CN205036820U - Take well casement harmonic speed reducer ware of cross cross roller bearing - Google Patents

Take well casement harmonic speed reducer ware of cross cross roller bearing Download PDF

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Publication number
CN205036820U
CN205036820U CN201520742565.7U CN201520742565U CN205036820U CN 205036820 U CN205036820 U CN 205036820U CN 201520742565 U CN201520742565 U CN 201520742565U CN 205036820 U CN205036820 U CN 205036820U
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China
Prior art keywords
roller bearing
speed reducer
shell
harmonic speed
flexbile gear
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Active
Application number
CN201520742565.7U
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Chinese (zh)
Inventor
袁安富
杨燃
张瀚
袁恒
彭敏
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ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
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ZHEJIANG LAIFUAL HARMONIC DRIVE Co Ltd
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Priority to CN201520742565.7U priority Critical patent/CN205036820U/en
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Abstract

The utility model relates to a take well casement harmonic speed reducer ware of cross cross roller bearing is refered in particular to in harmonic speed reducer ware field, including last casing, lower casing, wave generator, flexbile gear, circular spline, cross cross roller bearing, wave generator is hollow structure, and wave generator passes casing and lower casing, the flexbile gear cover is established outside wave generator, the internal tooth of circular spline and the outer gear mesh of flexbile gear, the circular spline is provided with cross cross roller bearing with the casing is fixed down between circular spline and the last casing, the outer lane of cross cross roller bearing is fixed on last casing, and the inner circle of cross cross roller bearing leans on with the flexbile gear mutually. After adopting above -mentioned scheme, retrencied the part of harmonic speed reducer ware in a large number, very big improvement assembly efficiency.

Description

A kind of hollow type harmonic speed reducer with cross roller bearing
Technical field
The utility model relates to harmonic speed reducer field, refers in particular to a kind of hollow type harmonic speed reducer with cross roller bearing.
Background technique
Speed reducer is a kind of power transmission mechanism, utilizes the velocity transducer of gear, and the winding number of electric motor is decelerated to desired winding number, and obtains the mechanism of larger torque.Speed reducer of a great variety, model is different, variety classes has different purposes, wherein harmonic wave speed reducing machine is a kind of a kind of Novel speed reducer utilizing Planetary Gear Transmission principle to grow up, because its bearing capacity is high, velocity ratio is large, and volume is little, lightweight, stable drive and transmission accuracy these particular advantages high, make harmonic wave speed reducing machine be widely used in the industries such as electronics, space flight and aviation, robot.
The coupling shaft of existing harmonic wave speed reducing machine is generally solid, when harmonic wave speed reducing machine connect two need between the parts of transmission, to need trace arrangements time, electric wire can only carry out arrangement and install in the outside of harmonic wave speed reducing machine, cable etc. is so not only made to be exposed to outside, add installing space, increase installation difficulty, and easily damage, also add the length of cable, cause unnecessary waste.Further, in order to have very high work efficiency, the instantaneous acceleration of the movable joints such as robotic arm is very high, just forces harmonic speed reducer to have extraordinary bending resistance.
Therefore, the present inventor makes further research this, and develop a kind of hollow type harmonic speed reducer with cross roller bearing, this case produces thus.
Model utility content
The purpose of this utility model is to provide a kind of hollow type harmonic speed reducer with cross roller bearing, has simplified the part of harmonic speed reducer in a large number, has greatly improved efficiency of assembling.
To achieve these goals, the technical solution of the utility model is as follows:
With a hollow type harmonic speed reducer for cross roller bearing, comprise upper shell, lower shell body, wave-generator, flexbile gear, just wheel, cross roller bearing, described wave-generator is hollow structure, and wave-generator is through upper shell and lower shell body; Described flexbile gear is set in outside wave-generator, the described internal tooth of firm wheel is meshed with the external tooth of flexbile gear, firm wheel and lower shell body are fixed, cross roller bearing is provided with between firm wheel and upper shell, the outer ring of described cross roller bearing is fixed on upper shell, and the inner ring of cross roller bearing leans on mutually with flexbile gear.
Further, described lower shell body with just take turns, upper shell is connected each via screw with cross roller bearing.
Further, flexible bearing is provided with between described flexbile gear and wave-generator.
After adopting such scheme, the utility model compared with prior art, has the following advantages:
Save the material of general harmonic speed reducer loading section and housing parts, reduce its manufacture cost; Simplify the part of harmonic speed reducer in a large number, greatly improve efficiency of assembling; During conducting transmission line arrangement, cable passing in the through hole of wave-generator, can avoid cable and being exposed to outside, making cable not fragile, but also decrease the length of cable, avoid unnecessary waste; Firm wheel can with the integration of load, greatly reduce the axial dimension of harmonic speed reducer entirety; Cross roller bearing, as the hinge connecting flexbile gear and just taken turns, greatly improves stability of rotation and the bending resistance of this kind of hollow type harmonic speed reducer.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present utility model;
Label declaration
Upper shell 1, lower shell body 2, wave-generator 3, flexbile gear 4, just takes turns 5,
Cross roller bearing 6, flexible bearing 7.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
As shown in the figure, a kind of hollow type harmonic speed reducer with cross roller bearing 6 that the utility model discloses, comprises upper shell 1, lower shell body 2, wave-generator 3, flexbile gear 4, just takes turns 5, cross roller bearing 6; Centre offers the wave-generator 3 of through hole through upper shell 1 and lower shell body 2, and upper shell 1 is as input end, and lower shell body 2 is as output terminal, and the wave-generator 3 of input end offers screw, connects as power input.
Flexbile gear 4 is set in outside wave-generator 3, is provided with flexible bearing 7 between flexbile gear 4 and wave-generator 3; The internal tooth of firm wheel 5 is meshed with the external tooth of flexbile gear 4, firm wheel 5 is fixed with lower shell body 2, be provided with cross roller bearing 6 between firm wheel 5 and upper shell 1, the outer ring of cross roller bearing 6 is fixed on upper shell 1, and the inner ring of cross roller bearing 6 leans on mutually with flexbile gear 4; Lower shell body 2 with just take turns 5, upper shell 1 is connected each via screw with cross roller bearing 6.
Working principle: power inputs, wave-generator 3 is driven to rotate, when wave-generator 3 rotates continuously, the distortion of flexbile gear 4 constantly changes, flexbile gear 4 is also constantly changed with the engagement of just having taken turns 5, by engaging-in, engage, nibble out, throw off, engaging-in again, carry out again and again, thus realize flexbile gear 4 and relatively just taken turns 5 along the rightabout slow circumvolve of wave-generator 3, connect load export by just taking turns the tapped hole offered on 5.
Above are only specific embodiment of the utility model, but design concept of the present utility model is not limited thereto, all changes utilizing this design the utility model to be carried out to unsubstantiality, all should belong to the behavior of invading the utility model protection domain.

Claims (3)

1. the hollow type harmonic speed reducer with cross roller bearing, it is characterized in that: comprise upper shell, lower shell body, wave-generator, flexbile gear, just wheel, cross roller bearing, described wave-generator is hollow structure, and wave-generator is through upper shell and lower shell body; Described flexbile gear is set in outside wave-generator, the described internal tooth of firm wheel is meshed with the external tooth of flexbile gear, firm wheel and lower shell body are fixed, cross roller bearing is provided with between firm wheel and upper shell, the outer ring of described cross roller bearing is fixed on upper shell, and the inner ring of cross roller bearing leans on mutually with flexbile gear.
2. a kind of hollow type harmonic speed reducer with cross roller bearing according to claim 1, is characterized in that: described lower shell body with just take turns, upper shell is connected each via screw with cross roller bearing.
3. a kind of hollow type harmonic speed reducer with cross roller bearing according to claim 1, is characterized in that: be provided with flexible bearing between described flexbile gear and wave-generator.
CN201520742565.7U 2015-09-23 2015-09-23 Take well casement harmonic speed reducer ware of cross cross roller bearing Active CN205036820U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520742565.7U CN205036820U (en) 2015-09-23 2015-09-23 Take well casement harmonic speed reducer ware of cross cross roller bearing

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520742565.7U CN205036820U (en) 2015-09-23 2015-09-23 Take well casement harmonic speed reducer ware of cross cross roller bearing

Publications (1)

Publication Number Publication Date
CN205036820U true CN205036820U (en) 2016-02-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520742565.7U Active CN205036820U (en) 2015-09-23 2015-09-23 Take well casement harmonic speed reducer ware of cross cross roller bearing

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105889417A (en) * 2016-06-15 2016-08-24 苏州绿的谐波传动科技有限公司 Lightweight precision harmonic speed reducer
CN106230186A (en) * 2016-08-15 2016-12-14 广州市昊志机电股份有限公司 A kind of set has the hollow type harmonic speed reducer of motor
CN106246811A (en) * 2016-07-25 2016-12-21 苏州绿的谐波传动科技有限公司 Harmonic speed reducer
CN106487158A (en) * 2016-11-18 2017-03-08 四川福德机器人股份有限公司 A kind of flat integration harmonic speed reducer device of built-in motor
CN109723799A (en) * 2019-01-16 2019-05-07 南京信息工程大学 A kind of combined harmonic retarder
CN110030358A (en) * 2019-04-12 2019-07-19 大族激光科技产业集团股份有限公司 A kind of hollow shaft harmonic speed reducer and its installation method
CN110303484A (en) * 2019-07-04 2019-10-08 大族激光科技产业集团股份有限公司 Joint module and robot

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105889417A (en) * 2016-06-15 2016-08-24 苏州绿的谐波传动科技有限公司 Lightweight precision harmonic speed reducer
CN106246811A (en) * 2016-07-25 2016-12-21 苏州绿的谐波传动科技有限公司 Harmonic speed reducer
CN106230186A (en) * 2016-08-15 2016-12-14 广州市昊志机电股份有限公司 A kind of set has the hollow type harmonic speed reducer of motor
CN106230186B (en) * 2016-08-15 2019-05-24 广州市昊志机电股份有限公司 It is a kind of to gather the hollow type harmonic speed reducer for having motor
CN106487158A (en) * 2016-11-18 2017-03-08 四川福德机器人股份有限公司 A kind of flat integration harmonic speed reducer device of built-in motor
CN109723799A (en) * 2019-01-16 2019-05-07 南京信息工程大学 A kind of combined harmonic retarder
CN110030358A (en) * 2019-04-12 2019-07-19 大族激光科技产业集团股份有限公司 A kind of hollow shaft harmonic speed reducer and its installation method
CN110303484A (en) * 2019-07-04 2019-10-08 大族激光科技产业集团股份有限公司 Joint module and robot

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