CN203297525U - Harmonic reducer for arc-shaped gear teeth - Google Patents

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

A circular gear tooth harmonic reducer

technical field

The utility model relates to the technical field of harmonic reducers, in particular to an arc-shaped tooth harmonic reducer.

Background technique

The robot harmonic reducer is widely used as an important part of the robot joint due to its simple structure, small size, low noise, large transmission ratio, high transmission precision and high efficiency. Since C.W. Messer in the United States invented the first harmonic reducer in 1955, major industrial countries all over the world have conducted comprehensive research on it, and have successively produced many series of harmonic reducers with different types and sizes. The involute small modulus gear tooth profile harmonic reducer is the most widely used. Among them, the harmonic reducer is widely used in the rotating part of the joint of the robot, the rotating table of the machining center, the rotating part of the manipulator, the precision rotating table, medical instruments, measuring instruments, IC manufacturing equipment, aerospace Devices, defense equipment (such as missiles, radars, rockets) and other fields, especially in the field of industrial robots are widely used; for industrial robots, harmonic reducers can greatly reduce the size of industrial robots, reduce noise, and improve efficiency and precision.

At present, the tooth shape of the domestic harmonic reducer adopts the small modulus involute shape, which can be processed by various existing involute tooth processing equipment, and then realize mass production; however, the transmission accuracy of the above-mentioned harmonic reducer Low gear tooth life, high processing cost (using expensive gear processing machine tools and grinding machines), multi-position radial ball bearings, large axial and radial runout, low mechanical strength, and no good market competition force.

Contents of the invention

The purpose of this utility model is to provide an arc-shaped gear tooth harmonic reducer for the deficiencies of the prior art. The circular arc-shaped gear tooth harmonic reducer has a simple and compact structure, small external dimensions, and small axial and radial runouts. , high mechanical strength, convenient installation and connection, simple manufacturing process and low manufacturing cost.

In order to achieve the above object, the utility model is realized through the following technical solutions.

An arc-shaped tooth harmonic reducer, including a cam, a harmonic flexible bearing, a flex spline and a rigid spline matched with the flex spline, the flex spline is provided with an external gear part and a transmission part perpendicular to the external gear part, the rigid spline The wheel is provided with an internal gear part, and the external gear part meshes with the internal gear part. A cross roller bearing is installed between the transmission part of the flexible spline and the rigid wheel. The cross roller bearing includes an outer ring, an inner ring and an outer ring. Cylindrical rollers between the ring and the inner ring, the two adjacent cylindrical rollers are arranged in a cross shape with an angle of 90°, the outer ring of the crossed roller bearing is screwed to the transmission part of the flexspline, the crossed roller bearing The inner ring of the rigid wheel is screwed to the rigid wheel; the number of teeth of the inner gear of the rigid wheel is two more than the number of teeth of the outer gear of the flexible wheel, and the teeth of the outer gear and the teeth of the inner gear are respectively arc-shaped Gear teeth, arc-shaped gear teeth include a top arc and a root arc, the top arc is tangent to the root arc, the radius of the top arc of the external gear of the flexspline is Rr1, and the root of the external gear of the flexspline The arc radius is Rr2, the root arc radius of the internal gear portion of the rigid wheel is Rg1, and the top arc radius of the internal gear portion of the rigid wheel is Rg2, Rr1=Rg1, Rr2=Rg2.

Wherein, an oil seal is installed between the inner ring and the outer ring of the crossed roller bearing.

Wherein, sealing rubber rings are respectively installed between the transmission part of the flexible spline and the outer ring of the crossed roller bearing and between the rigid spline and the inner ring of the crossed roller bearing.

The beneficial effect of the utility model is: a kind of arc-shaped gear tooth harmonic reducer described in the utility model, which includes a cam, a harmonic flexible bearing, a flex spline, a rigid spline and a crossed roller bearing, and the flex spline is set outside The gear part and the transmission part perpendicular to the external gear part, the rigid wheel is provided with the internal gear part, the cross roller bearing includes the outer ring, the inner ring and the cylindrical rollers, and the two adjacent cylindrical rollers are in the shape of a cross and 90° Angular arrangement, the outer ring of the cross roller bearing is screwed to the transmission part of the flexspline, and the inner ring of the cross roller bearing is screwed to the rigid wheel; The number of teeth is two more. The teeth of the external gear and the teeth of the internal gear are arc-shaped teeth respectively. The arc-shaped teeth include a top arc and a root arc, and the top arc is tangent to the root arc. . The external gear part of the flexspline and the transmission part are vertically arranged. During the assembly process of the utility model, the cross roller bearing is connected between the transmission part of the flexspline and the rigid spline; the above assembly form can effectively reduce the overall size and make the The overall structure of the utility model is simple and compact, and the installation and connection are convenient; through the support function of the cross roller bearing, the utility model can effectively reduce the axial and radial runout, and further improve the overall mechanical strength. In addition, the teeth of the external gear part and the teeth of the internal gear part are arc-shaped teeth respectively. Compared with the traditional involute gear tooth structure, the external gear part of the flex spline and the internal gear part of the rigid spline It can be processed and produced by modern computer machine tools such as CNC or slow wire cutting. The manufacturing process is simple, the manufacturing cost is reduced, and it is applicable to various types, small batches, fast and high-precision production.

Description of drawings

The utility model is further described below using the drawings, but the embodiments in the drawings do not constitute any limitation to the utility model.

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a schematic cross-sectional view of the utility model.

Fig. 3 is a structural schematic diagram of the flexible spline of the present invention.

Fig. 4 is a schematic structural view of the rigid wheel of the present invention.

Fig. 5 is a partially enlarged schematic view of the external gear portion of the flexspline of the present invention.

FIG. 6 is an enlarged schematic diagram of the layout of the inner gear part of the rigid wheel of the present invention.

In Figures 1 to 6 include:

1——Cam 2——Harmonic flexible bearing

3——Flexible wheel 31——External gear department

32——transmission department 4——steel wheel

41——Internal gear part 5——Cross roller bearing

51——outer ring 52——inner ring

53——cylindrical roller 61——top arc

62——Root arc 7——Oil seal

8——Sealing rubber ring.

Detailed ways

The utility model will be described below in conjunction with specific embodiments.

As shown in Figures 1 to 6, an arc-shaped gear tooth harmonic reducer includes a cam 1, a harmonic flexible bearing 2, a flex spline 3, and a rigid spline 4 that cooperates with the flex spline 3, and the flex spline 3 is set There is an external gear part 31 and a transmission part 32 perpendicular to the external gear part 31. The rigid wheel 4 is provided with an internal gear part 41. The external gear part 31 meshes with the internal gear part 41. The transmission part 32 of the flexible spline 3 and the rigid wheel 4 A crossed roller bearing 5 is installed between them. The crossed roller bearing 5 includes an outer ring 51, an inner ring 52, and a cylindrical roller 53 installed between the outer ring 51 and the inner ring 52. Two adjacent cylindrical rollers The child 53 is in the shape of a cross and arranged at an angle of 90°. The outer ring 51 of the cross roller bearing 5 is screwed to the transmission part 32 of the flexible spline 3, and the inner ring 52 of the cross roller bearing 5 is screwed to the rigid spline 4; The number of teeth of the internal gear part 41 of the wheel 4 is two more than the number of teeth of the external gear part 31 of the flexspline 3, and the gear teeth of the external gear part 31 and the gear teeth of the internal gear part 41 are arc-shaped gear teeth respectively, and the circle The arc-shaped gear tooth includes a top arc 61 and a root arc 62, the top arc 61 is tangent to the root arc 62, the radius of the top arc 61 of the external gear part 31 of the flexspline 3 is Rr1, and the outer radius of the flexspline 3 The root arc 62 radius of the gear portion 31 is Rr2, the root arc 62 radius of the internal gear portion 41 of the rigid wheel 4 is Rg1, and the top arc 61 radius of the internal gear portion 41 of the rigid wheel 4 is Rg2, Rr1=Rg1, Rr2 = Rg2.

Among them, the utility model uses semi-fluid harmonic grease to lubricate each kinematic pair to prevent overheating and noise phenomena and ensure smooth operation; in order to prevent the above-mentioned semi-fluid harmonic grease from leaking, the utility model is used in cross An oil seal 7 is installed between the inner ring 52 and the outer ring 51 of the roller bearing 5. In addition, the utility model is also installed between the transmission part 32 of the flex spline 3 and the outer ring 51 of the cross roller bearing 5 and the rigid spline 4. Sealing rubber rings 8 are respectively installed between the inner ring 52 of the crossed roller bearing 5 .

The external gear part 31 of the flexspline 3 and the transmission part 32 are vertically arranged. During the assembly process of the utility model, the cross roller bearing 5 is connected between the transmission part 32 of the flexspline 3 and the rigid spline 4, specifically: the flexspline 3 The transmission part 32 is screwed to the outer ring 51 of the cross roller bearing 5 , and the inner ring 52 of the cross roller bearing 5 is connected to the rigid wheel 4 . The above-mentioned assembly structure can effectively reduce the overall size and make the overall structure of the utility model simple and compact, and the installation and connection are convenient; through the supporting function of the cross roller bearing 5, the utility model can effectively reduce the axial and radial runout, Thereby improving the overall mechanical strength.

It should be further pointed out that the gear teeth of the external gear part 31 and the gear teeth of the internal gear part 41 of the present utility model are arc-shaped gear teeth respectively. The gear part 31 and the internal gear part 41 of the rigid wheel 4 can be processed and produced by modern computer machine tool CNC or slow wire cutting. The manufacturing process is simple, the manufacturing cost is reduced, and it is applicable to various types, small batches, fast and high-precision production .

Based on the above, it can be seen that the utility model has the advantages of simple and compact structure, small size, small axial and radial runout, high mechanical strength, convenient installation and connection, simple manufacturing process and low manufacturing cost.

The above content is only a preferred embodiment of the present utility model. For those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation and scope of application. The content of this specification should not be understood as Limitations on the Invention.

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).

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