CN207715680U - One kind making up type harmonic speed reducer - Google Patents

One kind making up type harmonic speed reducer Download PDF

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Publication number
CN207715680U
CN207715680U CN201721830290.8U CN201721830290U CN207715680U CN 207715680 U CN207715680 U CN 207715680U CN 201721830290 U CN201721830290 U CN 201721830290U CN 207715680 U CN207715680 U CN 207715680U
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China
Prior art keywords
shell
shaft
input shaft
gear
speed reducer
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Active
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CN201721830290.8U
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Chinese (zh)
Inventor
陈志涛
侯国兴
王伟
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Beijing Zhonghe Tiancheng Precision Machinery Manufacturing Co Ltd
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Beijing Zhonghe Tiancheng Precision Machinery Manufacturing Co Ltd
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Abstract

The utility model discloses one kind making up type harmonic speed reducer, one end is equipped with drive shell and drive shaft, side is equipped with load shell and bearing axle, and drive shaft turns are connected in drive shell for providing rotating speed, and bearing axle is rotatably connected on load shell for receiving power;The type harmonic speed reducer of making up includes reducer shell, is rotatably connected in reducing gearbox body input shaft, the output shaft for being connected to reduction assemblies with input shaft and being connect with reduction assemblies;Input shaft is fixedly connected by shaft coupling with drive shaft;Output shaft and input shaft are located at the homonymy of reducer shell, and integrally formed with reduction gearing on output shaft, the load gear engaged with reduction gearing is installed on bearing axle.By the homonymy that output shaft and input shaft are located to retarder so that when loading closer apart on shell and drive shell length direction, this retarder remains able to preferably carry out installation deceleration.

Description

One kind making up type harmonic speed reducer
Technical field
The utility model is related to deceleration transmission field, more particularly to one kind making up type harmonic speed reducer.
Background technology
Harmonic speed reducer is that a kind of controlled elasticity by middle flexible part deforms to realize tooth that movement and power are transmitted Strip device.It is a kind of small Tooth Number Difference Planetary Transmission of specific type.It is mainly used in robot, aerospace, precision instrument etc. Field.Has many advantages, such as transmission ratio big, high transmission accuracy, simple in structure, small, light-weight compared with general rack-driving.
The prior art can refer to the Chinese patent that notification number is CN204961722U, it discloses a kind of harmonic speed reducer, It is cylindrical in shape including shell, firm gear, wave producer component and flexbile gear, firm gear, is fixed in shell and inner wall is equipped with firm gear Rack, flexbile gear include cricoid engaged section flexible, and the outer wall of engaged section is equipped with flexbile gear rack, and the gear ratio of flexbile gear rack is rigid The number of teeth few 2 of rack is taken turns, wave producer component is located in flexbile gear in ellipticity and both ends make flexbile gear rack be engaged on firm gear rack On, wave producer component is connected with input shaft, and one end of flexbile gear bends and be fixedly connected with output shaft inwardly, input shaft and defeated Shaft is coaxially located in shell by fixing bearing, is rotated and is inputted around center axis by wave producer component, flexbile gear It is engaged in firm gear so that flexbile gear output, realizes and slow down.
However, as shown in Figure 1, input shaft one end of retarder is equipped with drive shell 1, it is rotatably connected in drive shell 1 The side of the drive shaft 11 being connected with input shaft, retarder is provided with load shell 2, loads in shell 2 and is rotatably connected to load Shaft, load shaft are located at load shell 2 close to 1 one end of drive shell, when on load shell 2 and 1 length direction of drive shell When closer apart, this retarder is not easy to carry out installation deceleration.
Utility model content
The purpose of this utility model is to provide one kind and making up type harmonic speed reducer, its advantage is that when load shell and driving shell When closer apart on body length direction, this retarder remains able to preferably carry out installation deceleration.
The above-mentioned technical purpose of the utility model technical scheme is that:One kind making up type harmonic wave and subtracts Fast device, one end are equipped with drive shell and drive shaft, and side is equipped with load shell and bearing axle, drive shaft turns are connected to driving shell In vivo for providing rotating speed, bearing axle is rotatably connected on load shell for receiving power;The type harmonic speed reducer of making up includes Reducer shell, the input shaft being rotatably connected in reducing gearbox body, with input shaft be connected to reduction assemblies and with deceleration group The output shaft of part connection;Input shaft is fixedly connected by shaft coupling with drive shaft;Output shaft is located at reducer shell with input shaft Homonymy be installed with the load gear engaged with reduction gearing on bearing axle integrally formed with reduction gearing on output shaft.
It is this to subtract when loading closer apart on shell and drive shell length direction by using above-mentioned technical proposal Fast device remains able to preferably carry out installation deceleration.
The utility model is further arranged to:The reduction assemblies include the fixed wave producer group being set on input shaft Part, the flexbile gear being set on wave producer component and the firm gear being set in firm gear, flexbile gear is fabricated from a flexible material and and wave The outer wall fan that generator assembly is correspondingly arranged is fixed with flexbile gear rack, and firm gear is made of hard material and is fixed on inner wall Firm gear rack, the number of teeth few 2 of the gear ratio firm gear rack of flexbile gear rack, wave producer component are that ellipse enables to flexbile gear Only engaged with firm gear there are two tooth;Flexbile gear is fixedly connected on reducer shell, and output shaft is located at reducer shell with input shaft Homonymy, firm gear is fixedly connected with output shaft.
By using above-mentioned technical proposal, when wave producer component continuous rotation, the shape of flexbile gear constantly changes, and makes flexbile gear Also constantly change with the meshing state of firm gear, by it is engaging-in, engage, nibble out, disengage, engaging-in again ..., carry out again and again, week And carry out with renewing, to realize that firm gear is slowly rotated relative to flexbile gear.
The utility model is further arranged to:The wave producer component include ellipse mounting bracket and mounted on installation The driving idler wheel at frame both ends.
By using above-mentioned technical proposal, it is provided with idler wheel so that wave producer component rotates more flat on the inside of flexbile gear Surely.
The utility model is further arranged to:It is provided with cross roller bearing and the first bolt and the second bolt, ten Word crossed roller bearing includes inner ring and outer ring, and the inner ring of flexbile gear and cross roller bearing, which passes through the first bolt, to be fixed and connect It connects, the firm gear is fixedly connected with the outer ring of cross roller bearing.
By using above-mentioned technical proposal, cross roller bearing can bear to come from all directions loading so that firm gear Can preferably with flexbile gear engagement rotation.
The utility model is further arranged to:Lubrication channel is distributed in the cross roller bearing.
By using above-mentioned technical proposal so that the service life of cross roller bearing is longer.
The utility model is further arranged to:Cylindric end cap is equipped between the input shaft and output shaft, end cap is logical The first spring bearing is crossed on input shaft;It is connected by the second spring bearing between output shaft and end cap.
By using above-mentioned technical proposal so that the rotation of input shaft and output is more steady.
The utility model is further arranged to:The first sealing ring, the first sealing are additionally provided between the end cap and input shaft Circle is located at the side of the separate wave producer component of the first spring bearing, and the second sealing ring is additionally provided between end cap and output shaft, Second sealing ring is located at the side of the separate wave producer component of the second spring bearing.
By using above-mentioned technical proposal so that the leakproofness in retarder is preferable.
In conclusion the utility model has the advantages that:By the way that output shaft and input shaft are located at retarder Homonymy so that when load on shell and drive shell length direction at a distance of it is closer when, this retarder remain able to preferably into Row installation is slowed down.
Description of the drawings
Fig. 1 is that background technology is used to embody drive shell and loads the position relationship of shell;
Fig. 2 is the structural schematic diagram of the utility model;
Fig. 3 is the structural schematic diagram that the utility model is used to embody reduction assemblies.
In figure, 1, drive shell;11, drive shaft;2, shell is loaded;21, bearing axle;211, load gear;3, retarder Shell;31, input shaft;32, reduction assemblies;33, output shaft;331, reduction gearing;4, wave producer component;41, mounting bracket; 42, idler wheel is driven;5, flexbile gear;51, engaged section;52, fixed section;6, firm gear;7, cross roller bearing;71, lubrication channel; 72, the first bolt;73, the second bolt;8, third bolt;9, end cap;91, the first spring bearing;92, the first sealing ring;93, Two spring bearings;94, the second sealing ring.
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.
One kind making up type harmonic speed reducer, and one end is equipped with drive shell 1 and drive shaft 11, and side is equipped with load 2 He of shell Bearing axle 21, drive shaft 11 are rotatably connected on for providing rotating speed in drive shell 1, and bearing axle 21 is rotatably connected on load shell For receiving power on 2.The input that the type harmonic speed reducer of making up includes reducer shell 3, is rotatably connected in reducer shell 3 Axis 31 is connected to reduction assemblies 32 and the output shaft being connect with reduction assemblies 32 33 with input shaft 31.Input shaft 31 passes through connection Axis device is fixedly connected with drive shaft 11;Output shaft 33 and input shaft 31 are located at the homonymy of reducer shell 3, one on output shaft 33 Reduction gearing 331 is formed, the load gear 211 engaged with reduction gearing 331 is installed on bearing axle 21;Drive shaft 11 is transmitted Rotating speed input shaft 31 be passed to reduction assemblies 32, then bearing axle 21 is transferred to by output shaft 33, realizes and slow down.
Reduction assemblies 32 include the fixed wave producer component 4 being set on input shaft 31, are set in wave producer component 4 On flexbile gear 5 and the firm gear 6 that is set in firm gear 6.Flexbile gear 5 is fabricated from a flexible material and corresponding with wave producer component 4 sets Flexbile gear rack is fixed on the outer wall set, firm gear 6 is made of hard material and is fixed on inner wall firm gear rack, flexbile gear tooth The number of teeth of the gear ratio firm gear rack of item few 2;Wave producer component 4 is ellipse, including the mounting bracket 41 of ellipse and installation Driving idler wheel 42 at 41 both ends of mounting bracket;Maximum distance between two driving idler wheels 42 is more than the diameter of flexbile gear 5 so that wave is sent out The support of flexbile gear 5 is ellipticity by raw device assembly 4 so that flexbile gear 5 is engaged there are two tooth with firm gear 6.
The perpendicularly inward lateral bending folding after extending to the side far from input shaft 31 of flexbile gear 5, is engaged section 51 before turnover, after turnover For fixed section 52, it is fixed with the hook-shaped mounting portion of the folding for extending to and being aligned with fixed section 52 on retarder casing, is cased in mounting portion Cross roller bearing 7, cross roller bearing 7 include inner ring and outer ring, and profit is distributed in cross roller bearing 7 Slide-through road 71;It is provided with the first bolt 72, the first bolt 72 sequentially passes through mounting portion, fixed part and cross roller bearing 7 Inner ring be fixedly connected on reducer shell 3, firm gear 6 to output end extend and pass through bolt and cross roller bearing 7 Outer ring be fixedly connected by the second bolt 73, output shaft 33 is connect with firm gear 6 by third bolt 8.
Cylindric end cap 9 is equipped between input shaft 31 and output shaft 33, end cap 9 is mounted on by the first spring bearing 91 On input shaft 31, the first sealing ring 92 is additionally provided between end cap 9 and input shaft 31, the first sealing ring 92 is located at the first spring bearing The side of 91 separate wave producer component 4.It is connected by the second spring bearing 93 between output shaft 33 and end cap 9,9 He of end cap The second sealing ring 94 is additionally provided between output shaft 33, the second sealing ring 94 is located at the separate wave producer group of the second spring bearing 93 The side of part 4.
When drive shaft 11 rotates, when wave producer 4 continuous rotation of component, the shape of flexbile gear 5 constantly changes, make flexbile gear 5 with The meshing state of firm gear 6 also constantly changes, by it is engaging-in, engage, nibble out, disengage, engaging-in again ..., carry out again and again, week And carry out with renewing, to realize that firm gear 6 is slowly rotated relative to flexbile gear 5.When work, firm gear 6 is fixed, by 31 band of input shaft Dynamic wave producer component 4 rotates, and firm gear 6 is used as driven wheel, is exported and is rotated by output shaft 33, and bearing axle 21 is driven to rotate.
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 (7)

1. one kind making up type harmonic speed reducer, it is characterised in that:One end is equipped with drive shell(1)And drive shaft(11), side is set There is load shell(2)And bearing axle(21), drive shaft(11)It is rotatably connected on drive shell(1)It is interior to be used to provide rotating speed, it loads Axis(21)It is rotatably connected on load shell(2)On for receiving power;The type harmonic speed reducer of making up includes reducer shell(3)、 It is rotatably connected on reducer shell(3)Interior input shaft(31)With input shaft(31)It is connected to reduction assemblies(32)And with subtract Fast component(32)The output shaft of connection(33);Input shaft(31)Pass through shaft coupling and drive shaft(11)It is fixedly connected;Output shaft (33)With input shaft(31)It is located at reducer shell(3)Homonymy, output shaft(33)On integrally formed with reduction gearing(331), Bearing axle(21)On be installed with and reduction gearing(331)The load gear of engagement(211).
2. one kind according to claim 1 makes up type harmonic speed reducer, it is characterised in that:The reduction assemblies(32)Including Fixation is set in input shaft(31)On wave producer component(4), be set in wave producer component(4)On flexbile gear(5)And It is set in firm gear(6)On firm gear(6), flexbile gear(5)Be fabricated from a flexible material and with wave producer component(4)What is be correspondingly arranged is outer Wall fan is fixed with flexbile gear rack, firm gear(6)Firm gear rack is made and is fixed on inner wall of hard material, flexbile gear rack The number of teeth of gear ratio firm gear rack few 2, wave producer component(4)Flexbile gear is enabled to for ellipse(5)Only there are two tooth and just Wheel(6)Engagement;Flexbile gear(5)It is fixedly connected on reducer shell(3)On, output shaft(33)With input shaft(31)It is located at reducing gearbox Body(3)Homonymy, firm gear(6)With output shaft(33)It is fixedly connected.
3. one kind according to claim 2 makes up type harmonic speed reducer, it is characterised in that:The wave producer component(4) Include the mounting bracket of ellipse(41)With mounted on mounting bracket(41)The driving idler wheel at both ends(42).
4. one kind according to claim 2 makes up type harmonic speed reducer, it is characterised in that:It is provided with cross roller axis It holds(7)With the first bolt(72)With the second bolt(73), cross roller bearing(7)Including inner ring and outer ring, flexbile gear(5)With Cross roller bearing(7)Inner ring pass through the first bolt(72)It is fixedly connected, the firm gear(6)With cross roller axis It holds(7)Outer ring be fixedly connected.
5. one kind according to claim 4 makes up type harmonic speed reducer, it is characterised in that:The cross roller bearing (7)Lubrication channel is inside distributed with(71).
6. one kind according to claim 1 makes up type harmonic speed reducer, it is characterised in that:The input shaft(31)With output Axis(33)Between be equipped with cylindric end cap(9), end cap(9)Pass through the first spring bearing(91)Mounted on input shaft(31)On; Output shaft(33)With end cap(9)Between pass through the second spring bearing(93)Connection.
7. one kind according to claim 6 makes up type harmonic speed reducer, it is characterised in that:The end cap(9)With input shaft (31)Between be additionally provided with the first sealing ring(92), the first sealing ring(92)It is located at the first spring bearing(91)Separate wave producer Component(4)Side, end cap(9)And output shaft(33)Between be additionally provided with the second sealing ring(94), the second sealing ring(94)It is located at Second spring bearing(93)Separate wave producer component(4)Side.
CN201721830290.8U 2017-12-22 2017-12-22 One kind making up type harmonic speed reducer Active CN207715680U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721830290.8U CN207715680U (en) 2017-12-22 2017-12-22 One kind making up type harmonic speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721830290.8U CN207715680U (en) 2017-12-22 2017-12-22 One kind making up type harmonic speed reducer

Publications (1)

Publication Number Publication Date
CN207715680U true CN207715680U (en) 2018-08-10

Family

ID=63049553

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721830290.8U Active CN207715680U (en) 2017-12-22 2017-12-22 One kind making up type harmonic speed reducer

Country Status (1)

Country Link
CN (1) CN207715680U (en)

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