CN207715653U - A kind of fast output speed reducer structure and speed reducer at a slow speed - Google Patents
A kind of fast output speed reducer structure and speed reducer at a slow speed Download PDFInfo
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- CN207715653U CN207715653U CN201721830245.2U CN201721830245U CN207715653U CN 207715653 U CN207715653 U CN 207715653U CN 201721830245 U CN201721830245 U CN 201721830245U CN 207715653 U CN207715653 U CN 207715653U
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Abstract
The utility model is related to speed reducer field, more particularly to a kind of fast output speed reducer structure and speed reducer at a slow speed.The utility model discloses a kind of fast output speed reducer structures at a slow speed, including level-one harmonic reducing mechanism, two level harmonic reducing mechanism and input gear, level-one harmonic reducing mechanism includes the first cam, the first flexbile gear and the first firm gear, the outer wheel face of first firm gear is provided with external tooth, and first firm gear engaged with input gear, the first flexbile gear is connected with the input terminal of two level harmonic reducing mechanism.When the first cam rotates, the first firm gear is fixed, and the rotation of the first cam drives the rotation output of the first flexbile gear, and the deceleration speed ratio of level-one harmonic wave speed reducing machine is larger at this time；When the first firm gear rotates, the first cam is fixed, and the rotation of the first firm gear drives the rotation output of the first flexbile gear, and the deceleration speed of level-one harmonic reducing mechanism is smaller at this time, the switching quickly and at a slow speed exported to allow speed reducer to realize.
Description
Technical field
The utility model is related to speed reducer field, more particularly to a kind of fast output speed reducer structure and speed reducer at a slow speed.
Background technology
Harmonic speed reducer is a kind of a kind of Novel reducer to be grown up using flexible deformation's principle, since it carries energy
Power is high, transmission ratio is big, small, light-weight, stable drive and the advantages that high transmission accuracy so that harmonic speed reducer extensive use
In industries such as electronics, space flight and aviation, robots.
Existing harmonic reducing mechanism is as shown in Figure 1, include mainly cam a, flexbile gear b and tri- big components of firm gear c, flexbile gear b
For flexible thin-walled, general annular in shape, cup-shaped or carnival hat shape, the outer rings flexbile gear b and firm gear c inner rings are provided with the tooth worked in coordination, soft
It is poor to take turns the outer rings b and firm gear c inner rings there are teeth（The number of teeth of general flexbile gear is less than the number of teeth of firm gear）, cam a and firm gear c are located at
The inner side and outer side of flexbile gear b, cam a are elliptoid cam, and the flexbile gear b and firm gear c of the top parts cam a are at a fully engaged, convex
The flexbile gear b and firm gear c for taking turns remaining position a are in half state for engaging or disengaging, and when cam a is rotated, flexbile gear b can be driven to produce
Raw periodically deformation, makes the different parts of flexbile gear b periodically be engaged with firm gear c, due to existing between flexbile gear b and firm gear c
Tooth is poor, therefore the opposite firm gear c of flexbile gear b meetings rotates, and achievees the purpose that deceleration.
Above-mentioned harmonic reducing mechanism is disadvantageous in that general cam a inputs, there are one relatively solid by flexbile gear b and firm gear c
Fixed, flexbile gear b fixes then firm gear c and exports, and firm gear c fixes then flexbile gear b and exports, and speed ratio is all fixed value, and some specific occasions
Switch between quickly and at a slow speed it is required that speed reducer can be realized, this is difficult to realize for conventional harmonic wave speed reducing machine.
Utility model content
The purpose of this utility model is to provide a kind of fast output speed reducer structure and speed reducer at a slow speed, solves in the prior art
Harmonic wave speed reducing machine is difficult to the problem of switching output rotating speed.
The above-mentioned technical purpose of the utility model technical scheme is that：
A kind of fast output speed reducer structure at a slow speed, including level-one harmonic reducing mechanism, two level harmonic reducing mechanism and input tooth
Wheel, level-one harmonic reducing mechanism include the first cam, the first flexbile gear and the first firm gear, and the first cam and the first firm gear are located at
The inner side and outer side of first flexbile gear, the first flexbile gear are flexible annular thin-walled, and the top part of the first cam is bonded with the first flexbile gear,
The inner ring of the outer ring of first flexbile gear and the first firm gear is both provided with gear and intermeshing, and the number of teeth of the first flexbile gear has been less than first just
The number of teeth of wheel；Two level harmonic reducing mechanism include the second cam, the second flexbile gear and the second firm gear, the second cam, the second flexbile gear and
The connection relation of second firm gear is identical as the connection relation of the first cam, the first flexbile gear and the first firm gear, the first flexbile gear and second
Cam is detachably fixed connection, and the outer wheel face of the first firm gear is provided with external tooth, and the first firm gear is engaged with input gear.
By using above-mentioned technical proposal, when the input of the first cam, input gear are fixed, the first firm gear is fixed, and first
Cam rotation drives the rotation of the first flexbile gear, the rotation of the first flexbile gear to be transferred to the second cam, to drive the rotation of the second cam, when
A fixation in second flexbile gear or the second firm gear, another will rotate under the action of the second cam, thus will
Rotation output, realization export at a slow speed；When the first cam is fixed, input gear rotates, input gear drives the rotation of the first firm gear,
Since the first cam is fixed, the rotation of the first firm gear can drive the first flexbile gear to rotate, and the rotation of the first flexbile gear is transferred to second
Cam, to drive the rotation of the second cam, when a fixation in the second flexbile gear or the second firm gear, another will be second
It rotates under the action of cam, to which output will be rotated, realizes quickly output.
Preferably, the first cam includes the first rotation axis, cam sleeve and flexible bearing, cam sleeve is set in the first rotation axis
On, the inner ring of flexible bearing is set on cam sleeve, and the outer ring of flexible bearing coordinates with the first flexbile gear.
It, only can wear cam set, cam sleeve and the first rotation when flexible bearing is worn by using above-mentioned technical proposal
Axis, which belongs to, to be detachably connected, and cam sleeve is only replaced when repairing, can reduce maintenance cost.
Preferably, the second cam opens up fluted close to one end centre of the first cam, the end of the first cam is inserted
Enter in the second cam, and the first cam and the second cam are rotatablely connected.
By using above-mentioned technical proposal, first cam and the second cam can support mutually, ensure the first cam and the
The stability of two cams assembly.
Preferably, first cam and the second cam is rotatablely connected by bearing.
By using above-mentioned technical proposal, the first cam can be with respect to the second cam high-speed rotation.
A kind of speed reducer, including above-mentioned fast output speed reducer structure at a slow speed, also includes casing, first motor and the second electricity
Machine, output speed reducer structure is located in casing at a slow speed soon, and first motor and the second motor are located at outside casing, and first motor and first
Cam connects, and the second motor is connect with input gear.
By using above-mentioned technical proposal, first motor can drive the first cam to rotate, and the second motor can drive defeated
Enter gear rotation, when opening first motor, stops the second motor, speed reducer is exported at a slow speed；When opening the second motor,
Stop first motor, speed reducer is quickly exported.
Preferably, first cam and the second cam is rotatablely connected with casing by bearing.
By using above-mentioned technical proposal, casing is supported effect by bearing to first cam and the second cam, together
When can also reduce first cam and the second cam and the frictional force of casing.
Preferably, the first firm gear is rotatablely connected by bearing and casing, and casing is rigid by bearing support and positioning first
Wheel.
By using above-mentioned technical proposal, casing can be positioned and be supported the first firm gear by bearing, open the second electricity
When machine, the first firm gear can be rotated relative to casing and the first flexbile gear.
Preferably, the second firm gear is fixed with respect to casing, the second flexbile gear is fixedly connected with output shaft.
By using above-mentioned technical proposal, two level harmonic reducing mechanism uses the structure that firm gear is fixed, flexbile gear exports.
Preferably, output shaft opens up fluted, one end insertion of the second cam close to one end centre of the second cam
In the groove of output shaft, and the second cam is rotatablely connected with output shaft by bearing.
By using above-mentioned technical proposal, the second cam is inserted into output shaft, and output shaft can prop up the second cam
Support acts on, and strengthens the stability of the second cam, while also strengthening the stability of output shaft.
In conclusion the utility model has the following technical effects：
1. by the way that the first cam and the first firm gear to be arranged to the structure of alternative expression rotation, when the first cam rotates
When, the first firm gear is fixed, and the rotation of the first cam drives the rotation output of the first flexbile gear, at this time the deceleration speed ratio of level-one harmonic wave speed reducing machine
It is larger；When the first firm gear rotates, the first cam is fixed, and the rotation of the first firm gear drives the rotation output of the first flexbile gear, at this time level-one
The deceleration speed of harmonic reducing mechanism is smaller, the switching quickly and at a slow speed exported to allow speed reducer to realize；
2. by being arranged in series two-stage harmonic reducing mechanism, the output end of level-one harmonic reducing mechanism subtracts as two level harmonic wave
The input terminal of fast mechanism, level-one harmonic reducing mechanism can control switching quickly and export at a slow speed, two level harmonic reducing mechanism energy
Deceleration speed ratio is enough further increased, has been reached when level-one harmonic reducing mechanism switches to quick output, the entirety of speed reducer subtracts
It hastens than will not very little.
Description of the drawings
Fig. 1 is the structural schematic diagram of harmonic reducing mechanism in the prior art；
Fig. 2 is the cross-sectional view of the speed reducer of the utility model；
Fig. 3 is the cross-sectional view of the fast output speed reducer structure at a slow speed of the utility model；
Fig. 4 is the enlarged drawing of part A in Fig. 3.
In figure, a, cam；B, flexbile gear；C, firm gear；1, level-one harmonic reducing mechanism；11, the first cam；111, the first rotation
Axis；112, cam sleeve；113, flexible bearing；12, the first flexbile gear；13, the first firm gear；2, two level harmonic reducing mechanism；21, second
Cam；211, the second rotation axis；22, the second flexbile gear；23, the second firm gear；3, input gear；4, first motor；5, the second motor；
6, casing；61, the first casing；62, the second casing；63, third casing；64, support plate；65, first bearing end cap；66, it is spaced
Plate；67, second bearing end cap；7, output shaft.
Specific implementation mode
The utility model is described in further detail below in conjunction with attached drawing.The identical attached drawing of wherein identical parts
Label indicates.It should be noted that word "front", "rear" used in the following description, "left", "right", "upper", "lower", " bottom
Face " and " top surface " refer to that the direction in attached drawing, word "inner" and "outside" are referred respectively to towards or away from particular elements geometry
The direction at center.
As shown in Fig. 2, a kind of harmonic wave speed reducing machine, including fast output speed reducer structure, first motor 4,5 and of the second motor at a slow speed
Casing 6, output speed reducer structure is located in casing 6 at a slow speed soon, by casing 6 to output speed reducer structure is supported, protects at a slow speed soon
Shield and positioning, first motor 4 and the second motor 5 respectively with speed reducer structure is connected at a slow speed soon, the fast progress of speed reducer structure at a slow speed of driving
Slow down.
As shown in figure 3, fast output speed reducer structure at a slow speed includes level-one harmonic reducing mechanism 1,2 and of two level harmonic reducing mechanism
Input gear 3, level-one harmonic reducing mechanism 1 include the first cam 11, the first flexbile gear 12 and the first firm gear 13,11 He of the first cam
First firm gear 13 is located at the inner side and outer side of the first flexbile gear 12, and the first flexbile gear 12 is cup-like flexible thin-walled, the first cam 11
Top part be bonded with the first flexbile gear 12, the outer ring of the first flexbile gear 12 and the inner ring of the first firm gear 13 are both provided with gear and phase
Mutually engagement, the number of teeth of the first flexbile gear 12 are less than the number of teeth of the first firm gear 13（General tooth difference is 2）；Two level harmonic reducing mechanism 2 wraps
Containing the second cam 21, the second flexbile gear 22 and the second firm gear 23, the connection of the second cam 21, the second flexbile gear 22 and the second firm gear 23 is closed
System is identical as the connection relation of the first cam 11, the first flexbile gear 12 and the first firm gear 13, and the first flexbile gear 12 and the second cam 21 can
Dismounting is fixedly connected, and the outer wheel face of the first firm gear 13 is provided with external tooth, and the first firm gear 13 is engaged with input gear 3；Wherein
One cam 11 is connected with first motor 4, and input gear 3 is connected with the second motor 5, and first motor 4 and the second motor 5 contain braking
Device, the locking motor when motor stalls.If the number of teeth difference of the first flexbile gear, the first firm gear, the second flexbile gear and the second firm gear
For Z1, Z2, Z3 and Z4, when opening first motor 4, closing the second motor 5, the first cam 11 rotation, the first firm gear 13 is fixed,
First flexbile gear 12 exports, and the speed ratio of level-one harmonic reducing mechanism 1 is i1=Z1 ÷（Z2-Z1）, speed ratio is larger, and it is convex to be sent to second
The input speed of wheel 21 is smaller, slows down using two level harmonic reducing mechanism 2, and overall output speed ratio is i=i1 × i2, at a slow speed
Output；When opening the second motor 5, closing first motor 4, the first cam 11 is fixed, the rotation of the first firm gear 13, the first flexbile gear 12
Output, the speed ratio of level-one harmonic reducing mechanism 1 is i1=Z1 ÷ Z2 at this time, and speed is smaller, and the input for being sent to the second cam 21 turns
Speed is larger, slows down using two level harmonic reducing mechanism 2, and overall output speed ratio is i=i1 × i2, for quickly output.Pass through switching
The start-stop of first motor 4 and the second motor 5 allows hand over the output speed of fast output speed reducer structure at a slow speed.
In addition, other shapes may be used in the first flexbile gear 12 in level-one harmonic reducing mechanism 1, the carnival hat type such as to turn up
Deng；Other kinds of set-up mode may be used in two level harmonic reducing mechanism 2, as flexbile gear is fixed, firm gear output or firm gear are solid
Fixed, flexbile gear output.Two level harmonic reducing mechanism 2 can also be removed, only retain level-one harmonic reducing mechanism 1, can also realized fast
The switching exported at a slow speed, but when using quickly output, slowing effect unobvious, therefore best mode or level-one harmonic wave subtract
Fast mechanism 1 and two level harmonic reducing mechanism 2 are used cooperatively.
Preferably, as shown in figure 3, the first cam 11 includes the first rotation axis 111, cam sleeve 112 and flexible bearing 113,
The outer wheel face of cam sleeve 112 is ellipticity, and cam sleeve 112 is set in the first rotation axis 111, the interior snare of flexible bearing 113
It is located on cam sleeve 112, the outer ring of flexible bearing 113 coordinates with the first flexbile gear 12, and cam sleeve 112 and the first rotation axis 111 are logical
Cross key connecting.Since flexible bearing 113 is rotating member, and alternating stress load is born, therefore be relatively easy to damage, first
It is arranged after cam sleeve 112 between rotation axis 111 and flexible bearing 113, can wears if flexible bearing 113 damages and be connect with it
Tactile cam sleeve 112 only replaces cam sleeve 112 and flexible bearing during maintenance without wearing the first rotation axis 111
113, without replacing the first rotation axis 111, reduce maintenance cost.
As shown in figure 3, the second cam 21 includes the second rotation axis 211, the second cam 21 can be configured as and the first cam
11 identical structures, but the center of 111 left end of the first rotation axis offers the blind hole for installing 4 motor shaft of first motor, such as
Shown in Fig. 4, the first flexbile gear 12 and the second rotation axis 211 are affixed by bolt.
As shown in Fig. 2, casing 6 includes the first casing 61, the second casing 62 and third casing 63, the first casing 61, second
Casing 62 and third casing 63 splice and fixed successively, and 63 left side of third casing is provided with support plate 64, and support plate 64 is by casing 6
It is divided into left and right two chambers, first harmonic deceleration mechanism 1 is located at left chamber, and second harmonic deceleration mechanism 2 is located at right chamber, fixed
Support plate 64 and the second firm gear 23 are fixed to third by screw bolt passes support plate 64, the second firm gear 23 and third casing 63
On casing 63；The second rotation axis 211 and the support plate 64 of second cam 21 are rotatablely connected by bearing, and support plate 64 can prop up
The second rotation axis 211 is supportted, ensures the stability of the second rotation axis 211 movement；The left side of first rotation axis 111 of the first cam 11
It is provided with first bearing end cap 65, the first rotation axis 111 passes through first bearing end cap 65 and passes through axis with first bearing end cap 65
Hold rotation connection；First firm gear 13 is rotatablely connected with the first casing 61 and third casing 63 by bearing, while the first casing 61
The first firm gear 13 can be supported with third casing 63, ensures the stability when rotation of the first firm gear 13；Pass through first bearing end cap
65 abut the rolling bearing in the first firm gear 13 from the left and right sides of the first firm gear 13 respectively with third casing 63, can position
When preventing the first firm gear 13 from rotating axial float occurs for one firm gear 13.
As shown in Fig. 2, above-mentioned harmonic wave speed reducing machine exports for convenience, the right side of the second flexbile gear 22 is provided with output shaft 7,
Output shaft 7 is bolted to connection with the second flexbile gear 22, and output shaft 7 is rotatablely connected with third casing 63 by bearing, third
The right side of casing 63 is disposed with spacing board 66 and second bearing end cap 67, and spacing board 66 and second bearing end cap 67 are arranged
It is fixed on output shaft 7 and by bolt and third casing 63, spacing board 66 is rotatablely connected with output shaft 7 by bearing, and second
Bearing (ball) cover 67 is for sealing.
Preferably, as shown in Figure 2 or Figure 3, the right end centre of the second shaft 211 and output shaft 7 open up it is fluted,
The right end of first rotating shaft 111 is inserted into the second shaft 211 and is rotatablely connected with it, and the right end of the second shaft 211 is inserted into output shaft 7
Interior and be rotatablely connected with it, first rotating shaft 111, the second shaft 211 and output shaft 7 are concentric.Wherein, first rotating shaft 111 and second
Shaft 211 and the second shaft 211 are rotatablely connected with output shaft 7 preferably with bearing.After being arranged in this way, first rotating shaft 111, the
Two shafts 211 and output shaft 7 can support mutually so that the rotation of three is more stablized.
Alternatively, it is also possible to by output speed reducer structure is applied to inside other speed reducers at a slow speed soon.
The working process of the utility model is as follows：
With reference to figure 2, when speed reducer is exported at a slow speed, when opening first motor 4, closing the second motor 5, first motor 4
The first cam 11 is driven to rotate, the first firm gear 13 fixes since the second motor 5 stops, the first cam 11 rotation drive the
One flexbile gear 12 rotates, and the rotation of the first flexbile gear 12 drives the rotation of the second cam 21, since the second firm gear 23 is fixed, the second cam
21 rotations drive the rotation of the second flexbile gear 22, the rotation of the second flexbile gear 22 to drive output shaft 7 to rotate, rotation is exported, deceleration at this time
Than for i=[Z1 ÷（Z2-Z1）]×[Z3÷（Z3-Z4）].
With reference to figure 2, when speed reducer is quickly exported, when opening the second motor 5, closing first motor 4, the first cam 11
It is fixed since first motor 4 stops, the rotation of the second motor 5 drives input gear 3 to rotate, and input gear 3 is engaged by gear
The first firm gear 13 is driven to rotate, since the first cam 11 is fixed, the rotation of the first firm gear 13 drives the rotation of the first flexbile gear 12, the
The rotation of one flexbile gear 12 drives the rotation of the second cam 21, and since the second firm gear 23 is fixed, the rotation of the second cam 21 drives second
Flexbile gear 22 rotates, and the rotation of the second flexbile gear 22 drives output shaft 7 to rotate, will rotation output, reduction ratio at this time be i=（Z1÷Z2）
×[Z3÷（Z3-Z4）].
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can as needed make the present embodiment the modification of not creative contribution after reading this specification, but
As long as all being protected by Patent Law in the right of the utility model.
Claims (9)
1. a kind of fast output speed reducer structure at a slow speed, which is characterized in that include level-one harmonic reducing mechanism（1）, two level harmonic reduction
Mechanism（2）And input gear（3）, level-one harmonic reducing mechanism（1）Including the first cam（11）, the first flexbile gear（12）Just with first
Wheel（13）, the first cam（11）With the first firm gear（13）It is located at the first flexbile gear（12）Inner side and outer side, the first flexbile gear
（12）For flexible annular thin-walled, the first cam（11）Top part and the first flexbile gear（12）Fitting, the first flexbile gear（12）It is outer
Circle and the first firm gear（13）Inner ring be both provided with gear and intermeshing, the first flexbile gear（12）The number of teeth be less than the first firm gear
（13）The number of teeth；Two level harmonic reducing mechanism（2）Including the second cam（21）, the second flexbile gear（22）With the second firm gear（23）, the
Two cams（21）, the second flexbile gear（22）With the second firm gear（23）Connection relation and the first cam（11）, the first flexbile gear（12）With
First firm gear（13）Connection relation it is identical, the first flexbile gear（12）With the second cam（21）It is detachably fixed connection, the first firm gear
（13）Outer wheel face be provided with external tooth, and the first firm gear（13）With input gear（3）Engagement.
2. a kind of fast output speed reducer structure at a slow speed according to claim 1, which is characterized in that the first cam（11）Including the
One rotation axis（111）, cam sleeve（112）And flexible bearing（113）, cam sleeve（112）It is set in the first rotation axis（111）On,
Flexible bearing（113）Inner ring be set in cam sleeve（112）On, flexible bearing（113）Outer ring and the first flexbile gear（12）Cooperation.
3. a kind of fast output speed reducer structure at a slow speed according to claim 1, which is characterized in that the second cam（21）Close to the
One cam（11）One end centre open up fluted, the first cam（11）End be inserted into the second cam（21）It is interior, and the
One cam（11）With the second cam（21）Rotation connection.
4. a kind of fast output speed reducer structure at a slow speed according to claim 2, which is characterized in that the first cam（11）With second
Cam（21）It is rotatablely connected by bearing.
5. a kind of speed reducer, which is characterized in that also include casing comprising fast output speed reducer structure at a slow speed described in claim 1
（6）, first motor（4）With the second motor（5）, output speed reducer structure is located at casing at a slow speed soon（6）It is interior, first motor（4）With
Two motors（5）Positioned at casing（6）Outside, and first motor（4）With the first cam（11）Connection, the second motor（5）With input gear
（3）Connection.
6. a kind of speed reducer according to claim 5, which is characterized in that the first cam（11）With the second cam（21）With machine
Shell（6）It is rotatablely connected by bearing.
7. a kind of speed reducer according to claim 5, which is characterized in that the first firm gear（13）Pass through bearing and casing（6）
Rotation connection, and casing（6）Pass through the first firm gear of bearing support and positioning（13）.
8. a kind of speed reducer according to claim 5, which is characterized in that the second firm gear（23）Opposite casing（6）It is fixed, the
Two flexbile gears（22）It is fixedly connected with output shaft（7）.
9. a kind of speed reducer according to claim 8, which is characterized in that output shaft（7）Close to the second cam（21）One
End centre opens up fluted, the second cam（21）One end be inserted into output shaft（7）Groove in, and the second cam（21）With
Output shaft（7）It is rotatablely connected by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721830245.2U CN207715653U (en) | 2017-12-22 | 2017-12-22 | A kind of fast output speed reducer structure and speed reducer at a slow speed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721830245.2U CN207715653U (en) | 2017-12-22 | 2017-12-22 | A kind of fast output speed reducer structure and speed reducer at a slow speed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109185435A (en) * | 2018-10-25 | 2019-01-11 | 王化明 | A kind of harmonic speed reducer being fully sealed |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
-
2017
- 2017-12-22 CN CN201721830245.2U patent/CN207715653U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109185435A (en) * | 2018-10-25 | 2019-01-11 | 王化明 | A kind of harmonic speed reducer being fully sealed |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | Dual-coupling actuator, mechanical limb and robot |
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