizes the Planetary Gear Transmission principle to grow up, because its bearing capacity is high, velocity ratio is large, and volume is little, lightweight, stable drive and high these distinct advantages of transmission accuracy, so that harmonic speed reducer is widely used in the industries such as electronics, space flight and aviation, robot.
Existing harmonic speed reducer as shown in Figure 1, comprises wave-generator 1, flexbile gear 2, foreign steamer 3; Described flexbile gear 2 comprises flexbile gear body 4, flexbile gear annulus 5; Described flexbile gear body 4 is roughly in the form of annular discs; Described flexbile gear annulus 5 is arranged on the excircle of flexbile gear body 4 with one heart; Be provided with the first tooth 6 on the excircle of described flexbile gear annulus 5; Described foreign steamer 3 also is just wheel, becomes circular setting; Establish on the inner circumference of described foreign steamer 3 and only have the second tooth 7; Described wave-generator 1 is located on the inner circumference of flexbile gear annulus 5; The excircle of described flexbile gear annulus 5 is located on the inner circumference of foreign steamer 3, and described the first tooth 6 and the second tooth 7 are intermeshing; Described wave-generator 1 ovalize; Described flexbile gear body 4 is thicker, and good rigidly is not yielding; Flexbile gear body 4, flexbile gear annulus 5 on the described flexbile gear are all thinner, elastic strain occurs under the effect of wave-generator 1, the first tooth 6 of flexbile gear 2 just enters (engagement) or withdraws from 7 in the second tooth that (nibble from) just taken turns in the process of distortion, major axis at wave-generator 1 meshes in the first tooth 6 and the second tooth 7 everywhere fully, and the first tooth 6 of its short-axis direction and the second tooth 7 just are in completely disengaged condition.Thereby cause the number of teeth of engagement few, and the precision of transmission is low, and the number of teeth that can bear carrying is also few; Tooth engaging-in, nibble out and have sudden change so that output is not steady, impact is arranged; And its working life is also short.
The model utility content
The utility model purpose be provide a kind of number of teeth of engagement more in order to overcome the deficiencies in the prior art, the precision of transmission is higher, output steadily, without impact, the harmonic speed reducer of the flexible foreign steamer of band of long service life.
For achieving the above object, the technical solution adopted in the utility model is: a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator, flexbile gear, foreign steamer; Described flexbile gear comprises flexbile gear body, flexbile gear annulus; Described flexbile gear body is roughly in the form of annular discs; Described flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; Be provided with the first tooth on the excircle of described flexbile gear annulus; Described foreign steamer comprises foreign steamer body, foreign steamer annulus; Described foreign steamer body is into circular setting; Described foreign steamer annulus is arranged on the end face of foreign steamer body; Be provided with the second tooth on the inner circumference of described foreign steamer annulus; Described wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of described flexbile gear annulus is located on the inner circumference of foreign steamer annulus, and described the first tooth and the second tooth are intermeshing; Described foreign steamer annulus is out of shape with the flexbile gear annulus.
Preferably, described foreign steamer annulus arranges with the foreign steamer body is concentric.
Preferably, described foreign steamer annulus is arranged on the inner circumference of foreign steamer body.
Preferably, described foreign steamer annulus is arranged in the inner circumference of foreign steamer body; One end of described foreign steamer annulus links to each other with the foreign steamer body by a plate.
Because the utilization of technique scheme, the utility model compared with prior art has following advantages:
The harmonic speed reducer of the flexible foreign steamer of band of the present utility model, under the effect of wave-generator, the second tooth of the foreign steamer that the first tooth of the flexbile gear at transverse two ends cooperates with it then is in complete engagement, and owing to deformation also can occur along with the distortion of flexbile gear flexible foreign steamer, then the part tooth between ellipse short shaft and major axis also can mesh, more abundant than the engagement of traditional harmonic speed reducer like this, the tooth of engagement is also just more; Thereby make the precision of transmission higher, the number of teeth that can bear carrying is also more, thereby higher than the kinematic accuracy of harmonic speed reducer; Tooth engaging-in, to nibble out be regular distortion between flexible foreign steamer and flexbile gear, so that output steadily, without impacting, can also dwindle the gap of between cog; The utility model scheme not only can improve output loads can also increase rigidity, and working life is also long.
Description of drawings
Below in conjunction with accompanying drawing technical solutions of the utility model are described further:
Accompanying drawing 1 is the sectional view of the harmonic speed reducer of prior art;
Accompanying drawing 2 is the sectional view of the harmonic speed reducer of the flexible foreign steamer of band of the present utility model;
Wherein: 1, wave-generator; 2, flexbile gear; 3, foreign steamer; 4, flexbile gear body; 5, flexbile gear annulus; 6, the first tooth; 7, the second tooth; 11, wave-generator; 12, flexbile gear; 13, foreign steamer; 14, flexbile gear body; 15, flexbile gear annulus; 16, the first tooth; 17, the second tooth; 18, foreign steamer body; 19, foreign steamer annulus.
Embodiment
The utility model is described in further detail below in conjunction with drawings and the specific embodiments.
The harmonic speed reducer of the flexible foreign steamer of band described in the utility model as shown in Figure 2, a kind of harmonic speed reducer with flexible foreign steamer comprises wave-generator 11, flexbile gear 12, foreign steamer 13; Described flexbile gear 12 comprises flexbile gear body 14, flexbile gear annulus 15; Described flexbile gear body 14 is roughly in the form of annular discs; Described flexbile gear annulus 15 is arranged on the excircle of flexbile gear body 14 with one heart; Be provided with the first tooth 16 on the excircle of described flexbile gear annulus 15; Described foreign steamer 13 comprises foreign steamer body 18, foreign steamer annulus 19; Described foreign steamer body 18 is into circular setting; Described foreign steamer annulus 19 is arranged on the end face of foreign steamer body 18; Described foreign steamer annulus 19 and the 18 concentric settings of foreign steamer body; Be provided with the second tooth 17 on the inner circumference of described foreign steamer annulus 19; Described wave-generator 11 is located on the inner circumference of flexbile gear annulus 15; The excircle of described flexbile gear annulus 15 is located on the inner circumference of foreign steamer annulus 19, and described the first tooth 16 and the second tooth 17 are intermeshing; The wall of described foreign steamer annulus 19 is thinner, and when oval-shaped wave-generator 11 rotation, described foreign steamer annulus 19 is with 15 distortion of flexbile gear annulus.
In the present embodiment, described foreign steamer annulus 19 is arranged in the inner circumference of foreign steamer body 18; One end of described foreign steamer annulus 19 links to each other with foreign steamer body 18 by a plate (not marking).
Certainly, described foreign steamer annulus 19 also can be set directly on the inner circumference of foreign steamer body 18.
The harmonic speed reducer of the flexible foreign steamer of band of the present utility model, under the effect of wave-generator, the second tooth of the foreign steamer that the first tooth of the flexbile gear at transverse two ends cooperates with it then is in complete engagement, and owing to deformation also can occur along with the distortion of flexbile gear flexible foreign steamer, then the part tooth between ellipse short shaft and major axis also can mesh, more abundant than the engagement of traditional harmonic speed reducer like this, the tooth of engagement is also just more; Thereby make the precision of transmission higher, the number of teeth that can bear carrying is also more, thereby higher than the kinematic accuracy of harmonic speed reducer; Tooth engaging-in, to nibble out be regular distortion between flexible foreign steamer and flexbile gear, so that output steadily, without impacting, can also dwindle the gap of between cog; The utility model scheme not only can improve output loads can also increase rigidity, and working life is also long.
Below only be concrete exemplary applications of the present utility model, protection domain of the present utility model is not constituted any limitation.All employing equivalents or equivalence are replaced and the technological scheme of formation, all drop within the utility model rights protection scope.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220293046 CN202732859U (en) | 2012-06-21 | 2012-06-21 | Harmonic reducer with flexibility felly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220293046 CN202732859U (en) | 2012-06-21 | 2012-06-21 | Harmonic reducer with flexibility felly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202732859U true CN202732859U (en) | 2013-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220293046 Expired - Lifetime CN202732859U (en) | 2012-06-21 | 2012-06-21 | Harmonic reducer with flexibility felly |
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| Country | Link |
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| CN (1) | CN202732859U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102734394A (en) * | 2012-06-21 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible felly |
| EP3508753A4 (en) * | 2016-08-31 | 2019-08-28 | BYD Company Limited | Rigid gear for harmonic reducer, harmonic reducer, and robot |
| EP3839294A4 (en) * | 2018-09-19 | 2021-08-18 | Gree Electric Appliances, Inc. of Zhuhai | Speed reducer and robot |
-
2012
- 2012-06-21 CN CN 201220293046 patent/CN202732859U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102734394A (en) * | 2012-06-21 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible felly |
| CN102734394B (en) * | 2012-06-21 | 2013-11-06 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible felly |
| EP3508753A4 (en) * | 2016-08-31 | 2019-08-28 | BYD Company Limited | Rigid gear for harmonic reducer, harmonic reducer, and robot |
| EP3839294A4 (en) * | 2018-09-19 | 2021-08-18 | Gree Electric Appliances, Inc. of Zhuhai | Speed reducer and robot |
| US11648662B2 (en) | 2018-09-19 | 2023-05-16 | Gree Electric Appliances, Inc. Of Zhuhai | Speed reducer and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130213 Effective date of abandoning: 20131106 |
|
| RGAV | Abandon patent right to avoid regrant |