CN202833881U - Harmonic wave speed reducer with separation and reunion function - Google Patents
Harmonic wave speed reducer with separation and reunion function Download PDFInfo
- Publication number
- CN202833881U CN202833881U CN 201220505412 CN201220505412U CN202833881U CN 202833881 U CN202833881 U CN 202833881U CN 201220505412 CN201220505412 CN 201220505412 CN 201220505412 U CN201220505412 U CN 201220505412U CN 202833881 U CN202833881 U CN 202833881U
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- gear
- wheel
- flexbile gear
- wave
- output shaft
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Abstract
A harmonic wave speed reducer with a separation and reunion function comprises a steel wheel, a flexible wheel and a wave generator. The flexible wheel is fixed on a fixed seat, the fixed seat is provided with a one-way clutch, and the steel wheel is connected with an output shaft. When the wave generator rotates towards a first direction under the driving of a power source, the one-way clutch is meshed and enables the fixed seat to be locked, at the same time the flexible wheel deforms so that the flexible wheel can drive the steel wheel to rotate towards the first direction, and then the steel wheel drives the output shaft to rotate towards the same direction. When first direction external force acts on the output shaft to enable the rotate speed of the output shaft to be faster than the rotate speed of the steel wheel, the output shaft drives the steel wheel, the steel wheel then drives the flexible wheel, the flexible wheel then drives the fixed seat to enable the one-way clutch arranged on the fixed seat to escape under the impact of second direction acting force, and at the moment the wave generator has no rotate speed relative to the flexible wheel so that the wave generator is driven by the steel wheel to rotate together with the flexible wheel, and therefore the wave generator and a central shaft which is connected with the wave generator are driven to rotate.
Description
Technical field
The utility model relates to a kind of harmonic speed reducer, particularly a kind ofly can produce fixation when a direction is stressed, the harmonic speed reducer structure that then can rotate freely when other direction is stressed.
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 external gear its oval-shaped major axis two ends is meshed fully with the internal gear of just taking turns A, near the external gear the minor axis two ends is then thrown off fully with the internal gear of firm wheel; The external gear of other section then is in and the just internal gear engagement of wheel and the transition state that breaks away from 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, low noise, 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 of rocking because of disalignment, increased the problems such as frictional heating and noise.
In order to solve aforesaid problem, No. 101210934 the harmonic speed reducer Taiwan patent 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; This flexbile gear is fixed, and just wheel then connects an output shaft; When driving the wave-generator rotation by power source, drive just wheel and output shaft synchronous rotation via flexbile gear.
But the flexbile gear in the described harmonic speed reducer directly is fixed on casing or other assembly of retarder, so that produce easily the internal stress of unbalance stress during the on-stream generation deformation of flexbile gear, the flexbile gear probability of damaging of breaking is higher; In addition, the deformation quantity of flexbile gear is subject to larger restriction, and the tooth that can't further adjust firm wheel and flexbile gear is poor, that is can't reach different decelerations and recently satisfy wider output demand.
On the other hand, the harmonic speed reducer flexbile gear of existing or aforementioned No. 101210934 application case is regularly and arranges, that is makes jointly the output shaft of being located at firm wheel be subject to all the time resistance limits, thereby has limited the application area of harmonic speed reducer.
The model utility content
The purpose of this utility model is that the flexbile gear that solves general harmonic speed reducer all is fixed all the time, so that the output shaft that cooperates the firm wheel of flexbile gear and be located at firm wheel all is subject to resistance all the time, thereby has limited the problem of the application area of harmonic speed reducer.
The harmonic speed reducer with clutch function that the utility model provides, its major character are to utilize a fixed base that overrunning clutch is located at flexbile gear, and flexbile gear is then driven by wave-generator; By this, when power source drives wave-generator toward the first direction rotation, make the overrunning clutch interlock and lock fixed base, flexbile gear produces deformation and can drive just that wheel rotates simultaneously, is rotated by firm wheel drive output shaft again; When output shaft is subject to External Force Acting and makes its rotating speed faster than the rotating speed of firm wheel, then output shaft will break away from toward opposite second direction via firm wheel interlock overrunning clutch, so that wave-generator for flexbile gear without rotating speed, thereby make wave-generator be able to just be taken turns driven rotary together with flexbile gear.
Technological means of the present utility model, include one just taken turns, a fixed base, an overrunning clutch, a flexbile gear and a wave-generator; Wherein, just wheel has interior space, and internal face circumference in space is formed with the internal gear that is made of a plurality of interior gear teeth in this, and this has just been taken turns and has connected an output shaft; This fixed base is a ring bodies, and fixed base is located at the external diameter of flexbile gear; Described overrunning clutch is located at the external diameter of fixed base, and this overrunning clutch can produce interlocking when being subject to active force toward the first direction rotation, then can remove interlock when opposite second direction is rotated; This flexbile gear is a thin walled cylinder, and its outer surface circumference is formed with the external gear that is made of a plurality of outer gear teeth, and the external diameter of flexbile gear is fixed in the internal diameter of described fixed base; Wave-generator is combined in the internal diameter of flexbile gear, use and make flexbile gear generation distortion and make the described external gear of part mesh this internal gear, when this wave-generator connects a power source with driven past first direction rotation, produce interlock via overrunning clutch and make flexbile gear rotate, thereby drive just wheel and output shaft rotation; When output shaft is subject to External Force Acting and causes its rotating speed to be higher than the rotating speed of wave-generator, then output shaft will drive just wheel, drive flexbile gear by firm wheel again, flexbile gear then drives fixed base, rotate the disengaging interlock so that be located at the overrunning clutch of fixed base toward opposite second direction, this moment, wave-generator without rotating speed, was able to just be taken turns driven rotary together with flexbile gear for flexbile gear, and then the central shaft of the power source that connects wave-generator is driven to rotate.
The utility model can arrange at the internal diameter of fixed base a plurality of elastic walls that are circle distribution, and the external diameter of flexbile gear is fixed in the internal diameter that each elastic wall encloses, and allows flexbile gear have elasticity in operation process.
The utility model is by the elastic wall that outer diameter of flexspline is fixed in fixed base, make again flexbile gear be engaged in the structure of firm wheel, so that flexbile gear is when being driven rotation by wave-generator, do not produce relative speed difference with fixed base, the support of flexbile gear additional stabilization is provided by this, though flexbile gear deformation is not rotated, flexbile gear produces relative speed difference with just wheel engagement simultaneously, provide by this firm wheel deceleration turning effort, so that be located at the output shaft deceleration output of firm wheel.
Overrunning clutch of the present utility model can be a kind of free wheel device, this free wheel device has an outer ring body, one external diameter is provided with the inner ring body of a plurality of ratchets, a plurality of rollers, a plurality of springs and a plurality of tops tip, spring action promotes roller in the top tip and enters formed wedge slot between this ratchet and the outer ring body internal diameter, so that inner ring body is toward first direction when rotation, tightly driven the outer ring body rotation by to be allowed the roller embedding in this wedge slot, when the rotating speed of outer ring body during faster than the rotating speed of inner ring body, then inner ring body rotates with respect to the past second direction of outer ring body, so that roller and wedge slot get loose and remove interlock.
The utility model can adopt unilateral bearing to replace described overrunning clutch, is same as aforesaid function and effect to reach.
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.
Fig. 4 is for showing the end face floor map of the utility model harmonic speed reducer structure.
Fig. 5 is for showing the floor map of the utility model overrunning clutch structure.
Wherein, description of reference numerals is as follows:
1 harmonic speed reducer
11 have just taken turns
111 internal gears
112 output shafts
12 flexbile gears
121 external gears
122 holes
13 wave-generators
131 central shafts
132 outer ring bodies
14 fixed bases
141 elastic walls
1411 perforation
5 overrunning clutchs
51 outer ring bodies
52 inner ring bodies
521 ratchets
53 rollers
The 54 top tips
55 springs
A just takes turns
The B flexbile gear
The C wave-generator
Embodiment
Below cooperate accompanying drawing and reference character that mode of execution of the present utility model is done more detailed description, make and have the knack of those skilled in the art and after studying this specification carefully, can implement according to this.
With shown in Figure 3, the harmonic speed reducer 1 that the utility model provides includes one and has just taken turns 11, one flexbile gear 12, a wave-generator 13 and a fixed base 14 with reference to figure 2; Wherein, just taken turns 11 and had interior space, internal face circumference in space is formed with the internal gear 111 that is made of a plurality of interior gear teeth in this; Just wheel 11 connects an output shaft 112; In preferred embodiment of the present utility model, output shaft 112 can be incorporated into firm wheel 11 ends one-body moldedly, and output shaft 112 can arrange a plurality of holes or screw, is convenient to make up other output unit with outputting power.
Described flexbile gear 12 can adopt the tubing with suitable thickness to reprocess out accurate shape and size, and utilizing gear hobbing machine that its outer surface circumference is formed the external gear 121 that is made of a plurality of outer gear teeth, an end limit of this flexbile gear further is provided with a plurality of holes 122.
Described fixed base 14 is a ring bodies, and its internal diameter is provided with a plurality of elastic walls 141 that equal angles distributes that are; Preferably, elastic wall 141 is via the elastic strip body of staying fixed base 14 internal diameters after the punch process, and reserves perforation 1411 thereon, then again each elastic strip body bending is formed described elastic wall 141 near 90 degree.The external diameter of fixed base 14 then arranges an overrunning clutch 142, described overrunning clutch 142 can be a kind of " free wheel device ", as shown in Figure 5, this free wheel device 5 has an outer ring body 51, one external diameter is provided with the inner ring body 52 of a plurality of ratchets 521, a plurality of rollers 53, a plurality of tops tip 54 and a plurality of springs 55, spring 55 is installed in the groove that is located at inner ring body 52, and make each spring 55 act on respectively each top tip 54, and then promote respectively roller 53 and enter formed wedge slot between this ratchet 521 and outer ring body 51 internal diameters, therefore, when inner ring body 52 rotates toward first direction, tightly produced interlock in this wedge slot by to be allowed roller 53 embeddings, and outer ring body is during toward the rotation of opposite second direction, and then roller 53 and wedge slot get loose and remove interlock.
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 (not shown), 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, that external diameter with flexbile gear 12 is combined in the internal diameter that each elastic wall 141 of fixed base 14 encloses, and the elastic wall 141 of fixed base 14 is fixed in flexbile gear 12 combinations with the hole 122 of flexbile gear 12 in the perforation 1411 that utilizes screw or other fixing-assembly lock to pass elastic wall 141, that is directly linking flexbile gear 12 by elastic wall 141, the external diameter of fixed base 14 then makes up inner ring body 52 internal diameters of overrunning clutch 5; Flexbile gear 12 recombinants are in the interior space of firm wheel 11, 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 external gear 121 its oval-shaped major axis two ends is meshed fully with the internal gear 111 of just taking turns 11, near the external gear the minor axis two ends is then thrown off fully with the internal gear of firm wheel; The external gear of other section then is in and the just internal gear engagement of wheel 11 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 the just also constantly change of engagement of wheel 11, 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 11 slow circumvolves along the wave-generator equidirectional.
Utilization the utlity model has the harmonic speed reducer of clutch function, when wave-generator 13 is activated toward first direction (for example clockwise direction) rotation, spring 55 via overrunning clutch 5 will promote the top tip 54, the wedge slot that the tip 54 promotion rollers 53 in top enter ratchet 521 and outer ring body 51 internal diameters institute structure produces interlock, thereby flexbile gear 12 can't rotate, and wheel 11 rotates simultaneously with output shaft 112 thereby make flexbile gear 12 drive just; When output shaft 112 is subject to External Force Acting and causes its rotating speed to be higher than the rotating speed of wave-generator 13, be subject to the firm wheel 11 meeting drive flexbile gears 12 that output shaft 112 drives, 12 drive fixed bases 14 of flexbile gear, rotate toward opposite second direction (counterclockwise) so that be located at the inner ring body 52 of fixed base 14, so that breaking away from ratchet 521, roller 53 removes interlock with the wedge slot of outer ring body 51 internal diameters formation, this moment wave-generator 13 for flexbile gear 12 without rotating speed, thereby be able to just be taken turns 11 driven rotary together with flexbile gear 12, the central shaft 131 of the power source that connects wave-generator 13 is driven to rotate.
In addition, the utility model is by the elastic wall 141 that flexbile gear 12 external diameters is fixed in fixed base 14, make again flexbile gear 12 be engaged in the structure of firm wheel 11, so that flexbile gear 12 is when being driven rotation by wave-generator 13, flexbile gear 12 does not produce relative speed difference with fixed base 14, the support of flexbile gear 12 additional stabilization is provided by this, though making flexbile gear 12 deformation does not but rotate, flexbile gear 12 produces relative speed difference with just wheel 11 engagements simultaneously, provide by this firm wheel 11 deceleration turning efforts, so that be located at the output shaft 112 deceleration outputs of firm wheel 11.
The utility model also can use the unilateral bearing (not shown) to replace aforesaid overrunning clutch 5, to reach identical function and effect; Therefore described unilateral bearing no longer adds explanation for its structure for mechanical assembly existing and that generally use.
The harmonic speed reducer that the utlity model has clutch function can be used in multiple fields widely; For example, when this harmonic speed reducer with clutch function is installed on electric bicycle, can provide electric power to rotate toward first direction (clockwise direction) by wave-generator 13, overrunning clutch 5 interlocks this moment, flexbile gear 12 produces deformation but does not rotate, thereby drives just the output of slowing down of wheel 11 and output shaft 112 and allow bicycle advance.When not providing electric power, the cyclist tramples the output shaft 112 of sprocket wheel drive bicycle with pin, and then drives just wheel 11, has just taken turns 11 and has driven flexbile gear 12 toward opposite second directions (counterclockwise) rotation again, so that overrunning clutch 5 breaks away from interlocks, 14 of fixed bases are by flexbile gear 12 driven rotary; Utilize this harmonic speed reducer with clutch function, wave-generator 13 can be connected to the rotor of generator, allow manpower oppositely drive wave-generator rotation time and generate electricity and battery is charged.
Above said content 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 clutch function is characterized in that, comprising:
One has just taken turns, and has interior space, and internal face circumference in space is formed with the internal gear that is made of a plurality of interior gear teeth in this, this just wheel connection one output shaft;
One fixed base is a ring bodies;
One overrunning clutch is located at the external diameter of this fixed base;
One flexbile gear is a thin walled cylinder, and its outer surface circumference is formed with the external gear that is made of a plurality of outer gear teeth, and the external diameter of this flexbile gear is fixed in the internal diameter of this fixed base;
One wave-generator is combined in the internal diameter of this flexbile gear, makes this flexbile gear produce distortion and makes the outer gear teeth of part of described external gear mesh this internal gear, and this wave-generator connects a power source being driven in rotation, and then drives just wheel and output shaft rotation via this flexbile gear.
2. according to the harmonic speed reducer with clutch function claimed in claim 1, it is characterized in that, the internal diameter of this fixed base is provided with a plurality of elastic walls that are circle distribution, the external diameter of this flexbile gear is fixed in the internal diameter that each elastic wall of this fixed base encloses, so that flexbile gear is when being driven rotation by wave-generator, do not produce relative speed difference with fixed base, flexbile gear then produces relative speed difference with firm wheel engagement, so that just wheel deceleration rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220505412 CN202833881U (en) | 2012-09-29 | 2012-09-29 | Harmonic wave speed reducer with separation and reunion function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220505412 CN202833881U (en) | 2012-09-29 | 2012-09-29 | Harmonic wave speed reducer with separation and reunion function |
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| Publication Number | Publication Date |
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| CN202833881U true CN202833881U (en) | 2013-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220505412 Expired - Lifetime CN202833881U (en) | 2012-09-29 | 2012-09-29 | Harmonic wave speed reducer with separation and reunion function |
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| Country | Link |
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| CN (1) | CN202833881U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141667A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | A kind of method for processing and assembling of rescuing robot for fire control driver |
| CN106141666A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | The method for processing and assembling of intelligent nursing machine people's decelerator |
| CN106181222A (en) * | 2016-07-29 | 2016-12-07 | 柳州福能机器人开发有限公司 | The method for processing and assembling of public service robot driver |
| CN109654173A (en) * | 2018-12-28 | 2019-04-19 | 中国电子科技集团公司第二十七研究所 | A kind of movement support arm torque balance device |
| CN108194613B (en) * | 2018-02-12 | 2023-08-11 | 顺德职业技术学院 | Novel double-harmonic transmission device |
-
2012
- 2012-09-29 CN CN 201220505412 patent/CN202833881U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141667A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | A kind of method for processing and assembling of rescuing robot for fire control driver |
| CN106141666A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | The method for processing and assembling of intelligent nursing machine people's decelerator |
| CN106181222A (en) * | 2016-07-29 | 2016-12-07 | 柳州福能机器人开发有限公司 | The method for processing and assembling of public service robot driver |
| CN106181222B (en) * | 2016-07-29 | 2018-02-27 | 柳州福能机器人开发有限公司 | The method for processing and assembling of public service robot driver |
| CN108194613B (en) * | 2018-02-12 | 2023-08-11 | 顺德职业技术学院 | Novel double-harmonic transmission device |
| CN109654173A (en) * | 2018-12-28 | 2019-04-19 | 中国电子科技集团公司第二十七研究所 | A kind of movement support arm torque balance device |
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| Date | Code | Title | Description |
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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 HANSHENGCHENG 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 HARMONIC ELECTRICAL CO.,LTD. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190201 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 HARMONIC ELECTRICAL 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 HANSHENGCHENG TECHNOLOGY CO.,LTD. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130327 |