CN208966987U - Flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive - Google Patents
Flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive Download PDFInfo
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- CN208966987U CN208966987U CN201821651388.1U CN201821651388U CN208966987U CN 208966987 U CN208966987 U CN 208966987U CN 201821651388 U CN201821651388 U CN 201821651388U CN 208966987 U CN208966987 U CN 208966987U
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Abstract
A kind of flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive provided by the utility model, is related to retarder technical field, comprising: transmission cylinder；Ring body is connected, the connection ring body is arranged on an end face of the transmission cylinder, and the connection ring body and the transmission cylinder are coaxially disposed；Wherein, in the form of sheets, one end of inside and the end face of the transmission cylinder of the connection ring body are integrally formed and connect the connection ring body；The transmission cylinder includes first position and second position, and the first position is provided with external tooth close to the connection ring body, the outer wall of the second position, for assembling with the interior tooth engagement of rigid gear.In the above-mentioned technical solutions, the wave producer of corresponding matching can be made using hollow middle shaft structure, axial through-hole can be also set on the axis of wave producer, and then pass through control, communication and power cable using the through-hole of axis, the collection for realizing harness, keeps overall structure simply clean and tidy.
Description
Technical field
The utility model relates to retarder technical field, more particularly, to a kind of flexible gear for harmonic drive and
Hollow type harmonic wave drive speed reducer.
Background technique
Harmonic wave drive speed reducer is mainly by four wave producer, flexible gear, flexible bearing, rigid gear basic building block groups
At harmonic wave drive speed reducer is a kind of by wave producer fit on flexible bearing, so that flexible gear generates controlled elasticity and becomes
Shape, and be meshed with rigid gear and carry out the gear drive of passing movement and power.Application branch of learning: mechanical engineering (first level discipline)；
It is driven (second level subject)；Gear drive (three-level subject), Harmonic Drive Reducer are sent out using Planetary Gear Transmission principle
A kind of Novel reducer that exhibition is got up, using harmonic gear transmission principle (abbreviation harmonic drive).
Harmonic wave drive speed reducer Aeronautics and Astronautics, the energy, navigation, shipbuilding, bionic mechanical, common ordnance, lathe, instrument,
Electronic equipment, mine metallurgy, communications and transportation, hoisting machinery, Petro-Chemical Machinery, textile machine, agricultural machinery and Medical treatment device
Tool etc. obtains increasingly extensive application, especially in the servo-system of high dynamic performance, using harmonic wave drive speed reducer
Realize that transmission more shows its superiority.The power that it is transmitted is from tens watts to tens kilowatt, but powerful harmonic gear passes
It is dynamic to be chiefly used in short-term job field.
Harmonic wave drive speed reducer has small in size, speed ratio is big, torque is big and transmission accuracy is high etc. compared to planetary reduction gear
Advantage.But harmonic speed reducer in the prior art cabling in assembling process is cumbersome, reduces the working efficiency of assembly.
Utility model content
The purpose of this utility model is to provide a kind of flexible gear for harmonic drive and hollow type harmonic drives
Retarder, it is cumbersome to solve harmonic speed reducer existing in the prior art cabling in assembling process, reduce the work of assembly
The technical issues of efficiency.
A kind of flexible gear for harmonic drive provided by the utility model, comprising:
Transmission cylinder；
Connect ring body, the connection ring body is arranged on an end face of the transmission cylinder, and the connection ring body with it is described
Transmission cylinder coaxial arrangement；
Wherein, the connection ring body in the form of sheets, it is described connection ring body inside one end and the transmission cylinder end face one
Body formed connection；
The transmission cylinder includes first position and second position, and the first position is close to the connection ring body, and described
The outer wall at two positions is provided with external tooth, for assembling with the interior tooth engagement of rigid gear.
Further, in the embodiments of the present invention, it is described connection ring body surface be provided with threaded hole, for
Preset flexbile gear end cap is threadedly coupled.
Present invention also provides a kind of hollow type harmonic wave drive speed reducers, including the flexible gear.
Further, in the embodiments of the present invention, the harmonic wave drive speed reducer further include:
Wave producer；
The wave producer includes axis, and the axis has the through-hole being axially arranged along the axis, and described logical
Hole and the axis are coaxially disposed；
The outer wall of the axis is additionally provided with along the axis circumferentially around one week cam, the cam and it is described in
Axis is integrally formed；
The outer wall rotation of the cam is socketed with flexible bearing；
The outer wall of the axis also rotates and is socketed with second bearing and 3rd bearing, the second bearing and the third axis
Hold the two sides for being located at the flexible bearing
The flexible gear rotation is socketed on the wave producer；
Rigid gear, the inner ring of the rigid gear is provided with matched with the external tooth being arranged in the second position in
Tooth, the rigid gear are connected by meshing transmission with the flexible gear；
First bearing, the first bearing rotation are set in the first position of the transmission cylinder.
Further, in the embodiments of the present invention, the first bearing includes crossed roller bearing.
Further, in the embodiments of the present invention, the second bearing includes deep groove ball bearing；
With or, the 3rd bearing includes deep groove ball bearing.
Further, in the embodiments of the present invention, the harmonic wave drive speed reducer further includes cricoid flexbile gear end
Lid；
The flexbile gear end cap is socketed on the wave producer, and is provided on the flexbile gear end cap described soft for accommodating
First annular recess of property gear；
The flexible gear is removably attachable in first annular recess, and the flexible gear passes through the flexibility
Bearing and the central axis are socketed, and the flexbile gear end cap is socketed by the second bearing and the central axis.
Further, in the embodiments of the present invention, the slot bottom of the first annular recess of the flexbile gear end cap and institute
The end face for stating the connection ring body of flexible gear is respectively arranged with corresponding counter sink and through-hole；
The flexbile gear end cap and the flexible gear are fixed by multiple screws, and are fixed on the first bearing together
On outer ring.
Further, in the embodiments of the present invention, the harmonic wave drive speed reducer further includes cricoid firm gear end
Lid；
The firm gear end cap is socketed on the wave producer, and is provided on the firm gear end cap described rigid for accommodating
Second annular recess of property gear；
The rigid gear is removably attachable in second annular recess, and the firm gear end cap passes through the third
Bearing and the central axis are socketed.
Further, in the embodiments of the present invention, the slot bottom of the second annular recess of the firm gear end cap and institute
The end face for stating one end far from the flexible gear of rigid gear is respectively arranged with corresponding counter sink and through-hole；
The firm gear end cap and the rigid gear are fixed by multiple screws, and are fixed on the first bearing together
On inner ring.
In the above-mentioned technical solutions, the flexible gear that should be applied on harmonic wave drive speed reducer just innovatively uses
The structure of " hat-type " designs, i.e., and in the prior art " cup type " by hollow transmission cylinder and connection ring body composition
Structure design is very different, and is so configured to structure, can be so that the wave producer of corresponding matching uses in hollow
Axial through-hole can be also arranged in axle construction on the axis of wave producer, and then passes through control using the through-hole of axis, leads to
Letter and power cable, realize the collection of harness, keep overall structure simply clean and tidy.
Thus, the structure design of this " hat-type " is also the structure basis of the wave producer of hollow structure, only will
Flexible gear is arranged to the structure of this " hat-type ", can realize and axial through-hole is arranged on the axis of wave producer,
To be used to cabling.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first schematic perspective view of the flexible gear that the utility model one embodiment provides；
Fig. 2 is the second schematic perspective view of the flexible gear that the utility model one embodiment provides；
Fig. 3 is the first schematic perspective view of the wave producer that the utility model one embodiment provides；
Fig. 4 is the second schematic perspective view of the wave producer that the utility model one embodiment provides；
Fig. 5 is the cross-sectional view for the harmonic wave drive speed reducer that the utility model one embodiment provides；
Fig. 6 is the explosive view for the harmonic wave drive speed reducer that the utility model one embodiment provides.Appended drawing reference: 1- wave hair
Raw device；2- flexible gear；3- rigid gear；4- first bearing；5- firm gear end cap；6- flexbile gear end cap；11- axis；12- through-hole；
13- flexible bearing；14- second bearing；15- 3rd bearing；21- transmission cylinder；22- connection ring body；23- first position；24- second
Position.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Fig. 1 is the first schematic perspective view of the flexible gear 2 that the utility model one embodiment provides；Fig. 2 is this
Second schematic perspective view of the flexible gear 2 that utility model one embodiment provides；As depicted in figs. 1 and 2, the present embodiment
A kind of flexible gear for harmonic drive of offer, comprising:
Transmission cylinder 21；
Ring body 22 is connected, the connection ring body 22 is arranged on an end face of the transmission cylinder 21, and the connection ring body
22 are coaxially disposed with the transmission cylinder 21；
Wherein, the connection ring body 22 in the form of sheets, one end of the inside of the connection ring body 22 and the transmission cylinder 21
End face is integrally formed connection；
The transmission cylinder 21 includes first position 23 and second position 24, and the first position 23 is close to the connection ring body
22, the outer wall of the second position 24 is provided with external tooth, for assembling with the interior tooth engagement of rigid gear 3.
When being applied in the automatic fields such as robot due to harmonic wave drive speed reducer in the prior art, it is often necessary to
A large amount of control, communication and power cable are installed, a large amount of control, communication and power cable will cause and match in the structure cooperated again
The many and diverse problem of line, the cabling in assembling process will be greatly reduced working efficiency.
So the flexible gear 2 that should be applied on harmonic wave drive speed reducer just innovatively uses the knot of " hat-type "
Structure design is made up of hollow transmission cylinder 21 and connection ring body 22, design with " cup type " structure in the prior art
It is very different, so structure is configured, it can be so that the wave producer 1 of corresponding matching uses hollow 11 knot of axis
Axial through-hole 12 can also be arranged on the axis 11 of wave producer 1, and then pass through control using the through-hole 12 of axis 11 for structure
System, communication and power cable, realize the collection of harness, keep overall structure simply clean and tidy.
Thus, the structure design of this " hat-type " is also the structure basis of the wave producer 1 of hollow structure, only will
Flexible gear 2 is arranged to the structure of this " hat-type ", can realize and axial lead to is arranged on the axis 11 of wave producer 1
Hole 12, to be used to cabling.
Further, in the embodiments of the present invention, the surface of the connection ring body 22 is provided with threaded hole, is used for
It is threadedly coupled with preset flexbile gear end cap 6.
Wherein, the flaky structure of the connection ring body 22, the mode that can be connected through a screw thread and flexbile gear end cap 6 carry out
Dismountable assembly.
Fig. 3 is the first schematic perspective view of the wave producer 1 that the utility model one embodiment provides；Fig. 4 is this
Second schematic perspective view of the wave producer 1 that utility model one embodiment provides；Fig. 5 is the utility model one implementation
The cross-sectional view for the harmonic wave drive speed reducer that example provides；Fig. 6 is the harmonic wave drive speed reducer that the utility model one embodiment provides
Explosive view.As seen in figures 3-6, present invention also provides a kind of hollow type harmonic wave drive speed reducers, including the flexible tooth
Wheel 2.
In other words, flexible gear 2 described above is made to apply this structure using in harmonic wave drive speed reducer
The wave producer 1 of harmonic wave drive speed reducer of flexible gear 2 through-hole 12 for cabling can be set accordingly, make entire humorous
Wave gearing speed-reducer at least has the beneficial effect for facilitating cabling.
Due to the specific structure of the flexible gear 2, the principle of work and power with technical effect in detailed hereinbefore, herein just no longer
It repeats.
So any technology contents about the flexible gear 2, can refer to above for the flexible gear 2
Record.
Specifically, in the embodiments of the present invention, the harmonic wave drive speed reducer further include:
Wave producer 1；
The wave producer 1 includes axis 11, and the axis 11 has the through-hole 12 being axially arranged along the axis 11,
And the through-hole 12 is coaxially disposed with the axis 11；
The outer wall of the axis 11 is additionally provided with along the axis 11 circumferentially around one week cam, the cam and institute
State the integrated molding of axis 11；
The outer wall rotation of the cam is socketed with flexible bearing 13；
The outer wall of the axis 11, which also rotates, is socketed with second bearing 14 and 3rd bearing 15, the second bearing 14 and institute
State the two sides that 3rd bearing 15 is located at the flexible bearing 13
The rotation of flexible gear 2 is socketed on the wave producer 1；
Rigid gear 3, the inner ring of the rigid gear 3 is provided with to be matched with the external tooth being arranged in the second position 24
Internal tooth, the rigid gear 3 is connected by meshing transmission with the flexible gear 2；
First bearing 4, the rotation of first bearing 4 are set in the first position 23 of the transmission cylinder 21.In the structure
In, first bearing 4 and transmission cylinder 21 are not directly contacted with.
Following for the working principle for capableing of the more detailed understanding harmonic wave drive speed reducer, now using a kind of specific
The course of work it is illustrated.
It, can be main using wave producer 1 in carrying out deceleration use process according to the harmonic wave drive speed reducer of above structure
The dynamic, fixation of rigid gear 3 and 2 output form of flexible gear carry out transmission cooperation to complete decelerating operation.
As shown in Figure 5 or Figure 6, wave producer 1 is typically provided with the cam being rotatably assorted with flexible gear 2, utilizes cam
It is assembled with the flexible bearing 13 of thin-walled with flexible gear 2, the rotation of flexible gear 2 is made to be socketed in the wave producer 1
On, wherein the cam of wave producer 1 is usually oval, and when assembly, cam can be first packed into the flexible shaft of thin-walled
It holds in 13, then the two is packed into together in flexible gear 2.
At this point, the shape of flexible gear 2 can be become ellipse by original circle, in the length of elliptical flexible gear 2
The external tooth at axis both ends and the internal tooth of the rigid gear 3 matched are then in fully engaged state, i.e. the external tooth of flexible gear 2 and just
Property gear 3 internal tooth along tooth height engage, this is region of engagement, and the internal tooth and external tooth for generally having 30% or so are in meshing state；It is in
The external tooth at the short axle both ends of elliptical flexible gear 2 is in fully unmated state with the internal tooth of the rigid gear 3 matched, referred to as
It disengages；The external tooth of flexible gear 2 between 1 long axis of wave producer and short axle, along the different sections of 2 perimeter of flexible gear,
Some is gradually backed out the between cog of the external tooth of rigid gear 3, is in half disengaged condition, is referred to as to nibble out.
When work, when wave producer 1 is active, cam thereon rotates in flexible gear 2, makes flexible gear nearby
2 and the flexible bearing 13 of thin-walled deform (controllable flexible deformation), at this moment the external tooth of the second position 24 of flexible gear 2 is just
Enter (engagement) during deformation or exit the between cog of the internal tooth of (nibble from) rigid gear 3, in the cam of wave producer 1
Internal tooth and external tooth are in fully engaged state at long axis, and internal tooth and external tooth are at completely disengaged shape at the short axle of cam
State.When wave producer 1 rotates in flexible gear 2, flexible gear 2 is forced to generate continuous flexible deformation, at this time wave producer 1
Continuous rotation, just make the external tooth of flexible gear 2 it is engaging-in, engage, nibble out, disengage these four cycle of states and back and forth constantly change
Become respective original meshing state.This phenomenon is referred to as side set movement, and exactly this side set moves, can will be defeated as retarder
The high-speed rotation entered becomes slowly running for output.
And the flexible gear 2 of this harmonic drive provided herein uses connection ring and has first position 23
First position 23 and wave producer 1 can be rotated when assembly with the structure of the transmission cylinder 21 of second position 24
Socket is engaged assembly using the external tooth of second position 24 and the internal tooth of rigid gear 3, and each position separate design simplifies
Interface is assembled, the quick assembling of harmonic wave drive speed reducer may be implemented.
As shown in Figure 3 or Figure 4, harmonic wave drive speed reducer described above has the wave producer 1 for capableing of cabling, i.e., should
The axis 11 of wave producer 1 has through-hole 12, needs that cable is made to pass through the through-hole 12 when cabling, convenient and efficient.
Further, in the embodiments of the present invention, the first bearing 4 includes crossed roller bearing.
It should be noted that those skilled in the art can also replace according to demand other than using crossed roller bearing
Change other bearing arrangements.
Further, in the embodiments of the present invention, the second bearing 14 includes deep groove ball bearing；With or, institute
Stating 3rd bearing 15 includes deep groove ball bearing.
It should be noted that those skilled in the art can also replace according to demand other than using deep groove ball bearing
Other bearing arrangements.
Further, in the embodiments of the present invention, the harmonic wave drive speed reducer further includes cricoid flexbile gear end
Lid 6；
The flexbile gear end cap 6 is socketed on the wave producer 1, and is provided on the flexbile gear end cap 6 for accommodating
State the first annular recess of flexible gear 2；
The flexible gear 2 is removably attachable in first annular recess, and the flexible gear 2 passes through described soft
Property bearing 13 and the axis 11 rotation be socketed, and the flexbile gear end cap 6 passes through the second bearing 14 and 11 turns of the axis
Dynamic socket.
So can be used to protect and fix flexible gear 2 using the flexbile gear end cap 6, flexible gear 2 can also be made sharp
It is sequentially connected with flexbile gear end cap 6 and outer connection mechanism.
When being assembled, the flexible gear 2 can be placed in first annular recess, wherein institute
The shape for stating the first annular recess is adapted with flexible gear 2, the receiving flexible gear 2 that can be intact, in this way can
Firm connection flexible gear 2, and the connection fastened is formed with flexible gear 2.
Further, in the embodiments of the present invention, the slot bottom of the first annular recess of the flexbile gear end cap 6 and institute
The end face for stating the connection ring body 22 of flexible gear 2 is respectively arranged with corresponding counter sink and through hole；
The flexbile gear end cap 6 and the flexible gear 2 are fixed by multiple screws, and are fixed on the first bearing together
On 4 outer ring.
Wherein, in the connection type of flexbile gear end cap 6 and flexible gear 2, cooperated by the way of threaded connection
Connection can either guarantee to assemble intensity, additionally it is possible to easy to disassemble and assembly.
When being assembled, it can be arranged circumferentially bolt along flexbile gear end cap 6 or flexible gear 2, made whole
Body uniform force, improves service life.
Further, in the embodiments of the present invention, the harmonic wave drive speed reducer further includes cricoid firm gear end
Lid 5；
The firm gear end cap 5 is socketed on the wave producer 1, and is provided on the firm gear end cap 5 for accommodating
State the second annular recess of rigid gear 3；
The rigid gear 3 is removably attachable in second annular recess, and the firm gear end cap 5 passes through described the
Three bearings 15 are socketed with the axis 11 rotation.
So can be used to protect and fix rigid gear 3 using the firm gear end cap 5, rigid gear 3 can also be made sharp
It is sequentially connected with firm gear end cap 5 and outer connection mechanism.
When being assembled, the rigid gear 3 can be placed in second annular recess, wherein institute
The shape for stating the second annular recess is adapted with rigid gear 3, the receiving rigid gear 3 that can be intact, in this way can
Firm connection rigid gear 3, and the connection fastened is formed with rigid gear 3.
Further, in the embodiments of the present invention, the slot bottom of the second annular recess of the firm gear end cap 5 and institute
The end face for stating one end far from the flexible gear 2 of rigid gear 3 is respectively arranged with corresponding counter sink and through hole；
The firm gear end cap 5 and the rigid gear 3 are fixed by multiple screws, and are fixed on the first bearing together
On 4 inner ring.
Wherein, in the connection type of firm gear end cap 5 and rigid gear 3, cooperated by the way of threaded connection
Connection can either guarantee to assemble intensity, additionally it is possible to easy to disassemble and assembly.
When being assembled, it can be arranged circumferentially bolt along firm gear end cap 5 or rigid gear 3, made whole
Body uniform force, improves service life.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of flexible gear for harmonic drive characterized by comprising
Transmission cylinder；
Ring body is connected, the connection ring body is arranged on an end face of the transmission cylinder, and the connection ring body and the transmission
Cylinder coaxial arrangement；
Wherein, the connection ring body in the form of sheets, it is described connection ring body inside one end and the transmission cylinder end face one at
Type connection；
The transmission cylinder includes first position and second position, and the first position is close to the connection ring body, and described second
The outer wall of position is provided with external tooth, for assembling with the interior tooth engagement of rigid gear.
2. flexible gear according to claim 1, which is characterized in that the surface of the connection ring body is provided with threaded hole,
For being threadedly coupled with preset flexbile gear end cap.
3. a kind of hollow type harmonic wave drive speed reducer, which is characterized in that including flexible gear as described in claim 1.
4. harmonic wave drive speed reducer according to claim 3, which is characterized in that further include:
Wave producer；
The wave producer includes axis, the axis have along the axis the through-hole being axially arranged, and the through-hole with
The axis coaxial arrangement；
The outer wall of the axis is additionally provided with along the axis circumferentially around one week cam, the cam and the axis one
It is body formed；
The outer wall rotation of the cam is socketed with flexible bearing；
The outer wall of the axis also rotates and is socketed with second bearing and 3rd bearing, the second bearing and the 3rd bearing point
Not Wei Yu the flexible bearing two sides
The flexible gear rotation is socketed on the wave producer；
Rigid gear, the inner ring of the rigid gear are provided with the internal tooth matched with the external tooth being arranged in the second position,
The rigid gear is connected by meshing transmission with the flexible gear；
First bearing, the first bearing rotation are set in the first position of the transmission cylinder.
5. harmonic wave drive speed reducer according to claim 4, which is characterized in that the first bearing includes crossed roller axis
It holds.
6. harmonic wave drive speed reducer according to claim 4, which is characterized in that the second bearing includes deep-groove ball axis
It holds；
With or, the 3rd bearing includes deep groove ball bearing.
7. harmonic wave drive speed reducer according to claim 4, which is characterized in that further include cricoid flexbile gear end cap；
The flexbile gear end cap is socketed on the wave producer, and is provided on the flexbile gear end cap for accommodating the flexible tooth
First annular recess of wheel；
The flexible gear is removably attachable in first annular recess, and the flexible gear passes through the flexible bearing
It is socketed with the central axis, and the flexbile gear end cap is socketed by the second bearing and the central axis.
8. harmonic wave drive speed reducer according to claim 7, which is characterized in that the first annular recess of the flexbile gear end cap
Slot bottom and the end face of connection ring body of the flexible gear be respectively arranged with corresponding counter sink and through-hole；
The flexbile gear end cap and the flexible gear are fixed by multiple screws, and are fixed on the outer ring of the first bearing together
On.
9. harmonic wave drive speed reducer according to claim 4, which is characterized in that further include cricoid firm gear end cap；
The firm gear end cap is socketed on the wave producer, and is provided on the firm gear end cap for accommodating the rigid teeth
Second annular recess of wheel；
The rigid gear is removably attachable in second annular recess, and the firm gear end cap passes through the 3rd bearing
It is socketed with the central axis.
10. harmonic wave drive speed reducer according to claim 9, which is characterized in that the second of the firm gear end cap is cyclic annular recessed
The end face of one end far from the flexible gear of the slot bottom of slot and the rigid gear is respectively arranged with corresponding counter sink
And through-hole；
The firm gear end cap and the rigid gear are fixed by multiple screws, and are fixed on the inner ring of the first bearing together
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821651388.1U CN208966987U (en) | 2018-10-11 | 2018-10-11 | Flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821651388.1U CN208966987U (en) | 2018-10-11 | 2018-10-11 | Flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive |
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| Publication Number | Publication Date |
|---|---|
| CN208966987U true CN208966987U (en) | 2019-06-11 |
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ID=66758360
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| Application Number | Title | Priority Date | Filing Date |
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| CN (1) | CN208966987U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216662A (en) * | 2019-07-18 | 2019-09-10 | 江苏金恒信息科技股份有限公司 | A kind of industrial machine human body |
-
2018
- 2018-10-11 CN CN201821651388.1U patent/CN208966987U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216662A (en) * | 2019-07-18 | 2019-09-10 | 江苏金恒信息科技股份有限公司 | A kind of industrial machine human body |
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