CN204739189U - Novel harmonic speed reducer machine of structure - Google Patents
Novel harmonic speed reducer machine of structure Download PDFInfo
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- CN204739189U CN204739189U CN201520297154.1U CN201520297154U CN204739189U CN 204739189 U CN204739189 U CN 204739189U CN 201520297154 U CN201520297154 U CN 201520297154U CN 204739189 U CN204739189 U CN 204739189U
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Abstract
The utility model discloses a novel harmonic speed reducer machine of structure, for two circular spline structures, wave generator is last to be equipped with two the same flexible bearings, and the flexbile gear is the ring shape, installs on the outer lane of flexible bearing, and the external tooth number of teeth of the internal tooth gear ratio flexbile gear of first circular spline is many 2, links together with rear end cap and cross roller bearing's inner circle three, as the stiff end of harmonic speed reducer machine, the internal tooth number of teeth of second circular spline is the same with the external tooth number of teeth of flexbile gear, links together with front end housing and cross roller bearing's outer lane three, as the output of harmonic speed reducer machine. The utility model discloses rational in infrastructure, bearing force and shock resistance are strong.
Description
Technical field
The utility model relates to a kind of harmonic wave speed reducing machine.
Background technique
It is high that harmonic wave speed reducing machine has precision, and volume is little, the feature that bearing torque is high, is widely used in industrial robot field.Fig. 1 is the structure diagram of conventional harmonic speed reducer, has five core components: just taken turns 1, flexbile gear 2 (flexbile gear can be cup type or carnival hat type), cross roller bearing 3, flexible bearing 4 and elliptical wave generator 5.Elliptical wave generator 5 is usually used as input end, and just wheel 1 is as fixed end, and flexbile gear 2 is as output terminal.Flexbile gear 2 is bent to ellipse by wave-generator 5, and the external tooth of flexbile gear 2 engages with the internal tooth of just taking turns 1 at the two-end part of oval long axis direction.Harmonic wave speed reducing machine gear engagement states is shown in Fig. 2.
The torque of conventional harmonic speed reducer exports all is transmitted by flexbile gear thin-walled (thickness is less than 0.5 millimeter).Flexbile gear thin-walled is close to 90 degree of right angles.This structure causes the damage of the conventional harmonic speed reducer overwhelming majority to come from the inefficacy (fracture or bending deflection) of flexbile gear bottom weakened wall.Meanwhile, this structure also greatly reduces load capacity and the impact resistance of harmonic wave speed reducing machine, is the significant deficiency of conventional harmonic speed reducer.In order to change this structural defect, the design of two just wheel construction should be adopted.
Fig. 3 is the design principle sketch of two just wheel construction harmonic wave speed reducing machine.There are six critical pieces: just taken turns 6, just taken turns 7, flexbile gear 8, flexible bearing 9, flexible bearing 10, elliptical wave generator 11.Two identical flexible bearings (9,10) elliptical wave generator 11 are equipped with.Flexbile gear 8, in toroidal, is arranged on the outer ring of flexible bearing, is bent to ellipse.The external tooth number of teeth many 2 of the internal tooth gear ratio flexbile gear 8 of firm wheel 6, namely when just wheel 6 is fixing, wave-generator 11 dextrorotation is circled after (360 degree), and flexbile gear is mobile 2 teeth counterclockwise.The internal tooth number of teeth of firm wheel 7 is the same with the external tooth number of teeth of flexbile gear 8, and just wheel 7 is as output terminal, exports for transmitting load.The advantage of this structure is flexbile gear is toroidal, does not have 90 degree of traditional thin walled structuress, flexbile gear tooth base thickness degree suitably can be strengthened, and improves the bearing capacity of flexbile gear teeth portion.Firm wheel 7 is rigid construction, as output terminal, greatly can improve load capacity and the impact resistance of harmonic speed reducer.In addition, flexbile gear and the just wheel processing of this structure are simple, and adoptable processing mode is a lot, such as electrical spark slow wire feeding, gear shaping, roll flute.Can greatly cut down finished cost and difficulty of processing.
The harmonic wave speed reducing machine of the firm wheel construction of traditional double adopts split-type structural, has just taken turns for two and can be separated, facilitated client to install and use.In order to allow client can assemble this high-accuracy speed reducer relatively easily, split-type structural just must leave enough backlash, causes traditional double just to take turns the backlash precision of harmonic wave speed reducing machine all more than 3 arcs divide.The highest backlash precision that traditional double has just taken turns harmonic wave speed reducing machine is that 3 arcs divide.In addition, the speed reducer of this split-type structural requires that user assembles voluntarily, design closure, and buying special fat adds.A series of problem causes the harmonic wave speed reducing machine of this two just wheel construction to be difficult to be widely used.
Tradition has very significant merits and demerits with the harmonic wave speed reducing machine of 90 degree of right angle thin-walled flexbile gears separately with two just wheel construction harmonic wave speed reducing machine.The present invention is the advantage in order to gather these two kinds of harmonic wave speed reducing machines, has complementary advantages, and designs and manufactures a kind of closed harmonic wave speed reducing machine of high capacity high impact-resistance, cuts down finished cost and difficulty of processing simultaneously.
Summary of the invention
The purpose of this utility model is to provide a kind of rational in infrastructure, the harmonic wave speed reducing machine of the new structure of load capacity and strong shock resistance.
Technical solution of the present utility model is:
A kind of harmonic wave speed reducing machine of new structure, for two firm wheel construction, it is characterized in that: wave-generator is equipped with two identical flexible bearings, flexbile gear is toroidal, be arranged on the outer ring of flexible bearing, the external tooth number of teeth many 2 of the first internal tooth gear ratio flexbile gear of just having taken turns, links together, as the fixed end of harmonic wave speed reducing machine with the inner ring three of rear end cover and cross roller bearing; The second internal tooth number of teeth of just having taken turns is the same with the external tooth number of teeth of flexbile gear, links together, as the output terminal of harmonic wave speed reducing machine with the outer ring three of front cover and cross roller bearing.
In the corner that second has just taken turns, the locking nut of multiple raising transmitting torque is set.
The utility model is rational in infrastructure, compares, have the following advantages with conventional construction harmonic wave speed reducing machine:
Flexbile gear is toroidal, and unconventional cup type or carnival hat type, be convenient to processing, load capacity and impact resistance strengthen greatly, have stopped the possibility that harmonic wave speed reducing machine lost efficacy in flexbile gear 90 degree of thin-walled positions; Harmonic wave speed reducing machine of the present invention adopts fully closed structure, and does not change the installation dimension of original harmonic wave speed reducing machine, and it is very convenient to install and use, and adds grease voluntarily without the need to user; The corner that output terminal has just been taken turns increases multiple locking nut, greatly improves transmitting torque; Adopt cross roller bearing to connect two just wheels, two firm wheels are installed without the need to being separated, and greatly can reduce backlash during design, ensure just to have taken turns for two all to control within 1 arc divides with the backlash that engages of flexbile gear.Harmonic wave speed reducing machine load capacity of the present invention and impact resistance strengthen greatly, and fatigue life also improves nearly 50% than conventional harmonic speed reducer.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is the structure diagram of conventional harmonic speed reducer.
Fig. 2 is harmonic wave speed reducing machine gear engagement states schematic diagram.
Fig. 3 is two just wheel construction harmonic wave speed reducing machine design principle sketches
Fig. 4 is the structural representation of the utility model embodiment.
Embodiment
A kind of new structure harmonic wave speed reducing machine, have two just wheel construction, flexbile gear becomes toroidal.There is critical piece: elliptical wave generator 12, flexible bearing 13, flexible bearing 14, flexbile gear 15, first be wheel 16, second just wheel 17, cross roller bearing 18, front cover 19 and rear end cover 20 just.Two identical flexible bearings (13,14) wave-generator 12 are equipped with.Flexbile gear 15, in toroidal, is arranged on the outer ring of flexible bearing, is bent to ellipse.The external tooth number of teeth many 2 of the internal tooth gear ratio flexbile gear 15 of the first firm wheel 16, links together, as the fixed end of harmonic wave speed reducing machine with the inner ring three of rear end cover 20 and cross roller bearing 18.The internal tooth number of teeth of the second firm wheel 17 is the same with the external tooth number of teeth of flexbile gear 15, links together, as the output terminal of harmonic wave speed reducing machine with the outer ring three of front cover 19 and cross roller bearing 18.First just wheel 16 and second just wheel 17 due to the internal tooth number of teeth inconsistent, so profile of tooth is also inconsistent.Flexbile gear 15 external tooth and first just taken turns the engagement of 16 internal tooths and conventional harmonic engagement consistent, see Fig. 2.The engagement that flexbile gear 15 external tooth and second just take turns 17 internal tooths is substantially the same with the total number of teeth in engagement of conventional harmonic engagement, distinguishes and is to engage position not at the major axis position of flexbile gear 15, but the position between major axis and minor axis.
This pair of firm wheel construction harmonic wave speed reducing machine is enclosed construction, and it is very convenient to install and use, and adds grease voluntarily without the need to user.
Increase multiple locking nut in the corner of the second firm wheel 17, greatly improve transmitting torque.
Claims (2)
1. the harmonic wave speed reducing machine of a new structure, for two firm wheel construction, it is characterized in that: wave-generator is equipped with two identical flexible bearings, flexbile gear is toroidal, be arranged on the outer ring of flexible bearing, the external tooth number of teeth many 2 of the first internal tooth gear ratio flexbile gear of just having taken turns, links together, as the fixed end of harmonic wave speed reducing machine with the inner ring three of rear end cover and cross roller bearing; The second internal tooth number of teeth of just having taken turns is the same with the external tooth number of teeth of flexbile gear, links together, as the output terminal of harmonic wave speed reducing machine with the outer ring three of front cover and cross roller bearing.
2. the harmonic wave speed reducing machine of new structure according to claim 1, is characterized in that: the corner of just having taken turns second, arranges the locking nut of multiple raising transmitting torque.
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| CN201520297154.1U CN204739189U (en) | 2015-05-11 | 2015-05-11 | Novel harmonic speed reducer machine of structure |
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| CN201520297154.1U CN204739189U (en) | 2015-05-11 | 2015-05-11 | Novel harmonic speed reducer machine of structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104864066A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Harmonic-wave speed reducer with improved structure |
| CN105422792A (en) * | 2015-12-24 | 2016-03-23 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with strain gauges |
| CN108700174A (en) * | 2016-03-11 | 2018-10-23 | 舍弗勒技术股份两合公司 | Harmonic drive |
| CN108757885A (en) * | 2018-08-07 | 2018-11-06 | 昆山冠品优精密机械有限公司 | Novel speed reducer |
-
2015
- 2015-05-11 CN CN201520297154.1U patent/CN204739189U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104864066A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Harmonic-wave speed reducer with improved structure |
| CN105422792A (en) * | 2015-12-24 | 2016-03-23 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with strain gauges |
| CN108700174A (en) * | 2016-03-11 | 2018-10-23 | 舍弗勒技术股份两合公司 | Harmonic drive |
| US11098796B2 (en) | 2016-03-11 | 2021-08-24 | Schaeffler Technologies AG & Co. KG | Harmonic drive |
| CN108700174B (en) * | 2016-03-11 | 2021-11-26 | 舍弗勒技术股份两合公司 | Harmonic drive |
| CN108757885A (en) * | 2018-08-07 | 2018-11-06 | 昆山冠品优精密机械有限公司 | Novel speed reducer |
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