CN203477198U - High tooth form harmonic reducer - Google Patents
High tooth form harmonic reducer Download PDFInfo
- Publication number
- CN203477198U CN203477198U CN201320551430.3U CN201320551430U CN203477198U CN 203477198 U CN203477198 U CN 203477198U CN 201320551430 U CN201320551430 U CN 201320551430U CN 203477198 U CN203477198 U CN 203477198U
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- tooth
- wheel
- ring
- rigid
- teeth
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Abstract
The utility model discloses a high tooth form harmonic reducer. The inner surface of a circular rigid gear is provided with rigid inner teeth. A wave generator is disposed in the circular rigid gear and comprises a rigid cam with an elliptical outline and a flexible bearing embedded on the outside of the rigid cam. The outside of the bearing of the wave generator is sleeved with a flexible wheel. The outer surface of the flexible wheel is provided with outer teeth fitting the inner teeth of the circular rigid wheel. The flexible wheel and the circular rigid gear are coaxial. A motor serves as a rotating drive source for the wave generator. The pressure angle of the tooth root of at least one of the circular rigid gear and the flexible wheel is smaller than the standard pressure angle of teeth of a standard rack. The high tooth form harmonic reducer is reasonable in structure; rotation torque of the harmonic reducer can be reduced under high reduction ratio while the service life of an inserting tool for the inner teeth of the circular rigid gear is not shortened, the strength of the inserting tool is not reduced and fatigue strength of the outer teeth of the flexible wheel is not reduced.
Description
Technical field
The utility model relates to a kind of harmonic wave speed reducing machine with high profile of tooth.
Background technique
It is high that harmonic wave speed reducing machine has precision, and volume is little, and the feature that bearing torque is high is widely used in industrial robot field.The profile of tooth of harmonic wave speed reducing machine has multiple.Comparatively conventional have involute profile, a how arc toothed and basic rack profile of tooth.Wherein, basic rack profile of tooth has the processing of being easy to and the larger feature of driving torque, thereby is widely used.While adopting tooth bar profile of tooth, between the meshing zone of gear in, towards the direction upward pressure angle of tooth top and tooth root, constantly increase.
At this moment, in the harmonic wave speed reducing machine of high reduction speed ratio, because the modulus of gear diminishes, tooth depth reduces thereupon, causes driving torque to decline.For can realize the high reduction speed ratio of harmonic wave speed reducing machine in the situation that not reducing driving torque, consider to adopt the profile of tooth that improves tooth depth.But, improve tooth depth, the cutter that processing ring rigid wheel internal tooth is used must adopt the gear shaper cutter that tooth top is sharp-pointed, and just there is the new drawback that gear shaper cutter life-span and intensity decline in this.The countermeasure of taking considers to change the spacewidth ratio of two forms of gear tooth, increases the facewidth.But after the facewidth increases, flexural stress just concentrates on tooth root position, has particularly caused the decline of flexible external tooth fatigue strength.
Summary of the invention
It is a kind of rational in infrastructure that the purpose of this utility model is to provide, neither reducing processing ring rigid wheel internal tooth pinion cutter life-span and intensity, do not reduce in the situation of compliant wheel external tooth fatigue strength, can improve the harmonic wave speed reducing machine with high profile of tooth at the driving torque of high reduction speed ratio time-harmonic wave speed reducer yet.
Technical solution of the present utility model is:
A harmonic wave speed reducing machine with high profile of tooth, is characterized in that: comprise ring rigid wheel, the internal surface of ring rigid wheel arranges rigidity internal tooth, in ring rigid wheel, wave-generator is set; Described wave-generator is comprised of the flexible bearing that has the rigid cam of cartouche and be embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel, the external tooth that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; At least one of in ring rigid wheel and compliant wheel, the pressure angle at its tooth root position is less than the standard pressure angle of basic rack profile of tooth.
In the rigidity of ring rigid wheel, the difference of the outer number of teeth of the number of teeth and compliant wheel is 2n tooth, and n is positive integer.
The utility model is rational in infrastructure, for the ring rigid wheel internal tooth and compliant wheel external tooth of harmonic wave speed reducing machine in, their profile of tooth all adopts basic basic rack profile of tooth, and the profile of tooth of their tooth root part is implemented to improve, and makes the pressure angle on their tooth root positions less than standard pressure angle.Adopt and set in this way after profile of tooth state, because improve driving torque, increasing tooth depth, and while increasing the facewidth because suppress pinion cutter life-span and intensity to decline, just can reduce the amplitude of tooth root width increase.The stress that result just can relax on tooth root position is concentrated, and prevents the decline of compliant wheel external tooth fatigue strength.Thereby, if employing the utility model, in the harmonic wave speed reducing machine of high reduction speed ratio, adopt after the profile of tooth that improves tooth depth, pinion cutter life-span and the intensity of ring rigid wheel can not decline, and the fatigue strength of compliant wheel external tooth can not reduce yet, and then can the high driving torque that improves harmonic wave speed reducing machine under high reduction speed ratio.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is an embodiment's of the utility model structural representation.
Fig. 2 is gear engagement states schematic diagram.
Fig. 3 is the schematic diagram of the utility model profile improvement.
S1-ring rigid wheel castellated shape in Fig. 3; S2-compliant wheel castellated shape; Ring rigid wheel castellated shape after S1 ＇-correction of the flank shape; Compliant wheel castellated shape after S2 ＇-correction of the flank shape; α 1-ring rigid wheel and the compliant wheel reference pressure angle on benchmark pitch circle; The pressure angle producing at ring rigid wheel tooth root position after α 2-correction of the flank shape; The pressure angle producing at compliant wheel tooth root position after α 3-correction of the flank shape.
Embodiment
A harmonic wave speed reducing machine with high profile of tooth, comprises ring rigid wheel 1, and the internal surface of ring rigid wheel arranges rigidity internal tooth 7, and wave-generator 3 is set in ring rigid wheel; Described wave-generator forms by having the rigid cam 4 of cartouche and the flexible bearing 5 being embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel 2, the external tooth 6 that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; At least one of in ring rigid wheel and compliant wheel, the pressure angle at its tooth root position is less than the standard pressure angle of basic rack profile of tooth.
Fig. 2 is the schematic diagram of harmonic wave speed reducing machine gear engagement states.Wave-generator 3 bends to ellipse by compliant wheel 2, and the part external tooth in oval long axis direction end positions 6 in compliant wheel 2 is meshed with the part internal tooth 7 of ring rigid wheel 1.Generally, ring rigid wheel 1 is fixed on a fixed body, wave-generator 3 by driven by motor as rotary driving source.Wave-generator 3 rotates, and the engaging position of two gears 1,2 is moved in a circumferential direction.The number of teeth of two gears 1,2 is poor is 2n tooth (n is positive integer), due to what number of teeth official post obtained between two gears 1,2 wave-generator 3 relatively, rotates the significantly relative rotary motion of deceleration of generation.Because ring rigid wheel 1 is fixed, so the parts that are connected with it that rotarily drive of compliant wheel 2 also produce rotation, transmit in this way rotation retarded motion.
Fig. 3 is the schematic diagram of profile improvement.Dotted line represents the ring rigid wheel 1 of basic rack profile of tooth and castellated shape S1 and the S2 of compliant wheel 2, and their reference pressure angles on benchmark pitch circle line are α
1.Solid line represents ring rigid wheel 1 after correction of the flank shape and castellated shape S1 ' and the S2 ' of compliant wheel 2, and their reference pressure angles on benchmark pitch circle line are also α
1.The tooth root profile of tooth of the ring rigid wheel 1 after correction of the flank shape is by curve S 1 ' determine the pressure angle α that it produces at tooth root position
2reference pressure angle α than basic rack curve S 1 on benchmark pitch circle line
1little.The tooth root profile of tooth of the compliant wheel 2 after correction of the flank shape is by curve S 2 ' determine the pressure angle α that it produces at tooth root position
3reference pressure angle α than basic rack curve S 2 on benchmark pitch circle line
1little.
Can obtain thus, the pressure angle that the castellated shape of two gears 1,2 produces at their tooth root position is all than reference pressure angle α
1little.So, even if improve tooth depth, increase in the situation of the facewidth simultaneously and also can suppress the increase of tooth root width.
And above-mentioned example can not only be applied to have the harmonic wave speed reducing machine of cup-shaped compliant wheel, and compliant wheel adopts carnival hat shape or circle still can apply method of the present invention.
Claims (2)
1. a harmonic wave speed reducing machine with high profile of tooth, is characterized in that: comprise ring rigid wheel, the internal surface of ring rigid wheel arranges rigidity internal tooth, in ring rigid wheel, wave-generator is set; Described wave-generator is comprised of the flexible bearing that has the rigid cam of cartouche and be embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel, the external tooth that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; At least one of in ring rigid wheel and compliant wheel, the pressure angle at its tooth root position is less than the standard pressure angle of basic rack profile of tooth.
2. a kind of harmonic wave speed reducing machine with high profile of tooth according to claim 1, is characterized in that: in the rigidity of ring rigid wheel, the difference of the outer number of teeth of the number of teeth and compliant wheel is 2n tooth, and n is positive integer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551430.3U CN203477198U (en) | 2013-09-06 | 2013-09-06 | High tooth form harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551430.3U CN203477198U (en) | 2013-09-06 | 2013-09-06 | High tooth form harmonic reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203477198U true CN203477198U (en) | 2014-03-12 |
Family
ID=50225531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320551430.3U Withdrawn - After Issue CN203477198U (en) | 2013-09-06 | 2013-09-06 | High tooth form harmonic reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203477198U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103470694A (en) * | 2013-09-06 | 2013-12-25 | 上海鑫君传动科技有限公司 | Harmonic reduction gear with high tooth shape |
| CN105317941A (en) * | 2014-06-12 | 2016-02-10 | 捷奥机械(上海)有限公司 | Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator |
-
2013
- 2013-09-06 CN CN201320551430.3U patent/CN203477198U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103470694A (en) * | 2013-09-06 | 2013-12-25 | 上海鑫君传动科技有限公司 | Harmonic reduction gear with high tooth shape |
| CN103470694B (en) * | 2013-09-06 | 2016-03-30 | 上海鑫君传动科技有限公司 | A kind of harmonic wave speed reducing machine with high profile of tooth |
| CN105317941A (en) * | 2014-06-12 | 2016-02-10 | 捷奥机械(上海)有限公司 | Novel harmonic drive device comprising flexible inner gear and externally-arranged wave generator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20160330 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20160330 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |