CN209309229U - A kind of miniature harmonic speed reducer of lightweight - Google Patents
A kind of miniature harmonic speed reducer of lightweight Download PDFInfo
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- CN209309229U CN209309229U CN201821949345.1U CN201821949345U CN209309229U CN 209309229 U CN209309229 U CN 209309229U CN 201821949345 U CN201821949345 U CN 201821949345U CN 209309229 U CN209309229 U CN 209309229U
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- wave producer
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Abstract
The utility model is a kind of miniature harmonic speed reducer of lightweight, including firm gear, flexbile gear and wave producer, it further include intersecting bearing, intersecting axle, which is contracted, includes inner ring, outer ring and roller, and firm gear is connect with outer ring, and flexbile gear is connect with inner ring, the connecting portion of flexbile gear and inner ring is provided with interior cushion block, the connecting portion of firm gear and outer ring, which is provided with, fills out ball block, and the inside of wave producer is equipped with flexible bearing, and flexible bearing is fixedly connected with wave producer；Have the characteristics that be simple to manufacture, precision is high, easy for installation, light weight, small in size.
Description
Technical field
The utility model belongs to retarder production technical field, and in particular to a kind of miniature harmonic speed reducer of lightweight.
Background technique
Retarder is a kind of power transmission mechanism, and using the velocity transducer of gear, the winding number of electric motor is slowed down
To desired winding number, and obtain the mechanism of larger torque.Speed reducer it is many kinds of, model is different, and variety classes are different
Purposes.Wherein a kind of a kind of Novel reducer to be grown up using planetary gear principle of harmonic speed reducer, due to its carrying
Ability is high, transmission ratio is big, small in size, light-weight, stable drive and the particular advantages such as transmission accuracy height, so that harmonic speed reducer is wide
It is general to be applied to the industries such as electronics, space flight and aviation, robot.
With the continuous variation in market, robot industry and various other industries get over the volume and quality requirement of retarder
Quality and the volume for carrying out higher, traditional harmonic speed reducer are still bigger than normal, are not able to satisfy demand of the product to lightweight retarder.
Utility model content
The purpose of this utility model is to provide a kind of miniature harmonic speed reducers of lightweight, improve in the prior art lack
It falls into, has the characteristics that be simple to manufacture, precision is high, easy for installation, light weight, small in size, directly make especially with power input shaft
For motor shaft use, the adapter flange needed when motor and harmonic wave reducer group is omitted greatly improves installation accuracy,
Production and installation cost are reduced, and the present apparatus is relative to 30% or more traditional harmonic speed reducer axial length reduction, it is whole
Machine Mass lost 40% has biggish breakthrough, can realize lightweight while guaranteeing the precision of complete machine.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of miniature harmonic speed reducer of lightweight, including firm gear, flexbile gear and wave producer, it is characterised in that: further include handing over
Fork bearing, intersecting axle, which is contracted, includes inner ring, outer ring and roller, and firm gear is connect with outer ring, and flexbile gear is connect with inner ring, flexbile gear and inner ring
Connecting portion is provided with interior cushion block, and the connecting portion of firm gear and outer ring, which is provided with, fills out ball block, and the inside of wave producer is equipped with soft
Property bearing, flexible bearing are fixedly connected with wave producer；Intersection bearing, which is realized, makes power input shaft directly as motor shaft
With the adapter flange of needs, greatly improves installation accuracy, also reduce when motor and harmonic wave reducer group is omitted
Cost, firm gear are connect with the outer ring for intersecting bearing, and flexbile gear is connect with the inner ring for intersecting bearing, and flexbile gear and inner ring directly pass through interior pad
Block is compressed, and guarantees the whole uniform force of flexbile gear, by the fixed outer ring for intersecting bearing, to realize that the torque of inner ring is defeated
Out, wave producer is elliptical structure, is equipped with a flexible bearing in oval part, make flexible bearing also with wave producer one
It rises and becomes oval, the antifatigue degree of wave producer and the impaction state to flexbile gear can be increased.
Further, the shell of firm gear is made of aluminum material, and the teeth portion of firm gear is made of steel material；Firm gear is set
Meter breaches traditional carft of construction, and firm gear uses compound technique, and the shell of firm gear, which is adopted, to be formed from aluminium, and is mitigated significantly
The weight of firm gear, the ring gear of firm gear are made of steel material, can guarantee the intensity of teeth portion to carry out gear engagement
And the transmitting of torque.
Further, firm gear and flexbile gear are all made of oil sealing sealing with the connecting portion for intersecting bearing；By firm gear and flexbile gear and friendship
The junction of the inner ring and outer ring of fork bearing utilizes oil sealing sealing, can guarantee the leakproofness of retarder complete machine.
Further, wave producer is mounted in the inner hole of flexbile gear, and flexbile gear is mounted in the inner hole of firm gear；Realize firm gear, soft
The connection of wheel and wave producer, external impetus input drive wave producer that constantly rotation occurs, change the deformation of flexbile gear constantly,
It is provided with outer gear ring on flexbile gear, has ring gear in firm gear, firm gear two tooth more than flexbile gear, the flexbile gear of firm gear engages shape with firm gear
State also constantly changes, by it is engaging-in, engage, nibble out, disengage, engaging-in again, carry out again and again, to realize flexbile gear with respect to firm gear
Along the slow rotation of wave producer opposite direction.
Further, intersect bearing and use roller bearing, intersect bearing using full roller designs, intersect the working gap of bearing
For negative value；The full roller designs of roller bearing can effectively ensure that the accuracy of product entirety, intersects bearing and uses negative clearance
Design, the tired service life for intersecting bearing can be increased, can have enough intensity to bear the same of moment of flexure guaranteeing product
When, moreover it is possible to effectively reach the precision of complete machine.
As a result of the above technical solution, the following beneficial effects are obtained:
The utility model is a kind of miniature harmonic speed reducer of lightweight, and intersection bearing, which realizes, directly makees power input shaft
For motor shaft use, the adapter flange of needs when motor and harmonic wave reducer group is omitted greatly improves installation essence
Degree, also reduces cost, firm gear is connect with the outer ring for intersecting bearing, and flexbile gear is connect with the inner ring for intersecting bearing, flexbile gear and inner ring
It is directly compressed by interior cushion block, guarantees the whole uniform force of flexbile gear, by the fixed outer ring for intersecting bearing, to realize
The torque of inner ring exports, and wave producer is elliptical structure, is equipped with a flexible bearing in oval part, makes flexible bearing
Become oval together with wave producer, the antifatigue degree of wave producer and the impaction state to flexbile gear can be increased.
The utility model improves defect in the prior art, have be simple to manufacture, precision is high, easy for installation, light weight,
Feature small in size uses directly as motor shaft especially with power input shaft, motor and harmonic wave reducer group is omitted
When the adapter flange that needs, greatly improve installation accuracy, reduce production and installation cost, and the present apparatus is relative to biography
The harmonic speed reducer axial length of system reduces 30% or more, and overall mass reduces 40%, has biggish breakthrough, can guarantee
Lightweight is realized while the precision of complete machine.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is a kind of structural schematic diagram of the miniature harmonic speed reducer of lightweight of the utility model.
In figure, 1- firm gear；2- intersects bearing；3- oil sealing；Cushion block in 4-；5- roller；6- fills out ball block；7- flexbile gear；8- wave hair
Raw device；9- flexible bearing；10- inner ring；The outer ring 11-.
Specific embodiment
As shown in Figure 1, being a kind of miniature harmonic speed reducer of lightweight of the utility model, including firm gear 1, flexbile gear 7 and Bo Fa
Raw device 8 further includes intersecting bearing 2, and intersecting bearing 2 includes inner ring 10, outer ring 11 and roller 5, and firm gear 1 is connect with outer ring 11, soft
Wheel 7 is connect with inner ring 10, and the connecting portion of flexbile gear 7 and inner ring 10 is provided with interior cushion block 4, the connecting portion of firm gear 1 and outer ring 11
It is provided with and fills out ball block 6, the inside of wave producer 8 is equipped with flexible bearing 9, and flexible bearing 9 is fixedly connected with wave producer 8；It hands over
Fork bearing 2, which is realized, uses power input shaft directly as motor shaft, needs when motor and harmonic wave reducer group is omitted
Adapter flange greatly improves installation accuracy, also reduces cost, and firm gear 1 is connect with the outer ring 11 for intersecting bearing 2,
Flexbile gear 7 is connect with the inner ring 10 for intersecting bearing 2, and flexbile gear 7 is directly compressed by interior cushion block 4 with inner ring 10, guarantees flexbile gear 7
Whole uniform force, by the fixed outer ring 11 for intersecting bearing 2, to realize the torque output of inner ring 10, wave producer 8 is ellipse
Round structure is equipped with a flexible bearing 9 in oval part, flexible bearing 9 is made also to become oval together with wave producer 8,
The antifatigue degree of wave producer 8 and the impaction state to flexbile gear 7 can be increased.The shell of firm gear 1 is made of aluminum material,
The teeth portion of firm gear 1 is made of steel material；The design of firm gear 1 breaches traditional carft of construction, and firm gear 1 is using multiple
The technique of conjunction, the shell of firm gear 1, which is adopted, to be formed from aluminium, and significantly reduces the weight of firm gear 1, and the ring gear of firm gear 1 uses steel material
Material is made, and can guarantee the intensity of teeth portion to carry out the transmitting of gear engagement and torque.Firm gear 1 and flexbile gear 7 with intersect bearing 2
Connecting portion be all made of oil sealing 3 sealing；By the junction benefit of firm gear 1 and flexbile gear 7 and the inner ring 10 and outer ring 11 that intersect bearing 2
It is sealed with oil sealing 3, can guarantee the leakproofness of retarder complete machine.Wave producer 8 is mounted in the inner hole of flexbile gear 7, and flexbile gear 7 is installed
In the inner hole of firm gear 1；Realize that the connection of firm gear 1, flexbile gear 7 and wave producer 8, external impetus input drive wave producer 8 to send out
Raw constantly rotation, changes the deformation of flexbile gear 7 constantly, and outer gear ring is provided on flexbile gear 7, has ring gear, firm gear 1 in firm gear 1
Than more than 7 two tooth of flexbile gear, the flexbile gear 7 of firm gear 1 also constantly changes with the meshing state of firm gear 1, by it is engaging-in, engage, nibble out, disengage,
It is engaging-in again, it carries out again and again, to realize slow rotation of the flexbile gear 7 relative to firm gear 1 along 8 opposite direction of wave producer.It hands over
Fork bearing 2 uses 5 bearing of roller, intersects bearing 2 and is designed using full roller 5, and the working gap for intersecting bearing 2 is negative value；Roller 5
The full roller 5 of bearing designs, and can effectively ensure that the accuracy of product entirety, intersects bearing 2 using the design of negative clearance, energy
It is enough to increase the tired service life for intersecting bearing 2, it can be while guaranteeing that product has enough intensity to bear moment of flexure, moreover it is possible to have
The precision for reaching complete machine of effect.
As a result of the above technical solution, the following beneficial effects are obtained:
The utility model is a kind of miniature harmonic speed reducer of lightweight, and intersection bearing 2 realizes power input shaft is direct
It is used as motor shaft, the adapter flange of needs, greatly improves installation when motor and harmonic wave reducer group is omitted
Precision also reduces cost, and firm gear 1 is connect with the outer ring 11 for intersecting bearing 2, and flexbile gear 7 is connect with the inner ring 10 for intersecting bearing 2,
Flexbile gear 7 is directly compressed by interior cushion block 4 with inner ring 10, guarantees the whole uniform force of flexbile gear 7, intersects bearing by fixed
2 outer ring 11, to realize the torque output of inner ring 10, wave producer 8 is elliptical structure, is equipped with one in oval part
Flexible bearing 9 makes flexible bearing 9 also become oval together with wave producer 8, can increase the antifatigue degree of wave producer 8
With the impaction state to flexbile gear 7.
The utility model improves defect in the prior art, have be simple to manufacture, precision is high, easy for installation, light weight,
Feature small in size uses directly as motor shaft especially with power input shaft, motor and harmonic wave reducer group is omitted
When the adapter flange that needs, greatly improve installation accuracy, reduce production and installation cost, and the present apparatus is relative to biography
The harmonic speed reducer axial length of system reduces 30% or more, and overall mass reduces 40%, has biggish breakthrough, can guarantee
Lightweight is realized while the precision of complete machine.
The above are only specific embodiments of the present invention, but the technical characteristics of the utility model is not limited thereto.Appoint
How based on the utility model, to solve essentially identical technical problem, essentially identical technical effect is realized, madely
Simple change, equivalent replacement or modification etc., are all covered by among the protection scope of the utility model.
Claims (5)
1. a kind of miniature harmonic speed reducer of lightweight, including firm gear, flexbile gear and wave producer, it is characterised in that: further include intersecting
Bearing, the intersecting axle, which is contracted, includes inner ring, outer ring and roller, and the firm gear is connect with the outer ring, the flexbile gear with it is described interior
The connecting portion of circle connection, the flexbile gear and the inner ring is provided with interior cushion block, the connecting portion of the firm gear and the outer ring
It is provided with and fills out ball block, the inside of the wave producer is equipped with flexible bearing, and the flexible bearing is fixed with the wave producer
Connection.
2. the miniature harmonic speed reducer of a kind of lightweight according to claim 1, it is characterised in that: the shell of the firm gear uses
Aluminum material is made, and the teeth portion of the firm gear is made of steel material.
3. the miniature harmonic speed reducer of a kind of lightweight according to claim 1, it is characterised in that: the firm gear and the flexbile gear
Oil sealing sealing is all made of with the connecting portion for intersecting bearing.
4. the miniature harmonic speed reducer of a kind of lightweight according to claim 1, it is characterised in that: the wave producer is mounted on
In the inner hole of the flexbile gear, the flexbile gear is mounted in the inner hole of the firm gear.
5. the miniature harmonic speed reducer of a kind of lightweight according to claim 1, it is characterised in that: the intersection bearing is using full
Roller designs, the working gap for intersecting bearing are negative value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821949345.1U CN209309229U (en) | 2018-11-23 | 2018-11-23 | A kind of miniature harmonic speed reducer of lightweight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821949345.1U CN209309229U (en) | 2018-11-23 | 2018-11-23 | A kind of miniature harmonic speed reducer of lightweight |
Publications (1)
| Publication Number | Publication Date |
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| CN209309229U true CN209309229U (en) | 2019-08-27 |
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| CN201821949345.1U Active CN209309229U (en) | 2018-11-23 | 2018-11-23 | A kind of miniature harmonic speed reducer of lightweight |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566575A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | ultra-light roller crossed bearing |
| CN110566652A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | Ultra-light harmonic speed reducer |
| CN110757151A (en) * | 2019-10-12 | 2020-02-07 | 北京新立机械有限责任公司 | Automatic assembling system for harmonic reducer and control method thereof |
| CN110814802A (en) * | 2019-11-18 | 2020-02-21 | 福建恒而达新材料股份有限公司 | Five rocking arm slewer of harmonic speed reducer ware are taken to cantilever type |
-
2018
- 2018-11-23 CN CN201821949345.1U patent/CN209309229U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566575A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | ultra-light roller crossed bearing |
| CN110566652A (en) * | 2019-10-08 | 2019-12-13 | 万鑫精工（湖南）有限公司 | Ultra-light harmonic speed reducer |
| CN110757151A (en) * | 2019-10-12 | 2020-02-07 | 北京新立机械有限责任公司 | Automatic assembling system for harmonic reducer and control method thereof |
| CN110814802A (en) * | 2019-11-18 | 2020-02-21 | 福建恒而达新材料股份有限公司 | Five rocking arm slewer of harmonic speed reducer ware are taken to cantilever type |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20230614 Address after: 9003-2, 9th Floor, Cuiping Science and Technology Innovation Building, No. 7 Nanyou Road, Jiangning District, Nanjing City, Jiangsu Province, 211100 (Jiangning Development Zone) Patentee after: Nanjing Kemaide Robot Technology Co.,Ltd. Address before: 312400 Ganlin Town Industrial Park, Shengzhou City, Shaoxing City, Zhejiang Province Patentee before: ZHEJIANG LAIFUAL HARMONIC DRIVE Co.,Ltd. |