CN204312627U - A kind of harmonic speed reducer - Google Patents
A kind of harmonic speed reducer Download PDFInfo
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- CN204312627U CN204312627U CN201420766254.XU CN201420766254U CN204312627U CN 204312627 U CN204312627 U CN 204312627U CN 201420766254 U CN201420766254 U CN 201420766254U CN 204312627 U CN204312627 U CN 204312627U
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Abstract
本实用新型公开了一种谐波减速器，属于传动装置技术领域。它的特征结构为：所述输出盘外侧安装有盖板，外部连装置可穿过盖板中心孔与输出盘连接；所述柔轮的长度为谐波发生器的椭圆形长轴的0.6~0.8倍。本实用新型一种谐波减速器优化了整体结构，取消了输入输出的法兰盘连接，用盖板代替了法兰盘，减小了减速器整体的径向尺寸；并采用短筒柔轮结构，减小了整体轴向尺寸，能适应一些较小安装空间的要求，并且能够保证整体的强度和工作的稳定性。
The utility model discloses a harmonic speed reducer, which belongs to the technical field of transmission devices. Its characteristic structure is: a cover plate is installed on the outside of the output disk, and the external connecting device can pass through the center hole of the cover plate to connect with the output disk; the length of the flexible spline is 0.6~ 0.8 times. A harmonic reducer of the utility model optimizes the overall structure, cancels the flange connection of the input and output, replaces the flange with a cover plate, reduces the overall radial size of the reducer; and adopts a short tube flexible wheel The structure reduces the overall axial size, can meet the requirements of some small installation spaces, and can ensure the overall strength and working stability.
Description
技术领域 technical field
本实用新型涉及一种新型减速器，具体是一种谐波减速器，属于传动装置技术领域。 The utility model relates to a novel reducer, in particular to a harmonic reducer, which belongs to the technical field of transmission devices.
背景技术 Background technique
谐波减速器是一种靠中间柔性零件的可控弹性变形来实现运动和动力传递的齿轮装置。它是一种特殊类型的少齿差行星传动。主要应用于机器人、航空航天、精密仪器等领域。与一般齿轮传动相比具有传动比大、传动精度高、结构简单、体积小、重量轻等优点。 Harmonic reducer is a gear device that realizes motion and power transmission by the controllable elastic deformation of intermediate flexible parts. It is a special type of planetary transmission with few tooth differences. Mainly used in robotics, aerospace, precision instruments and other fields. Compared with general gear transmission, it has the advantages of large transmission ratio, high transmission precision, simple structure, small volume and light weight.
现有的谐波减速器一般其输入部分和输出部分通过法兰盘连接，整体结构不够紧凑，减速器前后距离较大，无法满足安装空间较小的要求。 The existing harmonic reducer generally has its input part and output part connected by a flange, the overall structure is not compact enough, and the distance between the front and rear of the reducer is large, which cannot meet the requirement of a small installation space.
发明内容 Contents of the invention
本发明解决的技术问题是提供一种较小安装空间的谐波减速器，其轴向长度较短，径向长度也较小，并且能够满足使用要求。 The technical problem solved by the present invention is to provide a harmonic reducer with a small installation space, which has short axial length and small radial length, and can meet the requirements of use.
为解决上述技术问题，本实用新型一种谐波减速器的技术方案为：包括一端为椭圆形凸轮结构的谐波发生器、与椭圆形凸轮结构连接一起的柔性轴承、筒状的柔轮和钢轮，钢轮一端设置有内齿，与其内柔轮一端的外齿互相啮合；谐波发生器的一端设有与外电机轴连接的键槽，另一端的轴上通过深沟球轴承套有柔轮垫片，柔轮垫片经过柔轮的筒底连接有输出盘，输出盘通过深沟轴承安装在钢轮内，其特征在于：所述输出盘外侧安装有盖板，外部连装置可穿过盖板中心孔与输出盘连接；所述柔轮的长度为谐波发生器的椭圆形长轴的0.6~0.8倍。 In order to solve the above technical problems, the technical solution of a harmonic reducer of the utility model is as follows: a harmonic generator with an elliptical cam structure at one end, a flexible bearing connected with the elliptical cam structure, a cylindrical flex wheel and Steel wheel, one end of the steel wheel is provided with internal teeth, which mesh with the external teeth at one end of the inner flexible wheel; one end of the harmonic generator is provided with a keyway connected to the outer motor shaft, and the shaft at the other end is sleeved with a deep groove ball bearing. The flexspline gasket, the flexspline gasket is connected to the output disc through the bottom of the flexspline, and the output disc is installed in the steel wheel through the deep groove bearing. It passes through the central hole of the cover plate and is connected to the output disk; the length of the flexible spline is 0.6 to 0.8 times the long axis of the ellipse of the harmonic generator.
所述盖板的厚度为所述钢轮外径的0.1~0.3倍。 The thickness of the cover plate is 0.1-0.3 times of the outer diameter of the steel wheel.
所述筒状柔轮的壁厚是柔轮长度的0.01~0.05倍。 The wall thickness of the tubular flexspline is 0.01-0.05 times the length of the flexspline.
本实用新型的有益效果 Beneficial effects of the utility model
与现有技术相比，本实用新型在所述输出盘外侧安装有盖板，外部连装置可穿过盖板中心孔与输出盘连接；所述柔轮的长度为谐波发生器的椭圆形长轴的0.6~0.8倍。本实用新型一种谐波减速器优化了整体结构，取消了输入输出的法兰盘连接，用盖板代替了输出端的法兰盘，减小了减速器整体的径向尺寸；并采用短筒柔轮结构，减小了整体轴向尺寸，能适应一些较小安装空间的要求，并且能够保证整体的强度和工作的稳定性。 Compared with the prior art, the utility model is equipped with a cover plate on the outside of the output disk, and the external connection device can pass through the center hole of the cover plate to connect with the output disk; the length of the flexible spline is the ellipse of the harmonic generator 0.6~0.8 times of the long axis. The harmonic reducer of the utility model optimizes the overall structure, cancels the flange connection of the input and output, replaces the flange of the output end with a cover plate, reduces the overall radial size of the reducer; and adopts a short tube The flexible spline structure reduces the overall axial size, can meet the requirements of some small installation spaces, and can ensure the overall strength and working stability.
附图说明 Description of drawings
图1是本实用新型的部分剖视图； Fig. 1 is a partial sectional view of the utility model;
图2是本实用新型的主视图。 Fig. 2 is the front view of the utility model.
具体实施方式 Detailed ways
结合附图对本实用新型作进一步的阐述。 The utility model is further elaborated in conjunction with the accompanying drawings.
如图1和图2所示，一种谐波减速器，它包括一端为椭圆形凸轮结构的谐波发生器1、与椭圆形凸轮结构连接一起的柔性轴承2、筒状的柔轮3和钢轮4，钢轮4一端设置有内齿，与其内柔轮3一端的外齿互相啮合；谐波发生器1的一端设有与外电机轴连接的键槽5，另一端的轴上通过两个深沟球轴承6套有柔轮垫片7，柔轮垫片7经过柔轮3的筒底连接有输出盘8，输出盘8通过深沟轴承9安装在钢轮3内；所述输出盘8外侧安装有盖板10，外部连装置可穿过盖板中心孔11与输出盘8连接；所述柔轮3的长度为谐波发生器1的椭圆形长轴的0.6~0.8倍。 As shown in Figures 1 and 2, a harmonic reducer includes a harmonic generator 1 with an elliptical cam structure at one end, a flexible bearing 2 connected with the elliptical cam structure, a cylindrical flexible wheel 3 and Steel wheel 4, one end of steel wheel 4 is provided with internal teeth, which mesh with the external teeth at one end of inner flexible spline 3; 6 sets of deep groove ball bearings are provided with a flexible spline gasket 7, and the flexible spline gasket 7 is connected with an output disk 8 through the bottom of the flexible spline 3, and the output disk 8 is installed in the steel wheel 3 through the deep groove bearing 9; the output A cover plate 10 is installed on the outer side of the disc 8, and the external connection device can pass through the central hole 11 of the cover plate to connect with the output disc 8;
本实用新型一种谐波减速器优化了整体结构，取消了输入输出的法兰盘连接，用盖板10代替了输出端的法兰盘，减小了减速器整体的径向尺寸；并采用短筒柔轮3结构，减小了整体轴向尺寸，能适应一些较小安装空间的要求，并且能够保证整体的强度和工作的稳定性。 A harmonic reducer of the utility model optimizes the overall structure, cancels the flange connection of the input and output, replaces the flange of the output end with a cover plate 10, reduces the overall radial size of the reducer; and adopts a short The flexible wheel 3 structure reduces the overall axial size, can meet the requirements of some small installation spaces, and can ensure the overall strength and working stability.
本实用新型的盖板10的厚度为所述钢轮外径的0.1~0.3倍。作为优选，盖板10的厚度为钢轮外径的0.15倍。 The thickness of the cover plate 10 of the present invention is 0.1-0.3 times of the outer diameter of the steel wheel. Preferably, the thickness of the cover plate 10 is 0.15 times the outer diameter of the steel wheel.
本实用新型的筒状柔轮3的壁厚是柔轮3长度的0.01~0.05倍。作为优选，筒状柔轮3的壁厚是柔轮3长度的0.02倍。 The wall thickness of the tubular flexspline 3 of the present utility model is 0.01 to 0.05 times the length of the flexspline 3 . Preferably, the wall thickness of the tubular flexspline 3 is 0.02 times the length of the flexspline 3 .
工作时，谐波发生器1在柔轮3内转动时，由于谐波发生器1为椭圆形的凸轮结构，迫使柔轮3产生连续的弹性变形，此时波发生器1的连续转动，就使柔轮齿的啮入—啮合—啮出—脱开这四种状态循环往复不断地改变各自原来的啮合状态。正是这一错齿运动，谐波减速器就可将输入的高速转动变为输出的低速转动。 When working, when the harmonic generator 1 rotates in the flexspline 3, because the harmonic generator 1 is an elliptical cam structure, the flexspline 3 is forced to produce continuous elastic deformation. At this time, the continuous rotation of the wave generator 1 is The four states of meshing-engagement-engagement-disengagement of the flexible gear teeth can be changed back and forth and their original meshing states continuously. It is this staggered tooth movement that the harmonic reducer can change the input high-speed rotation into the output low-speed rotation.
本实施例的谐波减速器其柔轮3与钢轮4齿差为两个，柔轮3的齿形为渐开线齿轮，采用35CrMnSiA材料，线切割慢走丝加工。由于柔轮3比刚轮4在节圆周长上少了两个齿距，所以柔轮3在啮合过程中，就必须相对刚轮4转过两个齿距的角位移，这个角位移正是减速器输出轴的转动，从而实现了减速的目的。 In the harmonic reducer of this embodiment, the tooth difference between the flexspline 3 and the steel wheel 4 is two, and the tooth shape of the flexspline 3 is an involute gear, which is made of 35CrMnSiA material and processed by wire cutting and slow wire-feeding. Since the flexible spline 3 has two tooth pitches less than the rigid spline 4 on the pitch circumference, the flexspline 3 must rotate through the angular displacement of two pitches relative to the rigid spline 4 during the meshing process. This angular displacement is exactly The rotation of the output shaft of the reducer achieves the purpose of deceleration.
Claims (3)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420766254.XU CN204312627U (en) | 2014-12-09 | 2014-12-09 | A kind of harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420766254.XU CN204312627U (en) | 2014-12-09 | 2014-12-09 | A kind of harmonic speed reducer |
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| CN204312627U true CN204312627U (en) | 2015-05-06 |
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| CN201420766254.XU Expired - Fee Related CN204312627U (en) | 2014-12-09 | 2014-12-09 | A kind of harmonic speed reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106286763A (en) * | 2016-10-11 | 2017-01-04 | 湖南大学 | A kind of new harmonic decelerator and input drive mechanism thereof |
| CN106514491A (en) * | 2016-12-21 | 2017-03-22 | 上海机床厂有限公司 | Continuous indexing type B-axis slewing mechanism |
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2014
- 2014-12-09 CN CN201420766254.XU patent/CN204312627U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106286763A (en) * | 2016-10-11 | 2017-01-04 | 湖南大学 | A kind of new harmonic decelerator and input drive mechanism thereof |
| CN106286763B (en) * | 2016-10-11 | 2019-06-18 | 湖南大学 | A harmonic reducer and its input transmission structure |
| CN106514491A (en) * | 2016-12-21 | 2017-03-22 | 上海机床厂有限公司 | Continuous indexing type B-axis slewing mechanism |
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