CN203009732U - Three-level transmission harmonic reducer with limiting mechanism - Google Patents
Three-level transmission harmonic reducer with limiting mechanism Download PDFInfo
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- CN203009732U CN203009732U CN 201220535492 CN201220535492U CN203009732U CN 203009732 U CN203009732 U CN 203009732U CN 201220535492 CN201220535492 CN 201220535492 CN 201220535492 U CN201220535492 U CN 201220535492U CN 203009732 U CN203009732 U CN 203009732U
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Abstract
The utility model provides a three-level transmission harmonic reducer with a limiting mechanism. The three-level transmission harmonic reducer comprises a first level gear pair transmission reducing mechanism, a harmonic transmission reducer, a fan-shaped gear pair transmission reducing mechanism and an end cover, wherein the first level gear pair transmission reducing mechanism is connected with the harmonic transmission reducer, the fan-shaped gear pair transmission reducing mechanism comprises a driving fan-shaped gear and a driven fan-shaped gear which are meshed mutually, the harmonic transmission reducer is connected with the driving fan-shaped gear, a limiting mechanism is formed on the end cover, and the driven fan-shaped gear is located in the limiting mechanism and rotates in an angle range which is limited by the limiting mechanism. The three-level transmission harmonic reducer with the limiting mechanism not only can achieve transmission with a large reduction ratio, but also can achieve limitation on a rotation angle.
Description
Technical field
The utility model belongs to the mechanical transmissioning technology field, relates to a kind of transmission device, is specifically related to a kind of speed reduction gearing with position-limit mechanism.
Background technique
In prior art, harmonic wave drive speed reducer is used for flight carrier and carries out having important function in the subsystem of attitude adjustment, automatic control etc. in the sporting flying process, has become requisite critical elements.Due to characteristics such as its volume are little, lightweight, output torque is large, the market demand increases year by year, and is widely used in the multiple fields of all trades and professions, and especially some special dimension, very large to its reduction speed ratio requirement, and the requirement of angle mechanical position limitation is arranged again simultaneously.
At present, the common structure of harmonic wave drive speed reducer has two kinds, and a kind of is single-stage straight line type harmonic wave drive speed reducer, and another kind of is angled type (comprising quadrature) harmonic wave drive speed reducer, and it realizes the two-stage transmission by increasing the one-level bevel gear pair.But, restriction due to the machining range that is subject to type (the internal diameter size with flexbile gear identifies type usually) and bevel gear, the reduction speed ratio of bevel gear pair part is (general maximum was accomplished 4: 1) too greatly, and harmonic driving partly is subject to the impact of moment, cutter, its flexbile gear and the modulus of just having taken turns can not be too little, and namely the reduction speed ratio of harmonic driving part can not be too large.So for requiring the very user of big retarding ratio, just there is familiar lacunas in this.
On the other hand, according to market user's demand, great majority use the user of harmonic wave drive speed reducer, in use, only need to turn over certain angle after system responses, and this just need to increase position-limit mechanism in the design process of harmonic wave drive speed reducer.Usually the mode that adopts is, mechanical position limitation parts of suit on output shaft, perhaps the output attachment face at harmonic wave drive speed reducer docks design one cover position-limit mechanism again, increases several spacing parts more, and this dual mode has all increased the volume of whole retarder virtually.
The model utility content
The purpose of this utility model is to provide a kind of harmonic wave drive speed reducer, and it can satisfy big retarding than demand, simultaneously, by design in the end cap part and the die cavity angle groove that tooth sector matches, realizes the spacing requirement of angle.Be specially:
A kind of three grades of transmission harmonic speed reducers with position-limit mechanism, comprise first order gear pair transmission speed reducer structure and harmonic wave drive speed reducer, described first order gear pair transmission speed reducer structure connects described harmonic wave drive speed reducer, also comprises tooth sector auxiliary driving reducing gear and end cap; Described tooth sector auxiliary driving reducing gear comprises active tooth sector and the driven tooth sector that is meshed, and described harmonic wave drive speed reducer connects described active tooth sector; Form described position-limit mechanism on described end cap, described driven tooth sector is positioned in described position-limit mechanism, rotates in the angular range that described position-limit mechanism limits.
Further, described harmonic wave drive speed reducer comprises wave-generator, fixing firm wheel, flexbile gear and the firm wheel assembly of output; Described wave-generator comprises cam; The firm wheel assembly of described output comprises output just wheel and output shaft; The first order driven gear of described first order gear pair transmission speed reducer structure is set on described output shaft, and is fastenedly connected with described cam; The half of external tooth of described flexbile gear is meshed with described fixing just wheel, and another half of external tooth has just been taken turns with described output and has been meshed; Described output has just been taken turns and has been driven described output shaft, and described active tooth sector and described output shaft are fastenedly connected.
Further, described cam has oval structure.
Further, just wheel engagement in 1: 1 of the described another half of external tooth of described flexbile gear and described output.
Further, described position-limit mechanism is the angle die cavity that carries out the angle design formation of die cavity on described end cap, described angle die cavity has the angle groove, and described driven tooth sector is positioned in described angle die cavity, comes back rotation in the angular range that described angle groove limits.
Further, also comprise motor, first order driving gear and the motor shaft of described first order gear pair transmission speed reducer structure are fastenedly connected, by described motor driving.
Further, also comprise potentiometer, described potentiometer is connected with an end of described output shaft.
Further, described first order driving gear is bevel pinion, and described first order driven gear is bevel gear wheel; Described bevel pinion drives described bevel gear wheel by orthogonal manner.
The utility model increases one-level fan tooth wheel set, and the end cap of retarder is carried out the angle design of die cavity, both realized the primary speed-down function by tooth sector, realized by the identical fan-shaped angle design of itself and the angle die cavity that body is installed the purpose that angle is spacing again, that is to say, both having realized that three grades of big retardings than transmission, had realized again the spacing purpose of mechanical angle, is to kill two birds with one stone.
The utlity model has the characteristics such as compact structure, velocity ratio is large, transmission accuracy is high, output torque is large, and the spacing spacing requirement of any angle in ± 45 ° of scopes of suitable angle, can be widely used in having the every field of deceleration and spacing requirement.
Description of drawings
Fig. 1 is the general structure schematic diagram of three grades of transmission harmonic speed reducers of the present utility model.
Fig. 2 is the structural representation of wave-generator of the present utility model.
Fig. 3 is the structural representation of the firm wheel assembly of output of the present utility model.
Fig. 4 is the schematic diagram that concerns of fan tooth wheel set of the present utility model and position-limit mechanism.
Embodiment
Further illustrate embodiment of the present utility model below in conjunction with accompanying drawing.
As shown in Figure 1, three grades of transmission harmonic speed reducers with position-limit mechanism of the present utility model comprise, motor 1, bevel gear pair 2, potentiometer 3, wave-generator 4, fixing just wheel (being housing) 5, flexbile gear 6, the firm wheel assembly 7 of output, fan tooth wheel set 8, end cap 9, bearing cap 10.
Wherein, motor 1 is used for input power; Bevel gear pair 2 is as first order reduction gearing mechanism, comprise bevel pinion, bevel gear wheel, bevel pinion is fastenedly connected on motor shaft by straight pin, and motor 1 drives bevel pinion and rotates, bevel pinion drives bevel gear wheel by orthogonal manner, thereby realizes first order deceleration.
The harmonic wave drive speed reducer that wave-generator 4, fixing just wheel 5, flexbile gear 6, the firm wheel assembly 7 of output consist of is as second level reduction gearing mechanism.As shown in Figure 2, wave-generator 4 comprises cam 41, flexible bearing 45, catch 47, cam 41 is fastenedly connected by straight pin 48 and sunk screw 46 with bevel gear wheel 22, the rotating drive wave-generator 4 of bevel gear wheel 22 rotates, oval structure due to wave-generator 4 cam 41, force flexbile gear 6 to do plastic deformation by flexible bearing 45, the half of external tooth of flexbile gear 6 is meshed with fixing just wheel 5, fixing just wheel 5 is than more than 6 two teeth of flexbile gear, relative side set motion due to few teeth difference has realized gearing down; The another half of external tooth of flexbile gear 6 and just wheel 72 (as shown in Figure 3) 1: 1 engagement of the output of exporting firm wheel assembly 7, thus the retarded motion of this few teeth difference is passed, reached the purpose that harmonic driving is slowed down, namely realize second level deceleration.
Fan tooth wheel set 7 is as third level reduction gearing mechanism, comprise initiatively tooth sector, driven tooth sector, initiatively tooth sector connects the firm wheel assembly 7 of output by bearing 73, and be fastenedly connected by straight pin 74 and the output shaft 71 (as shown in Figure 3) of exporting in firm wheel assembly 7, thereby realize third level deceleration;
As shown in Figure 3, export firm wheel assembly 7 and comprise just wheel 72 of output shaft 71, output, bevel gear wheel 22 connects with output shaft 71 by bearing 221 and axle sleeve 223; One end of output shaft 71 links by form and the potentiometer 3 of fluting, and potentiometer 3 is fixed on fixing just wheel 5, arrives the transmission information of retarder by potential monitoring, thereby receives this information and handle accordingly.
As shown in Figure 4, end cap 9 is connected with fixing just wheel 5 on the one hand, and another aspect is by the spacing die cavity of design special angle mechanism, driven tooth sector is positioned wherein by bearing, and with driven tooth sector mechanical position limitation, make it to come back rotation in a certain angular range, thereby realize spacing purpose.
three grades of transmission harmonic speed reducers of the utility model band position-limit mechanism, comprise power input motor, realize first order deceleration by first order bevel gear pair, the drive wave-generator rotates, by firm wheel (fixing just wheel is housing and exports just wheel), the harmonic driving deceleration principle of flexbile gear and cam realizes second level deceleration, the fan tooth wheel set that tightens connection by output shaft again realizes that the third level slows down, slow down by these three grades series connection, realized the transmission requirement of big retarding ratio, can realize reduction speed ratio 400-720, simultaneously, by the angle position-limit mechanism on driven tooth sector and end cap, realized spacing purpose, finally export by output shaft, in addition, feed back transmission information by potentiometer, can reach the purpose of monitor and detection.
Claims (8)
1. three grades of transmission harmonic speed reducers with position-limit mechanism, comprise first order gear pair transmission speed reducer structure and harmonic wave drive speed reducer, described first order gear pair transmission speed reducer structure comprises first order driving gear and the first order driven gear that is meshed, realize first order deceleration, and driving described harmonic wave drive speed reducer, described harmonic wave drive speed reducer is realized second level deceleration; It is characterized in that,
Also comprise tooth sector auxiliary driving reducing gear and end cap;
Described tooth sector auxiliary driving reducing gear comprises active tooth sector and the driven tooth sector that is meshed, and described harmonic wave drive speed reducer drives described active tooth sector, and described active tooth sector drives described driven tooth sector, realizes third level deceleration;
Form described position-limit mechanism on described end cap, described driven tooth sector is positioned in described position-limit mechanism, rotates in the angular range that described position-limit mechanism limits.
2. three grades of transmission harmonic speed reducers as claimed in claim 1, is characterized in that,
Described harmonic wave drive speed reducer comprises wave-generator, fixing firm wheel, flexbile gear and the firm wheel assembly of output;
Described wave-generator comprises cam;
The firm wheel assembly of described output comprises output just wheel and output shaft;
Described first order driven gear is set on described output shaft, and is fastenedly connected with described cam;
The half of external tooth of described flexbile gear is meshed with described fixing just wheel, and another half of external tooth has just been taken turns with described output and has been meshed;
Described output has just been taken turns and has been driven described output shaft, and described active tooth sector and described output shaft are fastenedly connected.
3. three grades of transmission harmonic speed reducers as claimed in claim 2, is characterized in that, described cam has oval structure.
4. three grades of transmission harmonic speed reducers as claimed in claim 2, is characterized in that, just wheel engagement in 1: 1 of the described another half of external tooth of described flexbile gear and described output.
5. three grades of transmission harmonic speed reducers as claimed in claim 1 or 2, it is characterized in that, described position-limit mechanism is the angle die cavity that carries out the angle design formation of die cavity on described end cap, described angle die cavity has the angle groove, described driven tooth sector is positioned in described angle die cavity, comes back rotation in the angular range that described angle groove limits.
6. three grades of transmission harmonic speed reducers as claimed in claim 1 or 2, is characterized in that, also comprises motor, and described first order driving gear and motor shaft are fastenedly connected, by described motor driving.
7. three grades of transmission harmonic speed reducers as claimed in claim 1 or 2, is characterized in that, also comprises potentiometer, and described potentiometer is connected with an end of described output shaft.
8. three grades of transmission harmonic speed reducers as claimed in claim 1, is characterized in that, described first order driving gear is bevel pinion, and described first order driven gear is the big vertebra gear; Described bevel pinion drives described bevel gear wheel by orthogonal manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220535492 CN203009732U (en) | 2012-10-19 | 2012-10-19 | Three-level transmission harmonic reducer with limiting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220535492 CN203009732U (en) | 2012-10-19 | 2012-10-19 | Three-level transmission harmonic reducer with limiting mechanism |
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| Publication Number | Publication Date |
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| CN203009732U true CN203009732U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220535492 Withdrawn - After Issue CN203009732U (en) | 2012-10-19 | 2012-10-19 | Three-level transmission harmonic reducer with limiting mechanism |
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| CN (1) | CN203009732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900812A (en) * | 2012-10-19 | 2013-01-30 | 陕西渭河工模具总厂 | Three-stage transmission harmonic speed reducer with limiting mechanism |
-
2012
- 2012-10-19 CN CN 201220535492 patent/CN203009732U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900812A (en) * | 2012-10-19 | 2013-01-30 | 陕西渭河工模具总厂 | Three-stage transmission harmonic speed reducer with limiting mechanism |
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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: 20130619 Effective date of abandoning: 20150902 |
|
| RGAV | Abandon patent right to avoid regrant |