CN205226279U - Miniature harmonic speed reducer ware subassembly - Google Patents
Miniature harmonic speed reducer ware subassembly Download PDFInfo
- Publication number
- CN205226279U CN205226279U CN201521105461.1U CN201521105461U CN205226279U CN 205226279 U CN205226279 U CN 205226279U CN 201521105461 U CN201521105461 U CN 201521105461U CN 205226279 U CN205226279 U CN 205226279U
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- speed reducer
- harmonic speed
- housing
- motor
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Abstract
The utility model discloses a miniature harmonic speed reducer ware subassembly has solved among the prior art miniature harmonic speed reducer ware and servo motor's the problem that installation rigidity is not enough, the size is bigger than normal and processing technology is complicated, and its technical scheme main points are including motor and harmonic speed reducer ware, the harmonic speed reducer ware is including the casing and set up flexbile gear and the harmonic generator subassembly inside the casing, it is connected the end cover to be provided with between the output of motor and the input of harmonic speed reducer ware, the inside position department an organic whole corresponding to the flexbile gear of casing is provided with the steel wheel, connect the fixed embedding of one end of end cover inside the casing, other end fixed bag cover in the outside of motor has reached with small -size, simple miniature harmonic speed reducer ware of structrual installation and motor to the sufficient effect of connecting rigidity.
Description
The utility model relates to a kind of reducer structure, and more particularly, it relates to a kind of miniature harmonic speed reducer.
Background technique
Harmonic speed reducer mainly includes harmonic generator, flexible gear and rigid gear three basic building blocks, it is a kind of Novel reducer developed by Planetary Gear Transmission principle, because its velocity ratio is large, compact structure, volume are little, quality is light, bearing capacity is strong and transmission accuracy is high, have a wide range of applications in precision drive field.The working principle of harmonic speed reducer is: structure and the motion principle of harmonic generator are similar to cam, the high speed shaft in harmonic speed reducer is inputed to from the high speed rotary motion in mechanism, harmonic generator and high speed shaft link, and transfer the motion in compliant wheel by the outer contour shape of himself; Compliant wheel as its name suggests, it is the flexible external gear that controlled elasticity distortion can occur, along with the rotation of harmonic generator, compliant wheel does periodically resiliently deformable with the outer contour of harmonic generator, compliant wheel outer gearing has rigid gear, is realized the slowing effect of whole harmonic speed reducer by the number of teeth difference between compliant wheel and rigid wheel.
Usually, the place of strict restriction is subject in some place sizes, such as robot, when little micromodule equipment needs to use harmonic speed reducer, need to use miniature harmonic speed reducer, due to the restriction of bulk, thus should go the installation reducing space when designing as far as possible, under normal conditions, install and connect harmonic speed reducer when the actuating motor of outside, usual employing harmonic speed reducer and actuating motor assembly separable assembled, first harmonic speed reducer is assembled on retarder fixed base, then assembling is used for the actuating motor of power input and the output flange for Power output, but such structure when mounted Problems existing is that the coaxality of motor and retarder is difficult to adjust.
For the problems referred to above, the combined harmonic speed reducer of a kind of robot is disclosed in the patent of invention (documents 1) of application number 201210344932.9, its technological points is on the output shaft of actuating motor, install the Flexible Connector that is connected to harmonic speed reducer inside, and the gear teeth of steel wheel are directly processed on Flexible Connector, and, in order to meet the engagement requirement of steel wheel and flexbile gear, Flexible Connector needs to stretch into a part in reducer shell, and outside housing, arranges flange connector with fixing speed reducer and actuating motor.
Steel wheel is processed on Flexible Connector by the technological scheme in documents 1, owing to being provided with two elastic joint parts, thus the manufacture process of steel wheel needs to adopt different processing technologys respectively to each part, thus processing structure is complicated, but is not so difficult to again the requirement meeting installation dimension.
Model utility content
For the deficiency that prior art exists, the purpose of this utility model is to provide a kind of installation dimension little and the high miniature harmonic speed reducer of coupling stiffness.
For achieving the above object, the utility model provides following technological scheme: a kind of miniature harmonic speed reducer assembly, comprise motor and harmonic speed reducer, described harmonic speed reducer includes housing and is arranged at flexbile gear and the harmonic generator assembly of enclosure interior, be provided with between the output terminal of described motor and the input end of harmonic speed reducer and be connected end cap, the position that described enclosure interior corresponds to flexbile gear has been wholely set steel wheel, the fixedly embedded described enclosure interior in one end of described connection end cap, the other end fixed packet is overlying on the outside of described motor.
Further, described connection end cap includes the first connecting end, the second connecting end and locating flange, described first connecting end is embedded on the end face in described housing and is provided with attachment screw, described locating flange offsets near the end face of housing and the end face of described housing.
Further, the outer wall of described housing is provided with positioning screwn, described positioning screwn penetrates described housing and embeds described connection end cap.
Further, described first connecting end is embedded on the end face in described housing and is provided with counterbore, the end of described attachment screw embeds in described counterbore.
By adopting technique scheme, the housing of steel wheel and harmonic speed reducer assembly is processed into one, first the space originally shared by housing has been saved, and the thickness of housing is directly as the gear ring thickness of steel wheel, so, when overall outer dimensions does not increase, the bulk strength of steel wheel is improved, in addition, be different from the technological scheme in background technique, connect end cap and adopt embedded connection in one end of harmonic speed reducer assembly, namely embed in housing by the first connecting end, like this, connect end cap and no longer needing between housing, flange is set separately abut on housing exterior walls, further reduce overall installation dimension, simultaneously, during embedded connection, connect the cylindrical precision of end cap by rational manufacturing procedure, be easy to be improved, the form of shell end is connected to compared with flanged type, advantageously in ensureing the coaxality between motor and harmonic speed reducer assembly.
The utility model is set to further: described harmonic generator assembly includes cam, flexible bearing and the fixed block for limiting the position of flexible bearing on cam, described fixed block is fixedly connected with described cam, is formed with the die cavity for installing fixing flexible bearing between described cam and fixed block.
By adopting technique scheme, when harmonic speed reducer component integration size is all very little, need the size of harmonic generator assembly also corresponding reduction, but, because the cam cylindrical on harmonic speed reducer assembly needs setting-in flexible bearing to realize the distortion that generation ofharmonic controls flexbile gear, but, when overall dimensions reduces, the size of cam own also can become very little, so now on flange, the die cavity of flexible bearing is installed in processing, can be very large to the weakening of the bulk strength of cam, be unfavorable for the transmission of high pulling torque, by split type processing, by the part of only processing cavity on cam, spacing and supplementary by end cap, the intensity of die cavity is guaranteed, also very large weakening can not be had to the intensity of cam, be conducive to the raising of the bearing capacity of whole slowing-down structure.
Accompanying drawing explanation
Fig. 1 is the integral installation figure of the utility model embodiment;
Fig. 2 is the part sectional view connecting end cap;
Fig. 3 is the part half sectional view of housing;
Fig. 4 is the partial enlarged view A in Fig. 1;
Fig. 5 is the sectional arrangement drawing of harmonic generator assembly.
Accompanying drawing marks: 1, motor; 2, end cap is connected; 3, input shaft; 4, harmonic generator assembly; 5, flexbile gear; 6, output shaft; 7, housing; 8, end cap is exported; 9, attachment screw; 21, the first connecting end; 22, the second connecting end; 23, locating flange; 24, counterbore; 41, cam; 42, die cavity; 43, flexible bearing; 44, fixed block; 45, attachment hole; 71, steel wheel; 91, positioning screwn.
Embodiment
Referring to figs. 1 through Fig. 5 and embodiment, the utility model is described further.
A kind of miniature harmonic speed reducer assembly, include the harmonic speed reducer of motor 1 and torch machine 1 driving, be provided with between the two and connect end cap 2, the one end connecting end cap 2 is coated on the frame of motor 1, it is inner that the other end embeds harmonic speed reducer, by connecting this Connecting format of end cap 2, can make motor 1 and harmonic speed reducer after being connected to form harmonic speed reducer assembly, overall dimension reduces greatly.It is pointed out that the utility model is miniature harmonic speed reducer assembly, thus, motor 1 is less with the installation dimension of harmonic speed reducer, is more conducive to the application of miniature harmonic speed reducer assembly.Be different from common harmonic speed reducer and motor will be told in rotary motion input reducer by the form of coupling, connection end cap 2 in the present embodiment directly instead of coupling, by the output shaft of motor 1 directly as the input shaft 3 of harmonic speed reducer, the axial span between motor 1 and harmonic speed reducer can be reduced so to greatest extent, ensure the rigidity of input shaft 3.
Harmonic speed reducer includes housing 7 and the harmonic generator assembly 4 that is arranged on input shaft 3 of linking, and controlled elasticity distortion occurs the flexbile gear 5 that the rotating drive of harmonic generator assembly 4 is arranged on its outside.Position one processing sets up housing 7 corresponding to flexbile gear 5 has steel wheel 71, as shown in Figure 3, when there is resiliently deformable in flexbile gear 5 under the control of harmonic generator assembly 4, flexbile gear 5 is meshed with steel wheel 71, the rotating speed of input shaft 3 is reduced by the number of teeth difference of flexbile gear 5 with steel wheel 71, realizes slowing down.Flexbile gear 5 is linkedly set with output shaft 6, the rotary motion after deceleration exports the external world to by output shaft 6.
Particularly, the concrete structure figure of connection end cap 2 as shown in Figure 2, it includes the first connecting end 21, second connecting end 22 and locating flange 23, wherein, the outer wall of the first connecting end 21 is fitted together to the inner ring to problem 7, and by the length in its embedding housing 7 of positioning control of locating flange 23, when the end of housing 7 props up locating flange 23, the end face of locating flange 23 abuts with the end face of housing 7.Second connecting end 22 is coated on motor 1 by endoporus.In order to ensure that this relative position can not by the impact damage in the vibration of motor or the external world, first connecting end 21 is provided with counterbore 24 on an end face of housing 7 inner chamber, as shown in the partial enlarged drawing in Fig. 4, attachment screw 9 is provided with in counterbore 24, the screw rod of attachment screw 9 passes straight through on motor 1, realizes motor 1 and connects the relative fixing of end cap 2.Further, because counterbore 24 is set directly on the end face connecting end cap 2, thus the setting of attachment screw 9 also can not increase installation dimension.In addition, in order to limit the relative position relation connecting end cap 2 and housing 7 further, wear and penetrated positioning screwn 91 on the first connecting end 21 with on the outer wall of housing 7, positioning screwn 91 is preferably Cock screw, can be that whole screw all embeds in the outer wall of housing 7 when seated, not take the installing space of whole miniature harmonic speed reducer assembly as far as possible.
The erection drawing of harmonic generator assembly 4 as shown in Figure 5, include cam 41 and be installed on the flexible bearing 43 on cam 41, be different from the cavity directly processed on cam 41 in prior art and install flexible bearing 41, die cavity 42 on cam 41 in the present embodiment is stepped shape setting, the other end of flexible bearing 43 is fixed by fixed block 44, fixed block 44 is by offering on attachment hole 45 fixed value input shaft 3 thereon, the end face of fixed block 44 together with die cavity 42 by spacing for flexible bearing 43 on cam 41, thus ensure the output of the normal harmonic motion of harmonic generator assembly 4.
The above is only preferred implementation of the present utility model, protection domain of the present utility model be not only confined to above-described embodiment, and all technological schemes belonged under the utility model thinking all belong to protection domain of the present utility model.It should be pointed out that for those skilled in the art, do not departing from the some improvements and modifications under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (5)
1. a miniature harmonic speed reducer assembly, comprise motor and harmonic speed reducer, described harmonic speed reducer includes housing and is arranged at flexbile gear and the harmonic generator assembly of enclosure interior, be provided with between the output terminal of described motor and the input end of harmonic speed reducer and be connected end cap, it is characterized in that: the position that described enclosure interior corresponds to flexbile gear has been wholely set steel wheel, the fixedly embedded described enclosure interior in one end of described connection end cap, the other end fixed packet is overlying on the outside of described motor.
2. miniature harmonic speed reducer assembly according to claim 1, it is characterized in that: described connection end cap includes the first connecting end, the second connecting end and locating flange, described first connecting end is embedded on the end face in described housing and is provided with attachment screw, described locating flange offsets near the end face of housing and the end face of described housing.
3. miniature harmonic speed reducer assembly according to claim 1 and 2, is characterized in that: the outer wall of described housing is provided with positioning screwn, and described positioning screwn penetrates described housing and embeds described connection end cap.
4. miniature harmonic speed reducer assembly according to claim 2, is characterized in that: described first connecting end is embedded on the end face in described housing and is provided with counterbore, the end of described attachment screw embeds in described counterbore.
5. miniature harmonic speed reducer assembly according to claim 1, it is characterized in that: described harmonic generator assembly includes cam, flexible bearing and the fixed block for limiting the position of flexible bearing on cam, described fixed block is fixedly connected with described cam, is formed with the die cavity for installing fixing flexible bearing between described cam and fixed block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105461.1U CN205226279U (en) | 2015-12-26 | 2015-12-26 | Miniature harmonic speed reducer ware subassembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105461.1U CN205226279U (en) | 2015-12-26 | 2015-12-26 | Miniature harmonic speed reducer ware subassembly |
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| CN205226279U true CN205226279U (en) | 2016-05-11 |
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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 |
| CN107989983A (en) * | 2017-11-29 | 2018-05-04 | 重庆洋迪机电有限公司 | Adjustable harmonic wheel for retarder |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
-
2015
- 2015-12-26 CN CN201521105461.1U patent/CN205226279U/en active Active
Cited By (4)
| 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 kind of harmonic speed reducer and its input drive mechanism |
| CN107989983A (en) * | 2017-11-29 | 2018-05-04 | 重庆洋迪机电有限公司 | Adjustable harmonic wheel for retarder |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
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