CN206268403U - A kind of improvement device of harmonic speed reducer wave producer - Google Patents
A kind of improvement device of harmonic speed reducer wave producer Download PDFInfo
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- CN206268403U CN206268403U CN201621319870.6U CN201621319870U CN206268403U CN 206268403 U CN206268403 U CN 206268403U CN 201621319870 U CN201621319870 U CN 201621319870U CN 206268403 U CN206268403 U CN 206268403U
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- cam
- speed reducer
- harmonic speed
- shaft coupling
- shaft
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Abstract
The utility model discloses a kind of improvement device of harmonic speed reducer wave producer, including flexible bearing（40）, flexible bearing（40）With cam（30）Connection, cam（30）Through shaft block ring（50）With shaft coupling（10）Spacing connection；Shaft coupling（10）With cam（30）Between through float element（20）Drive connection.The utility model is not constrained due to cam center by shaft coupling, the center of cam can with the engagement of firm wheel and flexbile gear self-adaptative adjustment, so as to eliminate the meshing interference that manufacture and rigging error cause, make harmonic speed reducer stable movement, without impact, and then improve the service life of harmonic speed reducer.
Description
Technical field
The utility model is related to a kind of improvement device of harmonic speed reducer wave producer, belongs to harmonic reducer of robot
The mechanical ripple hair device technical field for using.
Background technology
The wave producer of usual harmonic speed reducer is that basic shaft system gap coordinates with output shaft, that is, in wave producer
The heart is relatively-stationary.Due to firm wheel, flexbile gear, the part foozle of wave producer, along with rigging error, can so cause
There is local interference in firm wheel teeth portion and flexbile gear teeth portion, shorten the service life of harmonic speed reducer in engagement process.Especially
It is that interference position and interference degrees will be more serious in the case that input or output end bending moment are loaded.
Utility model content
The purpose of this utility model is, there is provided a kind of improvement device of harmonic speed reducer wave producer, to solve to pass
System harmonic speed reducer wave producer causes firm wheel teeth portion and flexbile gear teeth portion to be sent out in engagement process due to manufacture and rigging error
The technical problem that part is interfered and reduces harmonic speed reducer service life is given birth to, so as to overcome the deficiencies in the prior art.
What the technical solution of the utility model was realized in：
A kind of improvement device of harmonic speed reducer wave producer of the present utility model is that the device includes flexible bearing,
Flexible bearing is connected with cam, and cam is through shaft block ring and the spacing connection of shaft coupling；Through float element between shaft coupling and cam
Drive connection.
In aforementioned means, the shaft coupling includes connecting shaft and adpting flange, and connecting shaft is provided with draw-in groove, on adpting flange
A pair symmetrically arranged chutes are provided with, the central shaft of shaft coupling is provided with driving hole, axially disposed key is provided with driving hole
Groove.
In aforementioned means, the float element is shaped as annular shape, and float element side is provided with and is symmetrical in centre bore
A pair of flange shift forks；Float element opposite side is provided with a pair of cams shift fork for being symmetrical in centre bore；A pair of flange shift forks be connected
A pair of slides connection on flange.
In aforementioned means, the cam is shaped as annular shape, and the cylindrical of cam is ellipse；Cam connects with float element
The one side for connecing is provided with driver slot；The inner circle empty set of cam is in the connecting shaft of shaft coupling；Cam on driver slot and float element
Shift fork is slidably connected.
In aforementioned means, the inner ring and outer rings of the flexible bearing with cam cylindrical Free Transform, inner ring and outer shroud it
Between be evenly equipped with one group of ball.
In aforementioned means, the shaft block ring is shaped as that opening is circular, and the openend of annulus is provided with tool tong hole；Axle
It is stuck on shaft coupling in the draw-in groove of connecting shaft with back-up ring.
By adopting the above-described technical solution, the utility model is compared with prior art, the utility model is due in cam
The heart is not constrained by shaft coupling, the center of cam can with the engagement of firm wheel and flexbile gear self-adaptative adjustment, so as to eliminate
Manufacture and the meshing interference that causes of rigging error, make harmonic speed reducer stable movement, without impact, and then improve harmonic speed reducer
Service life.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the decomposing schematic representation of Fig. 1；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the top view of Fig. 3.
Marked in figure：10- shaft couplings, 11- connecting shafts, 12- adpting flanges, 13- draw-in grooves, 14- chutes, 15- driving holes,
Outside 16- keyways, 20- float elements, 21- centre bores, 22- flanges shift fork, 23- cams shift fork, 30- cams, 31- inner circles, 32-
Circle, 33- driver slots, 40- flexible bearings, 41- inner ring, 42- outer shrouds, 43- balls, 50- shaft block rings, 51- tool tongs hole.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples, but not as new to this practicality
Any limitation of type.
The utility model is constituted according to a kind of improved method of following harmonic speed reducer wave producers, is such as schemed
Shown in 1 and Fig. 2, the method is one float element of increase between the shaft coupling and cam of harmonic speed reducer wave producer,
Make cam that there is the free degree of X, Y both direction relative to shaft coupling by the floating neutral of float element, it is ensured that cam center
Realize self-adaptative adjustment；With solve existing harmonic speed reducer wave producer due to manufacture and rigging error cause firm wheel teeth portion and
There is local interference in engagement process so as to influence the technical problem of harmonic speed reducer service life in flexbile gear teeth portion.
The improvement device of the of the present utility model a kind of harmonic speed reducer wave producer for constituting as stated above, such as Fig. 1-
Shown in 4, the device includes flexible bearing 40, and flexible bearing 40 is connected with cam 30, and cam 30 is through shaft block ring 50 and shaft coupling
10 spacing connections；It is connected through float element 20 between shaft coupling 10 and cam 30.Shaft coupling 10 includes connecting shaft 11 and connects
Acting flange 12, connecting shaft 11 is provided with draw-in groove 13, and adpting flange 12 is provided with a pair symmetrically arranged chutes 14, shaft coupling 10
Central shaft is provided with driving hole 15, driving hole 15 and is provided with axially disposed keyway 16.Float element 20 is shaped as annulus
Shape, the side of float element 20 is provided with a pair of flange shift forks 22 for being symmetrical in centre bore 21；The opposite side of float element 20 is provided with symmetrically
In a pair of cams shift fork 23 of centre bore 21；A pair of flange shift forks 22 are slidably connected with a pair of the chutes 14 on adpting flange 12.
Cam 30 is shaped as annular shape, and cam 30 cylindrical 32 is ellipse；The one side that cam 30 is connected with float element 20 is provided with drive
Dynamic groove 33；The empty set of inner circle 31 of cam 30 is in the connecting shaft 11 of shaft coupling 10；Cam on driver slot 33 and float element 20
Shift fork 23 is slidably connected.The inner ring 41 and outer shroud 42 of flexible bearing 40 with cam 30 cylindrical 32 Free Transform, inner ring 41 with it is outer
One group of ball 43 is evenly equipped between ring 42.Shaft block ring 50 is shaped as that opening is circular, and the openend of annulus is provided with tool tong
Hole 51；Shaft block ring 50 is stuck in the draw-in groove 13 of connecting shaft 11 on shaft coupling 10.
Embodiment
The device of this example as Figure 1-4, is kept off by shaft coupling 10, float element 20, cam 30, flexible bearing 40 and axle
Enclose 50 5 part compositions.Radially axisymmetric chute 14 is machined with two on the adpting flange 12 of shaft coupling 10, and chute 14 is
Rectangular channel；Float element 20 is hollow ring structure, and it is respectively provided on two sides with a pair radially axisymmetric flange shift forks 22 and
To radially axisymmetric cam shift fork 23, axial angle is 90 ° between flange shift fork 22 and cam shift fork 23；Processed on cam 30
There is driver slot 33, driver slot 33 is rectangular channel；
Cam 30 and the empty set of float element 20 shaft coupling 10 it is smooth cylindrical on, float element 20 is located at cam 30 and connection
Between axle device 10, shaft block ring 50 is arranged on the shaft end of shaft coupling 10, and limitation float element 20 and cam 30 are altered to axial
Momentum is less than 0.2mm.Cam shift fork 23 in float element 20 is engaged with the driver slot 31 on cam 30, and cooperation should make the two
Radially can slidably be advisable, and fit clearance is not more than 0.03mm.The flange shift fork 22 and shaft coupling of float element 20
Chute 14 on 10 is engaged, and cooperation should make the two radially can slidably be advisable, and fit clearance is not more than 0.03mm.
The fit dimension of the cooperation of cam shift fork 23 and driver slot 31 and flange shift fork 22 and chute 14 is according to design of part and manufacturability
Depending on, typically take 3-10 times of harmonic gear fully teeth height.The diameter of inner circle 31 of cam 30 and the diameter of centre bore 21 of float element 20,
And the connecting shaft 11 of shaft coupling 10 it is smooth cylindrical between should have sufficiently large gap value, should meet：
21 diameters of centre bore of float element 20 >=11 outside diameters of connecting shaft+harmonic gear fully teeth height.Cam 30 it is interior
Circle 31 diameters >=11 outside diameters of connecting shaft+harmonic gear fully teeth height.
Operation principle of the present utility model
Shaft coupling 10 is connected as the input of harmonic speed reducer with the output shaft of motor.The central point phase of shaft coupling 10
To fixation.Because float element 20 and shaft coupling 10 are slidably connected through flange shift fork 22 with chute 14, therefore float element
20 frees degree relative to shaft coupling 10 with+X/-X directions.Due to float element 20 and cam 30 be through cam shift fork 23 with
What driver slot 33 was slidably connected, therefore float element 20 has the free degree in+Y/-Y directions relative to cam 30.As can be seen here,
Cam 30 has+Y/-Y and two frees degree of+X/-X relative to shaft coupling 10.During work, because the effect of external force makes shaft coupling
10 center changes, and the center that its change does not result in cam 30 changes.The center of cam 30 is subject to
The constraint of flexible bearing 40, the self-adaptative adjustment with the engagement of firm wheel and flexbile gear.
Because cam 30 center is not constrained by shaft coupling 10 in this example, the center of cam 30 with firm wheel and flexbile gear engagement
State and self-adaptative adjustment, such that it is able to eliminate the meshing interference that foozle and rigging error cause, transport harmonic speed reducer
It is dynamic steady, without impact, and then improve the service life of harmonic speed reducer.
Claims (6)
1. a kind of improvement device of harmonic speed reducer wave producer, including flexible bearing（40）, it is characterised in that：Flexible bearing
（40）With cam（30）Connection, cam（30）Through shaft block ring（50）With shaft coupling（10）Spacing connection；Shaft coupling（10）With it is convex
Wheel（30）Between through float element（20）Drive connection.
2. the improvement device of harmonic speed reducer wave producer according to claim 1, it is characterised in that：The shaft coupling
（10）Including connecting shaft（11）And adpting flange（12）, connecting shaft（11）It is provided with draw-in groove（13）, adpting flange（12）It is provided with
A pair symmetrically arranged chutes（14）, shaft coupling（10）Central shaft be provided with driving hole（15）, driving hole（15）Inside it is provided with edge
Axially arranged keyway（16）.
3. the improvement device of harmonic speed reducer wave producer according to claim 1, it is characterised in that：The float element
（20）Be shaped as annular shape, float element（20）Side is provided with and is symmetrical in centre bore（21）A pair of flange shift forks（22）；It is floating
Dynamic element（20）Opposite side is provided with and is symmetrical in centre bore（21）A pair of cams shift fork（23）；A pair of flange shift forks（22）Be connected
Flange（12）On a pair of chutes（14）It is slidably connected.
4. the improvement device of harmonic speed reducer wave producer according to claim 1, it is characterised in that：The cam（30）
Be shaped as annular shape, cam（30）It is cylindrical（32）It is ellipse；Cam（30）With float element（20）The one side of connection sets
There is driver slot（33）；Cam（30）Inner circle（31）Empty set is in shaft coupling（10）Connecting shaft（11）On；Driver slot（33）With it is floating
Dynamic element（20）On cam shift fork（23）It is slidably connected.
5. the improvement device of harmonic speed reducer wave producer according to claim 1, it is characterised in that：The flexible bearing
（40）Inner ring（41）And outer shroud（42）With cam（30）It is cylindrical（32）Free Transform, inner ring（41）With outer shroud（42）Between
It is furnished with one group of ball（43）.
6. the improvement device of harmonic speed reducer wave producer according to claim 1, it is characterised in that：The shaft block ring
（50）Be shaped as that opening is circular, the openend of annulus is provided with tool tong hole（51）；Shaft block ring（50）It is stuck in shaft coupling
（10）Upper connecting shaft（11）Draw-in groove（13）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621319870.6U CN206268403U (en) | 2016-12-05 | 2016-12-05 | A kind of improvement device of harmonic speed reducer wave producer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621319870.6U CN206268403U (en) | 2016-12-05 | 2016-12-05 | A kind of improvement device of harmonic speed reducer wave producer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206268403U true CN206268403U (en) | 2017-06-20 |
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ID=59042282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621319870.6U Active CN206268403U (en) | 2016-12-05 | 2016-12-05 | A kind of improvement device of harmonic speed reducer wave producer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206268403U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113376396A (en) * | 2021-07-05 | 2021-09-10 | 宁波中车时代传感技术有限公司 | Shaft end photoelectric speed sensor |
-
2016
- 2016-12-05 CN CN201621319870.6U patent/CN206268403U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113376396A (en) * | 2021-07-05 | 2021-09-10 | 宁波中车时代传感技术有限公司 | Shaft end photoelectric speed sensor |
| CN113376396B (en) * | 2021-07-05 | 2024-04-16 | 宁波中车时代传感技术有限公司 | Shaft end photoelectric speed sensor |
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