CN204647260U - A kind of automatic regulating gap wave-generator of harmonic speed reducer - Google Patents
A kind of automatic regulating gap wave-generator of harmonic speed reducer Download PDFInfo
- Publication number
- CN204647260U CN204647260U CN201520253957.7U CN201520253957U CN204647260U CN 204647260 U CN204647260 U CN 204647260U CN 201520253957 U CN201520253957 U CN 201520253957U CN 204647260 U CN204647260 U CN 204647260U
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- bearing
- generator
- speed reducer
- harmonic speed
- spring
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Abstract
This patent relates to harmonic speed reducer field, be specially the automatic regulating gap wave-generator of harmonic speed reducer, comprise pedestal, joining shaft, bearing rod and spring bearing, described base sleeve to be located on described joining shaft and secure fit, described spring bearing is arranged on bearing rod, pedestal is provided with and pass for bearing rod and to make it close or away from the bar hole of joining shaft, this bar hole two is one group, pedestal is at least provided with one group and becomes axisymmetric with joining shaft, spring bearing protrudes into outside base profile line, be provided with between described bearing rod and joining shaft and order about bearing rod along the outside spring of bar hole.The beneficial effect of this patent is: this wave-generator can independently regulate the flexbile gear of harmonic speed reducer and the back lash of firm wheel.
Description
Technical field
The utility model belongs to harmonic speed reducer technical field, particularly a kind of automatic regulating gap wave-generator of harmonic speed reducer.
Background technique
The full name of harmonic speed reducer is harmonic gear reducer, mainly comprises firm wheel, flexbile gear and makes the wave-generator of flexbile gear generation radial deformation.Harmonic speed reducer is a kind of novel mechanical drive speed change mechanism.Compared with ordinary gear transmission, there is volume little, lightweight, structure is simple, gear range large (single staged transmission ratio is 40 ~ 350, and Multi-stage transmission ratio can reach 1600 ~ 100000), transmission efficiency is high, the features such as transmission accuracy is high, and bearing capacity is strong, can be widely used in the fields such as Aeronautics and Astronautics, industrial robot, lathe microfeed, communication apparatus, textile manufacturing machine, chemical fibre equipment, papermaking equipment, differential attachment, printing machinery, food machinery and medical apparatus.
The transmission principle of harmonic speed reducer is: when wave-generator is for time initiatively, rotating in flexbile gear makes flexbile gear deform (controlled resiliently deformable), at this moment the tooth of flexbile gear just enters (engagement) or exits the between cog that (nibble from) just taken turns in the process of distortion, at the major axis of wave-generator everywhere in engaging completely, and the tooth at minor axis place is in complete disengaged condition.
Wave-generator has two kinds usually, is illustrated in figure 1 and adopts the harmonic speed reducer of cam-type wave generator, and by just taking turns 110, flexbile gear 120 and cam-type wave generator form, and cam-type wave generator is made up of cam 130 and flexible bearing.Cam-type wave generator is when manufacture, not only to meet flexbile gear and just wheel energy side set motion, also to reduce the wearing and tearing between cam and flexible bearing as much as possible, therefore man-hour is being added, size for cam all has higher requirements with use material, to such an extent as to the manufacture cost of this wave-generator is very high.
Be illustrated in figure 2 the harmonic speed reducer adopting roller-type wave generator, by just taking turns 210, flexbile gear 220 and cam-type wave generator form, this kind of wave-generator is by back shaft 230(supporting disk) support at least two rollers 240, outwards extruded by roller 240 pairs of flexbile gears 220, make flexbile gear 220 and the motion of just wheel 210 generation side set.
Be directed to roller-type wave generator, it is the cam structure of the roller replacement cam-type wave generator by supporting, roller uses common bearing, though will lower than cam-type wave generator on bearing cost, but because the size shape (requiring two-arm full symmetric) to back shaft itself and mounting point all require higher, therefore the requirement on machining accuracy of back shaft is higher, and processing cost is higher.
The back shaft (or supporting disk) of existing roller-type wave generator is constant dimensions, can not be automatically adjustable for the position residing for the roller be arranged on back shaft, the relative position of flexbile gear and the engagement just between wheel can not adjust automatically, under long-term motion, particularly cause in transmission process when driving force instability, there is the phenomenon of wearing and tearing in the teeth of flexbile gear, make the engagement tightness between flexbile gear and firm wheel inadequate, cause flexbile gear and just taken turns sideslip situation, the transmission accuracy of whole harmonic speed reducer is declined.
Model utility content
The purpose of this utility model is to provide a kind of back lash that can automatically regulate between flexbile gear and firm wheel, and can reduce the wave-generator of its manufacture cost.
To achieve these goals, the automatic regulating gap wave-generator of the harmonic speed reducer that the utility model provides, comprise pedestal, joining shaft, bearing rod and spring bearing, described base sleeve to be located on described joining shaft and secure fit, described spring bearing is arranged on bearing rod, pedestal is provided with and pass for bearing rod and to make it close or away from the bar hole of joining shaft, this bar hole two is one group, pedestal is at least provided with one group and becomes axisymmetric with joining shaft, spring bearing protrudes into outside base profile line, be provided with between described bearing rod and joining shaft and order about bearing rod along the outside spring of bar hole.
Principle and advantage of the present utility model is, this wave-generator is arranged in the flexbile gear of harmonic speed reducer, flexbile gear engages with just taking turns, specifically, when mounted, regulate the position residing for bearing rod by spring, make the spring bearing extruding flexbile gear on bearing rod, flexbile gear and firm engage tightr of taking turns can be made.In transmission process, joining shaft is under the drive of outside driving component, and band moving base also coaxial rotation, pedestal drives spring bearing to rotate, and when spring bearing rotates, extruding flexbile gear, makes flexbile gear and just wheel side set motion.
In transmission process; if the reaction force of load exceeds the transmission intensity of flexbile gear and just wheel engagement, spring bearing itself has the ability of a retraction, and spring bearing bounces back; make flexbile gear and just occurred temporary transient idle running between wheel, thus realizing the protection to transmission part.Inevitable situation, under harmonic speed reducer long-term work, flexbile gear and occur abrasion condition between just having taken turns, due to connect spring bearing bearing rod can under spring supporting near or away from joining shaft, spring bearing can adaptively under spring supporting outwards open, thus the gap making up flexbile gear and just occurred between wheel, automatically can regulate flexbile gear and the back lash just between wheel by this wave-generator, thus make flexbile gear and just wheel remain and engage closely.
Due to flexbile gear and just can automatic regulating gap between wheel, so in the fabrication process, be instead of the back shaft of roller type by pedestal, base profile can manufacture the circle of standard, require lower to accuracy of manufacturing, the back shaft processing cost relatively manufacturing accurate dimension also reduces greatly.Because spring bearing can Automatic Fine Tuning, adopt plain bearing as spring bearing, do not need to carry out special processing to bearing, also reduce further processing cost.
Further, in order to easy to process, described pedestal is provided with the groove holding spring bearing, can directly be processed by turning during fabrication, in installation process, spring bearing is positioned in groove, can ensure that spring bearing rotates not disturb by pedestal, also reduce the design volume of wave-generator.
Further, in order to prevent pedestal from misplacing, described joining shaft one end is provided with cushion cap, described pedestal to be placed in above cushion cap and to fix with it, pedestal is fixed on cushion cap, effectively can prevents pedestal and joining shaft in power transmission process from idle running occurring and break away, ensure the validity of transmission.
Further, in order to easy for installation, be provided with above described pedestal and its fixed plate be connected by countersunk screw.So when mounted in order to prevent the bearing in groove from skidding off, fixed plate being fixed on above pedestal, covering the top of groove, the axial freedom of spring bearing can be limited, prevent spring bearing from deviating from from top.Further, adopt countersunk screw to connect, not only easy accessibility, and relative to plain bolt (head of plain bolt can stretch out fixed plate), when being installed to adopting the harmonic speed reducer of this wave-generator in other structures, can not being affected it and install.
Further, in order to bearing rod can movement stably, described spring is two and becomes upper and lower being symmetrical arranged with bearing rod center, in time there is relative movement in bearing rod and pedestal, bearing rod is supported by upper and lower two springs simultaneously, make bearing rod stress equalization, ensure that the stationarity of bearing rod.
Further, in order to ensure that spring has enough support forces and restoring force to bearing rod, spring is laminated spring; Because laminated spring can not exist the characteristic of lateral bending, use laminated spring can ensure that the direction of spring power transmission remains on the axial direction of spring.
Further, every root bearing rod is provided with up and down overlapping two identical spring bearings, and spring bearing and flexbile gear area of contact are increased, make flexbile gear further and just taken turns engage tightr.
Further, in order to make flexbile gear to be supported preferably, described pedestal is also provided with the auxiliary bearing supported flexbile gear, described auxiliary bearing is arranged in pairs, and the distance between a pair auxiliary bearing is less than the distance between a pair spring bearing.
Further, conveniently extraneous driving component is fixedly connected with joining shaft, is provided with attachment hole and the hole wall of attachment hole is provided with locking hole in the middle part of described joining shaft.When connecting, the driving component of outside being inserted in attachment hole, by lock bolt locking, thus realizing fixing of driving component and joining shaft.
Further, pedestal is provided with to be convenient to observe countersunk screw and whether to be screwed to the observation groove of position, when countersunk screw is tightened, if observe the bottom that groove level cannot observe countersunk screw, illustrates that countersunk screw length not or do not tighten.
Accompanying drawing explanation
Fig. 1 is the structural representation of the cammingly harmonic speed reducer that background technique is mentioned;
Fig. 2 is the structural representation of the roller type harmonic speed reducer that background technique is mentioned;
Fig. 3 is the structural representation of the automatic regulating gap wave-generator of harmonic speed reducer in the utility model embodiment;
Fig. 4 is the cross section view at A-A place in Fig. 3;
Fig. 5 is the plan view of Fig. 3;
Fig. 6 is the worm's eye view of Fig. 3;
Fig. 7 is the structural representation of pedestal in Fig. 3;
Fig. 8 is the plan view of pedestal in Fig. 7.
Embodiment
By reference to the accompanying drawings the utility model is described in further detail below by embodiment:
As shown in Fig. 3 ~ Fig. 8, its reference character is enumerated: joining shaft 310, cushion cap 311, stick into groove 312, locking hole 313, pedestal 320, groove 321, observe groove 322, bar hole 323, tapped hole 324, pin-and-hole 325, spring bearing 330, bearing rod 331, auxiliary bearing 332, support platform 340, fixed plate 350, countersunk screw 351, laminated spring 360.
As shown in Figure 3 and Figure 4, the automatic regulating gap wave-generator of the harmonic speed reducer in the present embodiment, comprises pedestal 320, joining shaft 310 and spring bearing 330, and pedestal 320 is enclosed within joining shaft 310 outer wall and fixes, fixing mode has multiple, can be that key is fixed, bolt is fixed, draw-in groove is fixed; The present embodiment is fixed by interference fit.As shown in Figure 7, pedestal 320 is provided with and pass for bearing rod 331 and to make it close or away from the bar hole 323 of joining shaft 310, and bar hole 323 wall is also provided with the pin-and-hole 325 vertical with bar hole 323; Simultaneously the also corresponding sliding eye being provided with diameter and being greater than pin-and-hole on bearing rod, inserts the pin that can limit the motion of bearing rod 331 vertical direction in pin-and-hole 325 and sliding eye.Bar hole 323 two is one group, and pedestal 320 is provided with one group of bar hole 323, according to the requirement of total number of teeth in engagement, if when total number of teeth in engagement is many, can also increase the group number of bar hole 323, often organize bar hole 323 with joining shaft 310 one-tenth axisymmetric.Pedestal 320 is provided with the groove 321 holding bearing, spring bearing 330 is arranged on bearing rod 331, two pairs of laminated springs 360 of spring bearing bar 331 are set between bearing rod 331 and joining shaft 310, if common stage clip can be used when not high for telescopic spring required precision, or want the path that restraining spring is replied, can also at spring outer installment passage, this channel setting is on pedestal 320 or fixed plate 350.
Spring bearing 330 protrudes into beyond base profile line, becomes axisymmetric spring bearing to be formed the transverse of extruding flexbile gear with joining shaft, and the movement locus of spring bearing is flexbile gear and has just taken turns gear motion track.
As shown in Figure 4 and Figure 6, joining shaft 310 lower end is provided with cushion cap 311, between pedestal 320 and cushion cap 311, support platform 340 is also set, wave-generator entirety is fixed on the neutral position of joining shaft vertical direction by support platform 340, cushion cap 311 edge arranges and sticks into groove 312, what support platform 340 is sticked into cushion cap sticks in groove 312, limits the position of support platform 340.
As shown in Figure 3 and Figure 5, be provided with fixed plate 350 above pedestal 320, fixed plate 350 and pedestal 320 are provided with tapped hole 324, and fixed plate 350 and pedestal 320 are fixed connection by countersunk screw 351.Waiting when mounted to prevent the spring bearing 330 in groove 321 from skidding off, fixed plate 350 being fixed on above pedestal 320, spring bearing 330 can be limited in groove 321.
As shown in Figure 5, pedestal 320 is also provided with the auxiliary bearing 332 supported flexbile gear, auxiliary bearing 332 occurs in pairs, and the distance between a pair auxiliary bearing 332 is less than the distance between a pair spring bearing 330.The group number of auxiliary bearing 332 can design according to the needs supported flexbile gear.
As shown in Figure 4, attachment hole is provided with in the middle part of joining shaft and the hole wall of attachment hole is provided with locking hole 313.When connecting, the transmission part of outside being inserted in attachment hole, being screwed in locking hole 313 by lock bolt and realizing fixing of transmission part and joining shaft 310.
As shown in Figure 7 and Figure 8, pedestal 320 is provided with to be convenient to observe the observation groove 322 whether countersunk screw 351 is screwed to position, when countersunk screw 351 is tightened time, if observe the bottom that groove 322 level cannot observe countersunk screw 351, illustrate that countersunk screw 351 length not or do not tighten.
Be arranged on by this wave-generator in the flexbile gear of harmonic speed reducer, flexbile gear coordinates with firm wheel again.When mounted, regulate the position residing for bearing rod 331 by spring, make the spring bearing 330 on bearing rod 331 extrude flexbile gear, flexbile gear is effectively engaged with firm wheel.In transmission process, coupling, under the drive of outside driving component, makes pedestal 320 also coaxial rotation, can change the position of extruding flexbile gear gradually to realize harmonic driving time spring bearing 330 rotates.
Above-described is only preferred implementation of the present utility model; should be understood that; for a person skilled in the art; under the prerequisite not departing from the utility model structure; some distortion and improvement can also be made; these also should be considered as protection domain of the present utility model, and these all can not affect effect and the practical applicability of the utility model enforcement.
Claims (10)
1. the automatic regulating gap wave-generator of a harmonic speed reducer, comprise pedestal, joining shaft, bearing rod and spring bearing, it is characterized in that: described base sleeve to be located on described joining shaft and secure fit, described spring bearing is arranged on bearing rod, pedestal is provided with and pass for bearing rod and to make it close or away from the bar hole of joining shaft, this bar hole two is one group, pedestal is at least provided with one group and becomes axisymmetric with joining shaft, spring bearing protrudes into outside base profile line, be provided with between described bearing rod and joining shaft and order about bearing rod along the outside spring of bar hole.
2. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: described pedestal is provided with the groove holding spring bearing.
3. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: described joining shaft one end is provided with cushion cap, and described pedestal to be placed in above cushion cap and to fix with it.
4. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: be provided with above described pedestal and its fixed plate be connected by countersunk screw.
5. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: described spring is two and becomes upper and lower being symmetrical arranged with bearing rod center.
6. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1 or 5, is characterized in that: described spring is laminated spring.
7. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: every root bearing rod is provided with overlapping up and down two identical spring bearings.
8. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1 and 2, it is characterized in that: described pedestal is also provided with the auxiliary bearing that flexbile gear is supported, described auxiliary bearing is arranged in pairs, and the distance between a pair auxiliary bearing is less than the distance between a pair spring bearing.
9. the automatic regulating gap wave-generator of harmonic speed reducer according to claim 1, is characterized in that: be provided with attachment hole in the middle part of described joining shaft and the hole wall of attachment hole is provided with locking hole.
10. the automatic regulating gap wave-generator of the harmonic speed reducer according to claim 1 or 9, is characterized in that: described pedestal is provided with to be convenient to observe the observation groove whether countersunk screw is screwed to position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520253957.7U CN204647260U (en) | 2015-04-24 | 2015-04-24 | A kind of automatic regulating gap wave-generator of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520253957.7U CN204647260U (en) | 2015-04-24 | 2015-04-24 | A kind of automatic regulating gap wave-generator of harmonic speed reducer |
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| Publication Number | Publication Date |
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| CN204647260U true CN204647260U (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520253957.7U Expired - Fee Related CN204647260U (en) | 2015-04-24 | 2015-04-24 | A kind of automatic regulating gap wave-generator of harmonic speed reducer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104791474A (en) * | 2015-04-24 | 2015-07-22 | 重庆洋迪机电有限公司 | Clearance automatic adjustment wave generator of harmonic wave reducer |
| CN106313104A (en) * | 2016-10-24 | 2017-01-11 | 四川大学 | Separable type series elastic joint |
| CN113685528A (en) * | 2021-09-17 | 2021-11-23 | 众合天成智能装备（廊坊）有限公司 | Automatic double-inner-meshing complex wave harmonic drive speed reducer with aligning function |
-
2015
- 2015-04-24 CN CN201520253957.7U patent/CN204647260U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104791474A (en) * | 2015-04-24 | 2015-07-22 | 重庆洋迪机电有限公司 | Clearance automatic adjustment wave generator of harmonic wave reducer |
| CN106313104A (en) * | 2016-10-24 | 2017-01-11 | 四川大学 | Separable type series elastic joint |
| CN113685528A (en) * | 2021-09-17 | 2021-11-23 | 众合天成智能装备（廊坊）有限公司 | Automatic double-inner-meshing complex wave harmonic drive speed reducer with aligning function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150916 Termination date: 20200424 |