CN206299763U - A kind of Non-tooth type harmonic speed reducer - Google Patents
A kind of Non-tooth type harmonic speed reducer Download PDFInfo
- Publication number
- CN206299763U CN206299763U CN201621223608.1U CN201621223608U CN206299763U CN 206299763 U CN206299763 U CN 206299763U CN 201621223608 U CN201621223608 U CN 201621223608U CN 206299763 U CN206299763 U CN 206299763U
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- pressure block
- tooth type
- flexbile gear
- harmonic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Retarders (AREA)
Abstract
A kind of Non-tooth type harmonic speed reducer of the utility model, eliminates pitch wheel structure between flexbile gear and steel wheel, and the material requirements to flexbile gear material can be so greatly reduced, sequence, the production cost so as to reduce part is processed while simplifying.Because eliminating the gear structure between flexbile gear and steel wheel, its operating is more smoothed out the utility model, and noise is smaller, and durability is very long, and maintenance cost is lower.
Description
Technical field
A kind of Non-tooth type harmonic speed reducer of the present invention, belongs to technical field of mechanical transmission, is particularly well-suited to robotic arm pass
Save the decelerator at position.
Background technology
Harmonic speed reducer in the market, is mainly used on the joint of robot arm, and harmonic speed reducer is machine
One of important spare part of people, harmonic speed reducer is made up of three basic building blocks：Fixed internal circular spline, flexbile gear,（That is its base
The elastic thin-wall a set of cups " making gear ring on the bus at flexbile gear beginning " that body is connected with driven shaft）With make flexbile gear occur radial deformation
Wave producer.
The drawbacks of prior art is that flexbile gear material should meet the intensity for engaging with steel wheel internal tooth, meets flexible again
The need for deformation, while also to meet the requirement of durability.These technical requirements possess technology barriers very high, especially to soft
Take turns the processing of high class gear, and flexbile gear special material exploitation, and this series of high-quality precision and sophisticated technology, always by states such as Japan
Family's monopolization, because purchase cost is higher, largely constrains our the national development automated with robot industry.
The content of the invention
To solve the above problems, the invention provides a kind of Non-tooth type harmonic speed reducer.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of Non-tooth type harmonic speed reducer, including fixed stiff case 7, flexible bearing 6, flexbile gear 4, harmonic oscillator structure
Into.Wherein harmonic oscillator is made up of harmonic oscillator body 3, upper head 5, lower head 1, lower stage clip 8, compression spring 2.
A kind of Non-tooth type harmonic speed reducer of the present invention, wherein harmonic oscillator body 3 are dynamic with motor to be connected；Upper pressure
In first 5 insertion harmonic oscillator body 3, upper head 5 is only capable of moving up and down in harmonic oscillator body, upper head 5 with it is humorous
There is compression spring 2 between wave producer body 3, compression spring 2 provides outside pressure for upper head 5；The lower insertion of head 1 harmonic wave hair
In raw body 3, lower head 1 is only capable of moving up and down in harmonic oscillator body, lower head 1 and harmonic oscillator body 3 it
Between have lower stage clip 8, lower stage clip 8 provides outside pressure for lower head 1；Upper head 5 and lower head 1 are separately mounted to ellipse
At the high point at the two ends of circular harmonic wave generating body 3；Upper head 5 and lower head 1 and the snug fit of flexible bearing 6；Harmonic wave is sent out
Raw body 3 and the snug fit of flexible bearing 6；The snug fit of flexbile gear 4 is outside flexible shaft 6；Between flexbile gear 4 and stiff case 7, by upper
The outward pressure that head 5 and lower head 1 are provided, mutual snug fit is together；The rear planar portion of flexbile gear 4 point connection power is defeated
Shaft.
The beneficial effect compared with existing harmonic speed reducer of the invention
（1）A kind of Non-tooth type harmonic speed reducer of the present invention, eliminates pitch wheel structure between flexbile gear and steel wheel,
The material requirements to flexbile gear material can be so greatly reduced, sequence, the production cost so as to reduce part is processed while simplifying.
（2）Because eliminating the gear structure between flexbile gear and steel wheel, its operating is more smoothed out the present invention, and noise is smaller, and durability is very
Long, maintenance cost is lower.
Brief description of the drawings
Fig. 1, cross-sectional view of the present invention.
Fig. 2, positive structure schematic of the present invention.
Fig. 3, front partial enlargement structural representation of the present invention.
Fig. 4, section close-up schematic view of the present invention.
Reference class table：Lower head 1, upper compression spring 2, harmonic oscillator body 3, flexbile gear 4, upper head 5, flexibility
Bearing 6, stiff case 7, lower compression spring 8.
Specific embodiment
It is as shown in Figure 1 structural profile schematic diagram of the invention, the present invention is a kind of harmonic speed reducer of gearless type, tool
Body running mode is：Upper head 5 and lower head 1 respectively by the elastic force of compression spring 2 and lower stage clip 8, by flexible bearing 6 with it is soft
Wheel 4 is pressed on the inwall of stiff case 7；Motor drives harmonic oscillator body 3 to rotate, in the drive of harmonic oscillator body 3
Head 5 and lower head 1 are rotated, the part of upper head 5 and lower head 1 compression flexbile gear 4, are fitted with stiff case 7
Contact, makes to do rolling movement between flexbile gear 4 and stiff case 7.
As shown in Figure 2 when motor drives harmonic oscillator to turn around, flexbile gear 4 will be rolled along the inwall of stiff case 7
It is dynamic, because flexbile gear 4 is in the inwall of stiff case 7, and it is oval, its girth is less than the inwall of stiff case 7, so harmonic wave is sent out
Raw device turns around, and flexbile gear itself will also rotate, and its amount of spin is exactly the gearratio of this decelerator.
A kind of gearratio formula of Non-tooth type harmonic speed reducer of the present invention is：
The inwall girth ÷ of gearratio=stiff case 7（The inwall girth of the stiff case 7-girth of flexbile gear 4）.
Claims (7)
1. a kind of Non-tooth type harmonic speed reducer, its feature includes the fixed stiff case without internal tooth（7）, the flexbile gear without external tooth（4）、
Harmonious wave producer, wherein harmonic oscillator are by harmonic oscillator body of the oval high point two ends with slot（3）With insertion harmonic wave
Generation body（3）The pressure block at two ends, and pad is in pressure block and harmonic oscillator body（3）Between stage clip composition.
2. a kind of Non-tooth type harmonic speed reducer according to claim 1, it is characterised in that：Stiff case（7）With flexbile gear（4）
Contact surface be anodontia circular arc plane.
3. a kind of Non-tooth type harmonic speed reducer according to claim 1, it is characterised in that：Oval harmonic oscillator body
（3）Two ends carry slot, lower pressure block（1）With upper pressure block（5）Insert in the slot of harmonic oscillator.
4. a kind of Non-tooth type harmonic speed reducer according to claim 3, it is characterised in that：Insertion harmonic oscillator body（3）
Lower pressure block in slot（1）With upper pressure block（5）, can only be moved in direction of insertion.
5. a kind of Non-tooth type harmonic speed reducer according to claim 1, it is characterised in that：Upper pressure block（5）Bottom is harmonious
Wave producer body（3）Slot bottom between have compression spring（2）, compression spring（2）Elastic force, be upper pressure block（5）, flexible bearing
（6）, flexbile gear（4）And stiff case（7）Between snug fit provide pressure.
6. a kind of Non-tooth type harmonic speed reducer according to claim 1, it is characterised in that：Lower pressure block（1）Bottom with
Harmonic oscillator body（3）Slot bottom between have lower stage clip（8）, lower stage clip（8）Elastic force, be lower pressure block（1）, flexible shaft
Hold（6）, flexbile gear（4）And stiff case（7）Between snug fit provide pressure.
7. a kind of Non-tooth type harmonic speed reducer according to claim 1, it is characterised in that：It is soft when harmonic oscillator is operated
Wheel（4）Along stiff case（7）Inwall do rolling movement, flexbile gear（4）Itself rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223608.1U CN206299763U (en) | 2016-11-15 | 2016-11-15 | A kind of Non-tooth type harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223608.1U CN206299763U (en) | 2016-11-15 | 2016-11-15 | A kind of Non-tooth type harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206299763U true CN206299763U (en) | 2017-07-04 |
Family
ID=59202469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621223608.1U Expired - Fee Related CN206299763U (en) | 2016-11-15 | 2016-11-15 | A kind of Non-tooth type harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206299763U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438919A (en) * | 2016-11-15 | 2017-02-22 | 淮南市福地环保科技有限公司 | Gear-free harmonic reducer |
-
2016
- 2016-11-15 CN CN201621223608.1U patent/CN206299763U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438919A (en) * | 2016-11-15 | 2017-02-22 | 淮南市福地环保科技有限公司 | Gear-free harmonic reducer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108856446A (en) | A kind of stamping die self-feeding compacting integrated device | |
| CN207654323U (en) | A kind of reciprocator and elastic draft gear | |
| CN202507598U (en) | Paper cup machine | |
| CN206299763U (en) | A kind of Non-tooth type harmonic speed reducer | |
| CN206825211U (en) | Eccentric rotary workpiece polishing mechanism | |
| CN207358827U (en) | Disk Multi-station synchronous drive mechanism on a kind of polishing machine | |
| CN202447541U (en) | Edge covering driving mechanism of edge covering machine | |
| CN106438919A (en) | Gear-free harmonic reducer | |
| CN105751208B (en) | A kind of conveying of Unequal distance and turn-over robot device | |
| CN205799560U (en) | A kind of wrist type actuating device | |
| CN105020357B (en) | A kind of gear drive of high-speed paper cup machine | |
| CN206632218U (en) | A kind of bend forming die | |
| CN206216354U (en) | Slide mechanism | |
| CN207026214U (en) | The shaped device of thermoforming spring | |
| CN202867756U (en) | Transmission device | |
| CN102672589B (en) | Elbow polishing machine | |
| CN207109302U (en) | A kind of automobile cushion production serger | |
| CN207195380U (en) | A kind of universal clip | |
| CN205629022U (en) | Vegetable greenhouse fossil fragments flatten make -up machine of bending | |
| CN205835334U (en) | A kind of six axle all-purpose robots captured for material | |
| CN205701991U (en) | A kind of twist mechanism | |
| CN204805438U (en) | Gear drive of quick paper cup of gear drive type machine | |
| CN204528791U (en) | A kind of rubber winder | |
| CN207823661U (en) | A kind of multiplexing bit-type wheel closing-up machine | |
| CN211075240U (en) | Drive structure of book clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170704 Termination date: 20191115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |