CN203297525U - Harmonic reducer for arc-shaped gear teeth - Google Patents
Harmonic reducer for arc-shaped gear teeth Download PDFInfo
- Publication number
- CN203297525U CN203297525U CN2013203103227U CN201320310322U CN203297525U CN 203297525 U CN203297525 U CN 203297525U CN 2013203103227 U CN2013203103227 U CN 2013203103227U CN 201320310322 U CN201320310322 U CN 201320310322U CN 203297525 U CN203297525 U CN 203297525U
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- gear
- arc
- roller bearing
- circular arc
- crossed roller
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Abstract
The utility model discloses a harmonic reducer for arc-shaped gear teeth. The harmonic reducer for the arc-shaped gear teeth comprises a cam, a harmonic flexible bearing, a flexible gear, a rigid gear and a crossed roller bearing. The flexible gear is provided with an outer gear portion and a transmission portion vertical to the outer gear portion. The rigid gear is arranged in the inner gear portion, and the crossed roller bearing comprises an outer circle, an inner circle and a cylindrical roller. The outer circle is in screw connection with the transmission portion, and the inner circle is in screw connection with the rigid gear. Gear teeth of the outer gear portion and gear teeth of the inner gear portion are the arc-shaped teeth respectively. The arc-shaped teeth comprise top arcs and root arcs, wherein the top circular arcs and the root circular arcs are tangent. The harmonic reducer with the structure is small in overall boundary dimension, simple and compact in overall structure and convenient to install and connect. Due to the supporting action of the crossed roller bearing, axial and radial runout is small and the overall mechanical strength is high. The design of the arc-shaped gear teeth is utilized by the outer gear portion and the inner gear portion, the outer gear portion and the inner gear portion with the structure are simple in manufacturing technology and capable of reducing manufacturing cost.
Description
Technical field
The utility model relates to the harmonic speed reducer technical field, relates in particular to a kind of circular arc wheel tooth harmonic reducer.
Background technique
Harmonic reducer of robot relies on that it is simple in structure, size is little, noise is little, velocity ratio is large, transmission accuracy is high and the efficiency advantages of higher, and the vitals that is used as joint of robot is widely used.Since nineteen fifty-five U.S. C.W. Mai Saier has invented the First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare successively a lot of serial kinds harmonic speed reducer different with Dimensions, wherein with involute fine module gear flank profil harmonic speed reducer, use the most extensive.Wherein, harmonic speed reducer relies on above-mentioned advantage and is widely used in the wide spectrums such as revolving table, mechanism hand rotary part, precision rotation worktable, Medical Instruments, measurement instrument, IC manufacturing installation, aerospace appts, national defence equipment (such as guided missile, radar, rocket) of rotation position, the machining center in the joint of robot, and is especially very general in the application of industrial robot field; For industrial robot, harmonic speed reducer can greatly reduce industrial robot size, reduce noise, raise the efficiency and precision.
At present, what domestic harmonic speed reducer profile of tooth adopted is little modulus involute shape, and it can use existing various involute tooth process equipments to process, and then realizes batch production; Yet, above-mentioned harmonic speed reducer transmission accuracy is low, the gear teeth life-span is short, processing cost is high (use expensive gear cutting machine and grinding machine), the bearing Multi-way centripetal ball bearing that uses, axially and circular runout large, mechanical strength is low, does not have the good market competitiveness.
Summary of the invention
The purpose of this utility model is to provide for the deficiencies in the prior art a kind of circular arc wheel tooth harmonic reducer, and that this circular arc wheel tooth harmonic reducer is simple and compact for structure, boundary dimension is little, axial-radial is beated is little, mechanical strength is high, it is easy to connect to install, manufacturing process simple and low cost of manufacture.
For achieving the above object, the utility model is achieved through the following technical solutions.
a kind of circular arc wheel tooth harmonic reducer, include cam, the harmonic wave flexible bearing, flexbile gear and the firm wheel that coordinates with flexbile gear, flexbile gear is provided with external gear section and perpendicular to the transmission unit of external gear section, just wheel is provided with internal gear section, external gear section and the engagement of internal gear section, be equiped with crossed roller bearing between the transmission unit of flexbile gear and firm wheel, crossed roller bearing includes outer ring, inner ring and be installed in outer ring and inner ring between cylindrical roller, two adjacent cylindrical rollers are cross-shaped and 90 ° of angles are arranged, the outer ring of crossed roller bearing and the transmission unit of flexbile gear are spirally connected, the inner ring of crossed roller bearing is spirally connected with firm wheel, many two of the tooth number of the external gear section of the gear ratio flexbile gear of the internal gear section of just having taken turns, the gear teeth of the gear teeth of external gear section and internal gear section are respectively the circular arc gear teeth, the circular arc gear teeth include top arc and root circular arc, top arc and root circular arc are tangent, the top arc radius of the external gear section of flexbile gear is Rr1, the root radius of arc of the external gear section of flexbile gear is Rr2, just the root radius of arc of the internal gear section of wheel is Rg1, just the top arc radius of the internal gear section of wheel is Rg2, Rr1=Rg1, Rr2=Rg2.
Wherein, be equiped with oil sealing between the inner ring of described crossed roller bearing and outer ring.
Wherein, be equiped with respectively O-ring seal between the outer ring of the transmission unit of described flexbile gear and described crossed roller bearing and between the inner ring of described firm wheel and crossed roller bearing.
The beneficial effects of the utility model are: a kind of circular arc wheel tooth harmonic reducer described in the utility model, it comprises cam, harmonic wave flexible bearing, flexbile gear, just takes turns and crossed roller bearing, flexbile gear arranges external gear section and perpendicular to the transmission unit of external gear section, just wheel arranges internal gear section, crossed roller bearing comprises outer ring, inner ring and cylindrical roller, two adjacent cylindrical rollers are cross-shaped and 90 ° of angles are arranged, the outer ring of crossed roller bearing and the transmission unit of flexbile gear are spirally connected, and the inner ring of crossed roller bearing is spirally connected with firm wheel; Many two of the tooth number of the external gear section of the gear ratio flexbile gear of the internal gear section of just having taken turns, the gear teeth of the gear teeth of external gear section and internal gear section are respectively the circular arc gear teeth, and the circular arc gear teeth include top arc and root circular arc, and top arc and root circular arc are tangent.External gear section and the transmission unit of flexbile gear are arranged vertically, and in the utility model assembly process, crossed roller bearing is connected between the transmission unit and firm wheel of flexbile gear; Above-mentioned assembling form can effectively reduce the monnolithic case size and make the utility model overall structure simply compact, installs easy to connect; By the supporting role of crossed roller bearing, the utility model can reduce axial-radial effectively beats, and then improves whole mechanical strength.In addition, the gear teeth of the gear teeth of external gear section and internal gear section are respectively the circular arc gear teeth, for traditional evolvent type gear teeth structure, the external gear section of flexbile gear and just the internal gear section of wheel can utilize the modern computer CNC machine tools or the method processing such as the silk thread cutting of being careful, manufacturing process is simple, manufacture cost reduces, and applicable multiple types, small lot, quick, high-accuracy production.
Description of drawings
Below utilize accompanying drawing to be further detailed the utility model, but the embodiment in accompanying drawing does not form any restriction of the present utility model.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is generalized section of the present utility model.
Fig. 3 is the structural representation of flexbile gear of the present utility model.
Fig. 4 is the structural representation of firm wheel of the present utility model.
Fig. 5 is the local enlarged diagram of the external gear section of flexbile gear of the present utility model.
Fig. 6 is the layout enlarged diagram of the internal gear section of firm wheel of the present utility model.
Include in Fig. 1 to Fig. 6:
1---cam 2---harmonic wave flexible bearing
3---flexbile gear 31---external gear section
32---transmission units 4---are wheel just
41---internal gear section 5---crossed roller bearing
51---outer ring 52---inner ring
53---cylindrical roller 61---top arc
62---root circular arc 7---oil sealing
8---O-ring seal.
Embodiment
Below in conjunction with concrete mode of execution, the utility model is described.
as shown in Figures 1 to 6, a kind of circular arc wheel tooth harmonic reducer, include cam 1, harmonic wave flexible bearing 2, flexbile gear 3 and the firm wheel 4 that coordinates with flexbile gear 3, flexbile gear 3 is provided with external gear section 31 and perpendicular to the transmission unit 32 of external gear section 31, just wheel 4 is provided with internal gear section 41, external gear section 31 and 41 engagements of internal gear section, be equiped with crossed roller bearing 5 between the transmission unit 32 of flexbile gear 3 and firm wheel 4, crossed roller bearing 5 includes outer ring 51, inner ring 52 and be installed in outer ring 51 and inner ring 52 between cylindrical roller 53, two adjacent cylindrical rollers 53 are cross-shaped and 90 ° of angles are arranged, the outer ring 51 of crossed roller bearing 5 is spirally connected with the transmission unit 32 of flexbile gear 3, the inner ring 52 of crossed roller bearing 5 is spirally connected with firm wheel 4, many two of the tooth number of the external gear section 31 of the gear ratio flexbile gear 3 of the internal gear section 41 of firm wheel 4, the gear teeth of the gear teeth of external gear section 31 and internal gear section 41 are respectively the circular arc gear teeth, the circular arc gear teeth include top arc 61 and root circular arc 62, top arc 61 is tangent with root circular arc 62, top arc 61 radiuses of the external gear section 31 of flexbile gear 3 are Rr1, root circular arc 62 radiuses of the external gear section 31 of flexbile gear 3 are Rr2, just root circular arc 62 radiuses of the internal gear section 41 of wheel 4 are Rg1, just top arc 61 radiuses of the internal gear section 41 of wheel 4 are Rg2, Rr1=Rg1, Rr2=Rg2.
Wherein, the utility model is lubricated each kinematic pair by semifluid harmonic wave lubricating grease, is used for preventing overheated, noise phenomenon and guarantees to turn round level and smooth smooth; Reveal for preventing above-mentioned semifluid harmonic wave lubricating grease, the utility model is equiped with oil sealing 7 between the inner ring 52 of crossed roller bearing 5 and outer ring 51, in addition, the utility model also between the outer ring 51 of the transmission unit 32 of flexbile gear 3 and crossed roller bearing 5 and just taken turns 4 and the inner ring 52 of crossed roller bearing 5 between install respectively O-ring seal 8.
Need further point out, the gear teeth of external gear of the present utility model section 31 and the gear teeth of internal gear section 41 are respectively the circular arc gear teeth, for traditional evolvent type gear teeth structure, the external gear section 31 of flexbile gear 3 and just the internal gear section 41 of wheel 4 can utilize the modern computer CNC machine tools or the method processing such as the silk thread cutting of being careful, manufacturing process is simple, manufacture cost reduces, and applicable multiple types, small lot, quick, high-accuracy production.
Comprehensive above-mentioned situation as can be known, the utlity model has simple and compact for structure, that boundary dimension is little, axial-radial is beated is little, mechanical strength is high, it is easy to connect to install, manufacturing process simple and the advantage of low cost of manufacture.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (3)
1. a circular arc is taken turns tooth harmonic reducer, include cam (1), harmonic wave flexible bearing (2), flexbile gear (3) and the firm wheel (4) that coordinates with flexbile gear (3), it is characterized in that: flexbile gear (3) is provided with external gear section (31) and perpendicular to the transmission unit (32) of external gear section (31), just wheel (4) is provided with internal gear section (41), external gear section (31) and internal gear section (41) engagement, be equiped with crossed roller bearing (5) between the transmission unit (32) of flexbile gear (3) and firm wheel (4), crossed roller bearing (5) includes outer ring (51), inner ring (52) and be installed in outer ring (51) and inner ring (52) between cylindrical roller (53), adjacent two cylindrical rollers (53) are cross-shaped and 90 ° of angles are arranged, the outer ring (51) of crossed roller bearing (5) is spirally connected with the transmission unit (32) of flexbile gear (3), the inner ring (52) of crossed roller bearing (5) is spirally connected with firm wheel (4), many two of the tooth number of the external gear section (31) of the gear ratio flexbile gear (3) of the internal gear section (41) of firm wheel (4), the gear teeth of the gear teeth of external gear section (31) and internal gear section (41) are respectively the circular arc gear teeth, the circular arc gear teeth include top arc (61) and root circular arc (62), top arc (61) is tangent with root circular arc (62), top arc (61) radius of the external gear section (31) of flexbile gear (3) is Rr1, root circular arc (62) radius of the external gear section (31) of flexbile gear (3) is Rr2, just root circular arc (62) radius of the internal gear section (41) of wheel (4) is Rg1, just top arc (61) radius of the internal gear section (41) of wheel (4) is Rg2, Rr1=Rg1, Rr2=Rg2.
2. a kind of circular arc wheel tooth harmonic reducer according to claim 1, is characterized in that: be equiped with oil sealing (7) between the inner ring (52) of described crossed roller bearing (5) and outer ring (51).
3. a kind of circular arc wheel tooth harmonic reducer according to claim 2, is characterized in that: be equiped with respectively O-ring seal (8) between the transmission unit (32) of described flexbile gear (3) and the outer ring (51) of described crossed roller bearing (5) and between the inner ring (52) of described firm wheel (4) and crossed roller bearing (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203103227U CN203297525U (en) | 2013-06-01 | 2013-06-01 | Harmonic reducer for arc-shaped gear teeth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203103227U CN203297525U (en) | 2013-06-01 | 2013-06-01 | Harmonic reducer for arc-shaped gear teeth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203297525U true CN203297525U (en) | 2013-11-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203103227U Expired - Lifetime CN203297525U (en) | 2013-06-01 | 2013-06-01 | Harmonic reducer for arc-shaped gear teeth |
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| Country | Link |
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| CN (1) | CN203297525U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104358840A (en) * | 2014-10-23 | 2015-02-18 | 南京信息工程大学 | Loaded harmonic reducer |
| CN104832622A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Harmonic reducer of improved structure |
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| CN113146603A (en) * | 2021-04-27 | 2021-07-23 | 东莞市鑫拓智能机械科技有限公司 | Flexible servo harmonic joint actuator |
-
2013
- 2013-06-01 CN CN2013203103227U patent/CN203297525U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104358840A (en) * | 2014-10-23 | 2015-02-18 | 南京信息工程大学 | Loaded harmonic reducer |
| CN104832622A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Harmonic reducer of improved structure |
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| CN113146603A (en) * | 2021-04-27 | 2021-07-23 | 东莞市鑫拓智能机械科技有限公司 | Flexible servo harmonic joint actuator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zou Zancheng Inventor before: Ma Xinquan Inventor before: Zou Zancheng |
|
| COR | Change of bibliographic data | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131120 |
|
| CX01 | Expiry of patent term |