CN207715682U - A kind of harmonic reducing mechanism - Google Patents
A kind of harmonic reducing mechanism Download PDFInfo
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- CN207715682U CN207715682U CN201721830486.7U CN201721830486U CN207715682U CN 207715682 U CN207715682 U CN 207715682U CN 201721830486 U CN201721830486 U CN 201721830486U CN 207715682 U CN207715682 U CN 207715682U
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Abstract
The utility model is related to a kind of harmonic wave speed reducing machines, more particularly to a kind of harmonic reducing mechanism, including wave producer, flexbile gear and firm gear, flexbile gear is flexible tube-like thin-wall, wave producer is located on the inside of flexbile gear and coordinates with wheel face in flexbile gear, firm gear is located on the outside of flexbile gear, the outer wheel face of flexbile gear and the interior wheel face of firm gear are provided with intermeshing tooth, the number of teeth of flexbile gear is less than the number of teeth of firm gear, wave producer includes cam and flexible bearing, cam includes rotation axis and cam ring, the outer wheel face of cam ring is in ellipticity, cam ring is arranged on the rotating shaft, the inner ring of flexible bearing is set on the outer wheel face of cam ring, the outer ring of flexible bearing coordinates with flexbile gear medial surface.The utility model by cam by being arranged to rotation axis and cam ring so that cam ring coordinates with flexible bearing, and when flexible bearing damages, cam ring easy tos produce abrasion, it is only necessary to replace cam ring, achieve the effect that reduce maintenance cost.
Description
Technical field
The utility model is related to a kind of harmonic wave speed reducing machine, more particularly to a kind of harmonic reducing mechanism.
Background technology
Harmonic speed reducer is a kind of a kind of Novel reducer to be grown up using Planetary Gear Transmission principle, since it holds
Loading capability is high, transmission ratio is big, small, light-weight, stable drive and the advantages that high transmission accuracy so that harmonic speed reducer is extensive
Applied to industries such as electronics, space flight and aviation, robots.
Existing harmonic reducing mechanism as shown in Figure 1, mainly include 3 three big component of wave producer 1, flexbile gear 2 and firm gear, it is soft
Wheel 2 is flexible thin-walled, and general annular in shape, cup-shaped or carnival hat shape, 2 outer ring of flexbile gear and 3 inner ring of firm gear are provided with the tooth worked in coordination,
That there are teeth is poor for 2 outer ring of flexbile gear and 3 inner ring of firm gear（The number of teeth of general flexbile gear is less than the number of teeth of firm gear）, wave producer 1 and firm gear 3 are divided
Not Wei Yu flexbile gear 2 inner side and outer side, wave producer 1 be elliptoid cam, the flexbile gear 2 of 1 top part of wave producer and just
Take turns 3 at a fully engaged, the states of flexbile gear 2 and firm gear 3 in half engagement or disengagement at 1 remaining position of wave producer, when wave occurs
When device 1 rotates, flexbile gear 2 can be driven to generate periodic deformation, the different parts of flexbile gear 2 is made periodically to be engaged with firm gear 3, by
It is poor that there are teeth between flexbile gear 2 and firm gear 3, therefore flexbile gear 2 firm gear 3 can rotate relatively, achieve the purpose that deceleration.
As shown in Figure 1, wherein wave producer 1 includes cam 11 and flexible bearing 12, and cam 11 is ellipticity and is integrated
Formula, 12 inner ring of flexible bearing is set in the outside of cam 11, the outer ring of flexible bearing 12 and the fit inside of flexbile gear, when cam 11
Flexible bearing 12 can be driven to rotate when rotation and generate periodically deforming, the periodically deforming of flexible bearing 12 can drive soft
Wheel generates periodically deforming.Disadvantage is that flexible bearing 12 is vulnerable part, when usage time is longer, cam 11 holds
Abrasion easily is generated because of the damage of flexible bearing 12, needs replacing entire cam 11, maintenance cost is larger.
Utility model content
The purpose of this utility model is to provide a kind of harmonic reducing mechanism, solves when cam generates abrasion and needs entirety more
It changes, the higher problem of maintenance cost.
The above-mentioned technical purpose of the utility model technical scheme is that：
A kind of harmonic reducing mechanism, including wave producer, flexbile gear and firm gear, flexbile gear is flexible tube-like thin-wall, wave producer
Coordinate on the inside of flexbile gear and with wheel face in flexbile gear, firm gear is located on the outside of flexbile gear, and the outer wheel face of flexbile gear and the interior wheel face of firm gear are set
It is equipped with intermeshing tooth, the number of teeth of flexbile gear is less than the number of teeth of firm gear, and wave producer includes cam and flexible bearing, and cam includes
The outer wheel face of rotation axis and cam ring, cam ring is in ellipticity, and cam ring is arranged on the rotating shaft, and the inner ring of flexible bearing is arranged
Outside cam ring on wheel face, outer ring and the flexbile gear medial surface of flexible bearing coordinate.
By using above-mentioned technical proposal, cam ring is contacted with flexible bearing, when flexible bearing damages, can cause cam
The abrasion of circle, when repairing harmonic reducing mechanism, it is only necessary to cam ring and flexible bearing are replaced, it is entirely convex without integral replacing
Wheel has achieved the purpose that reduce maintenance cost.
Preferably, cam ring is coordinated with rotation axis using interference fit, spline fitted or key.
By using above-mentioned technical proposal, it can ensure that cam ring is stablized with rotation axis and coordinate, the two will not occur relatively
Rotation reduces the degree of wear of the cam ring to rotation axis.
Preferably, rotation axis is respectively arranged with the shaft shoulder and groove in the both sides of cam ring, clamp spring, the shaft shoulder are connected in groove
With clamp spring for limiting and convex wheel rim.
By using above-mentioned technical proposal, the setting of the shaft shoulder and groove, clamp spring can limit axis of the cam ring along rotation axis
To generation play.
Preferably, being provided with block between cam ring and the shaft shoulder, block is arranged on the rotating shaft, the both sides of block respectively with
The shaft shoulder and cam ring abut.
By using above-mentioned technical proposal, the setting of block can facilitate positioning and installation cam ring, moreover it is possible to prevent cam
Circle is contacted with the shaft shoulder, generates abrasion.
Preferably, the thickness of cam ring is less than the thickness of flexible bearing, the outer diameter of block is less than the outer diameter of cam ring.
By using above-mentioned technical proposal, the whole axial dimension of cam can be reduced.
Preferably, protruding restraining position ring block on the outside of block, the spacing ring is abutted with the inner ring of flexible bearing.
By using above-mentioned technical proposal, spacing ring can limit flexible bearing, prevent flexible bearing play.
Preferably, being provided with catch between clamp spring and cam ring, the catch is arranged on the rotating shaft, and the both sides of catch
It is abutted respectively with cam ring and clamp spring.
By using above-mentioned technical proposal, catch can separate cam ring and clamp spring, reduce the abrasion of cam ring, while
The degree for abutting cam ring can be increased.
Preferably, cam ring offers catch slot close to the one side of catch, the catch is located in catch slot.
By using above-mentioned technical proposal, catch slot can reduce the whole axial dimension of cam, and can increase cam
The intensity of circle.
Preferably, being provided with bearing between flexbile gear and firm gear, one of flexbile gear and firm gear and the inner ring of bearing are fixed, separately
One is fixed with bearing outer ring.
By using above-mentioned technical proposal, bearing can play a supporting role to flexbile gear and firm gear so that flexbile gear and firm gear
Between rotation more stablize, frictional force smaller.
Preferably, bearing uses crossed roller bearing.
By using above-mentioned technical proposal, firm gear and soft can steadily only be supported by one of crossed roller bearing
Wheel, with ensureing mechanical movement validity, reduce the size of harmonic reducing mechanism.
In conclusion the utility model has the following technical effects：By the way that cam is arranged to rotation axis and cam ring, make
It obtains cam ring with flexible bearing to coordinate, when flexible bearing damages, cam ring easy tos produce abrasion, it is only necessary to replace cam ring i.e.
Can, achieve the effect that reduce maintenance cost.
Description of the drawings
Fig. 1 is the structure diagram of harmonic wave speed reducing machine in the prior art；
Fig. 2 is the cross-sectional view of the utility model.
In figure, 1, wave producer；11, cam；111, rotation axis；1111, the shaft shoulder；1112, groove；1113, clamp spring；112、
Cam ring；1121, catch slot；113, block；1131, spacing ring；114, catch；12, flexible bearing；2, flexbile gear；3, firm gear；4、
Bearing.
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 reducing mechanism, including wave producer 1, flexbile gear 2 and firm gear 3, wave producer 1 and firm gear
3 are located at the inner side and outer side of flexbile gear 2, and flexbile gear 2 is flexible carnival hat shape thin-walled, and wave producer 1 coordinates with wheel face in flexbile gear 2,
The outer wheel face of flexbile gear 2 and the interior wheel face of firm gear 3 are both provided with intermeshing tooth, the number of teeth few two of the gear ratio firm gear 3 of flexbile gear 2
A, the outer profile of wave producer 1 is in ellipticity, and the flexbile gear 2 and firm gear 3 of 1 top part of wave producer are at a fully engaged, wave producer
The flexbile gear 2 and firm gear 3 at 1 remaining position are in the state that half engages or disengage can drive flexbile gear 2 when wave producer 1 rotates
Periodically deformation is generated, so that the different parts of flexbile gear 2 is periodically engaged with firm gear 3, due to being deposited between flexbile gear 2 and firm gear 3
It is poor in tooth, therefore flexbile gear 2 firm gear 3 can rotate relatively, achieve the purpose that deceleration.If firm gear 3 is fixed, 1 turn of wave producer
Dynamic, then flexbile gear 2 exports；If flexbile gear 2 is fixed, wave producer 1 rotates, then firm gear 3 exports.
Flexbile gear 2 or other shapes, such as cyclic annular or cup-shaped flexible thin-walled, to adapt to different harmonic reduction knots
Structure.
As shown in Fig. 2, the axial length of firm gear 3 is less than the axial length of flexbile gear 2, in the axial direction firm gear 3 and flexbile gear 2 it
Between be provided with bearing 4, outer ring and the flexbile gear 2 of bearing 4 are bolted, and inner ring and the firm gear 3 of bearing 4 are bolted.
Bearing 4 can play a supporting role to flexbile gear 2 and firm gear 3 so that the rotation between flexbile gear 2 and firm gear 3 is more stablized, frictional force
Smaller.In addition, crossed roller bearing can be selected in bearing 4, the clearance of crossed roller bearing is small, can be stablized by one of bearing
Ground supports flexbile gear 2 and firm gear 3, while reducing the whole axial dimension of deceleration mechanism.
As shown in Fig. 2, wave producer 1 includes cam 11 and flexible bearing 12, inner ring and the cam 11 of flexible bearing 12 are matched
It closes, the outer ring of flexible bearing 12 and the flexbile gear of harmonic speed reducer coordinate.
As shown in Fig. 2, cam 11 includes rotation axis 111 and cam ring 112, cam ring 112 is set in rotation axis 111,
Cam ring 112 is ring-type, and the outer wheel face of cam ring 112 is ellipse, and cam ring 112 may be used interference with rotation axis 111 and match
Conjunction, spline fitted or key cooperation, ensure to relatively rotate between cam ring 112 and rotation axis 111, flexible bearing 12
Inner ring be set in the outside of cam ring 112.
As shown in Fig. 2, rotation axis 111 is provided with the shaft shoulder 1111 in the left side of cam ring 112, rotation axis 111 is in cam ring
112 right side opening is equipped with groove 1112, is connected with clamp spring 1113 on groove 1112, the both sides of cam ring 112 pass through the shaft shoulder respectively
1111 and clamp spring 1113 limit and fix cam ring 112, prevent the cam ring 112 from axial float occurs in rotation axis 111.
As shown in Fig. 2, cam ring 112 can be abutted directly with the shaft shoulder 1111 and clamp spring 1113, to limit and fix cam ring
112。
In addition, as shown in Fig. 2, block 113 can be arranged between cam ring 112 and the shaft shoulder 1111, block 113 is set in rotation
On axis 111, the both sides of block 113 are abutted with the shaft shoulder 1111 and cam ring 112 respectively；It is set between clamp spring 1113 and cam ring 112
Be equipped with catch 114, catch 114 is set in rotation axis 111, and the both sides of catch 114 respectively with cam ring 112 and clamp spring 1113
It abuts.Block 113 can avoid cam ring 112 from being contacted with the shaft shoulder 1111 and clamp spring 1113 with the setting of catch 114, and then avoid
Rotation axis 111 is worn when cam ring 112 is damaged and failed.
Preferably, as shown in Fig. 2, the thickness of cam ring 112 is less than the thickness of flexible bearing 12, the outer diameter of block 113 is small
In the outer diameter of cam ring 112；Cam ring 112 offers catch slot 1121, the catch 114 close to the one side of catch 114
In in catch slot 1121.It is arranged in this way, block 113 can be reduced to the distance of catch 114, to reduce the whole of cam 11
Body axial dimension.
As shown in Fig. 2, 113 outside of block can protrude setting restraining position ring block 1131, the spacing ring 1131 and flexible bearing
12 inner ring abuts, for abutting and positioning flexible bearing 12.
The operation principle of the utility model is：
The rotation of rotation axis 111 drives cam ring 112 to rotate, and cam ring 112 rotates so that the inner ring of flexible bearing 12 is with convex
Wheel rim 112 rotates, and due to being set on cam ring 112, the inner ring of flexible bearing 12 also deforms the inner ring of flexible bearing 12
As shape similar with 112 foreign steamer facial contour of cam ring（It is i.e. oval）So that the flexbile gear 2 of 112 top part of cam ring with
Firm gear 3 is at a fully engaged, and the flexbile gear 2 and firm gear 3 at remaining position are in half state for engaging or disengaging；With 111 turns of rotation axis
Dynamic, the rotation of 12 inner ring of flexible bearing can periodically squeeze the outer ring of flexible bearing 12, make the different parts of flexbile gear 2 periodically with
Firm gear 3 engages, poor since there are teeth between flexbile gear 2 and firm gear 3, and flexbile gear 2 firm gear 3 can rotate relatively；Work as rotation axis
When 111 one circle of rotation, flexbile gear 2 rotates the tooth pitch of two teeth relative to firm gear 3, achievees the purpose that deceleration.
The present embodiment only lists a kind of harmonic reducing mechanism using 1 structure of wave producer in the present embodiment, other knots
The harmonic reducing mechanism of structure can similarly apply the structure of the wave producer 1 described in this example.
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 (10)
1. a kind of harmonic reducing mechanism, including wave producer（1）, flexbile gear（2）And firm gear（3）, flexbile gear（2）It is thin for flexible tubular
Wall, wave producer（1）Positioned at flexbile gear（2）Inside and and flexbile gear（2）Interior wheel face cooperation, firm gear（3）Positioned at flexbile gear（2）Outside, it is soft
Wheel（2）Outer wheel face and firm gear（3）Interior wheel face be provided with intermeshing tooth, flexbile gear（2）The number of teeth be less than firm gear（3）Tooth
Number, wave producer（1）Including cam（11）And flexible bearing（12）, which is characterized in that cam（11）Including rotation axis（111）With
Cam ring（112）, cam ring（112）Outer wheel face be in ellipticity, cam ring（112）It is set in rotation axis（111）On, flexible shaft
It holds（12）Inner ring be set in cam ring（112）On outer wheel face, flexible bearing（12）Outer ring and flexbile gear（2）Medial surface coordinates.
2. a kind of harmonic reducing mechanism according to claim 1, which is characterized in that cam ring（112）With rotation axis（111）
Coordinated using interference fit, spline fitted or key.
3. a kind of harmonic reducing mechanism according to claim 1, which is characterized in that rotation axis（111）In cam ring（112）
Both sides be respectively arranged with the shaft shoulder（1111）And groove（1112）, groove（1112）Inside it is connected with clamp spring（1113）, the shaft shoulder
（1111）And clamp spring（1113）For limiting and convex wheel rim（112）.
4. a kind of harmonic reducing mechanism according to claim 3, which is characterized in that cam ring（112）With the shaft shoulder（1111）
Between be provided with block（113）, block（113）It is set in rotation axis（111）On, block（113）Both sides respectively with the shaft shoulder
（1111）And cam ring（112）It abuts.
5. a kind of harmonic reducing mechanism according to claim 4, which is characterized in that cam ring（112）Thickness be less than it is soft
Property bearing（12）Thickness, block（113）Outer diameter be less than cam ring（112）Outer diameter.
6. a kind of harmonic reducing mechanism according to claim 5, which is characterized in that block（113）Outside is protruding with limit
Ring（1131）, the spacing ring（1131）With flexible bearing（12）Inner ring abut.
7. a kind of harmonic reducing mechanism according to claim 3, which is characterized in that clamp spring（1113）And cam ring（112）
Between be provided with catch（114）, the catch（114）It is set in rotation axis（111）On, and catch（114）Both sides respectively with
Cam ring（112）And clamp spring（1113）It abuts.
8. a kind of harmonic reducing mechanism according to claim 7, which is characterized in that cam ring（112）Close to catch（114）
One side offer catch slot（1121）, the catch（114）Positioned at catch slot（1121）It is interior.
9. a kind of harmonic reducing mechanism according to claim 1, which is characterized in that flexbile gear（2）With firm gear（3）Between be arranged
There is bearing（4）, flexbile gear（2）And firm gear（3）One of them and bearing（4）Inner ring fix, another and bearing（4）Outer ring is solid
It is fixed.
10. a kind of harmonic reducing mechanism according to claim 9, which is characterized in that bearing（4）It is rolled using intersecting
Sub- bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721830486.7U CN207715682U (en) | 2017-12-22 | 2017-12-22 | A kind of harmonic reducing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721830486.7U CN207715682U (en) | 2017-12-22 | 2017-12-22 | A kind of harmonic reducing mechanism |
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| Publication Number | Publication Date |
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| CN207715682U true CN207715682U (en) | 2018-08-10 |
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| CN201721830486.7U Active CN207715682U (en) | 2017-12-22 | 2017-12-22 | A kind of harmonic reducing mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
-
2017
- 2017-12-22 CN CN201721830486.7U patent/CN207715682U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061140A (en) * | 2017-12-22 | 2018-05-22 | 众合天成智能装备（廊坊）有限公司 | A kind of harmonic reducing mechanism |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
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