CN209444758U - A kind of direct-drive type harmonic speed reducer transmission device - Google Patents
A kind of direct-drive type harmonic speed reducer transmission device Download PDFInfo
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- CN209444758U CN209444758U CN201821767476.8U CN201821767476U CN209444758U CN 209444758 U CN209444758 U CN 209444758U CN 201821767476 U CN201821767476 U CN 201821767476U CN 209444758 U CN209444758 U CN 209444758U
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- gear
- rotor
- speed reducer
- inner circumferential
- harmonic speed
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Abstract
The utility model relates to harmonic speed reducer technical fields, more particularly to a kind of direct-drive type harmonic speed reducer transmission device, including stator casing, motor stator, rotor, wave producer, flexbile gear, firm gear, output flange and output shaft, motor stator be fixed on the inner circumferential of stator casing and can driving motor rotor rotation, the output end of rotor is fixedly connected with wave producer, the both ends of wave producer mutually compress to connect the flexbile gear periphery gear teeth for being compacted place with firm gear inner circumferential gear teeth meshing by the inner wall of idler wheel and flexbile gear, the periphery of firm gear is fixedly connected on the inner circumferential of stator casing, the periphery of output flange is rolled by the inner circumferential of flange bearing and stator casing and is connected, the flexbile gear periphery gear teeth and the firm gear inner circumferential gear teeth are double circular arc tooth outline, it is formed by dome arc and concave arc are tangent；The utility model can improve the transmission properties of retarder, while being able to solve current harmonic speed reducer and taking up space biggish phenomenon, keep structure more compact.
Description
Technical field
The utility model relates to harmonic speed reducer technical fields, and in particular to a kind of direct-drive type harmonic speed reducer transmission dress
It sets.
Background technique
Harmonic gear transmission has transmission ratio is big, small in size, light-weight, bearing capacity is high, high transmission accuracy, return difference are small etc.
Harmonic gear transmission is successfully applied to aerospace, atomic pile, high energy acclerator, thunder by unique advantage, foreign countries
Up in the fields such as system, robot, military affairs, optical instrument and universal machine.Harmonic speed reducer is mainly by wave producer, flexibility
Gear and rigid gear three basic building blocks composition, be it is a kind of make flexible gear generate controlled elasticity by wave producer to deform, and
It is meshed with rigid gear and carrys out the gear drive of passing movement and power.Existing harmonic speed reducer device mostly uses involute teeth
The gear of shape is engaged transmission, and the gear teeth logarithm of involute profile transmission engagement is less, and transmission efficiency is low；Root portion is answered
Power compares concentration, is easy to happen fatigue fracture；Interference is easy to happen during engagement, between gear simultaneously, it is serious to restrict
The bearing capacity of harmonic drive entirety；And existing harmonic speed reducer, motor stator, rotor and reducer shell slow down
Device is separated from each other installation, and structure is not compact enough, and occupied space is big.
Utility model content
The purpose of the utility model is to overcome the above problems, provide a kind of direct-drive type harmonic speed reducer transmission device, energy
Phenomena such as involute profile is easy to produce cusp in transmission process and fatigue fracture occurs enough is solved, the gearing of gear is improved
Can, while solving current harmonic speed reducer and taking up space biggish phenomenon, keep structure more compact.
The utility model is realized by following technical proposals:
A kind of direct-drive type harmonic speed reducer transmission device, including stator casing, motor stator, rotor, wave producer,
Flexbile gear, firm gear, output flange and output shaft, rotor pass through rotor bearing support limit in stator casing, motor stator
It is fixed on the inner circumferential of stator casing and is matched with rotor so as to the rotation of driving motor rotor relative stator shell, electricity
The output end of machine rotor is fixedly connected with wave producer, the both ends of wave producer by the inner wall of idler wheel and flexbile gear mutually compress from
And it connect the flexbile gear periphery gear teeth for being compacted place with firm gear inner circumferential gear teeth meshing, the periphery of firm gear is fixedly connected on stator casing
Inner circumferential, the periphery of output flange rolled by the inner circumferential of flange bearing and stator casing and connected, one end of output flange with it is soft
Wheel is fixedly connected, and the other end is fixedly connected with output shaft；The flexbile gear periphery gear teeth and the firm gear inner circumferential gear teeth are double circles
Curved tooth is wide, is formed by dome arc and concave arc are tangent.
It is preferred that the both ends of the wave producer, which are fixedly connected with rolling bearing, constitutes the idler wheel.
It is preferred that the flexbile gear is short cup flexbile gear.
It is preferred that the stator casing includes coaxially fixing concatenated left shell, right shell body and left and right end cap, the motor
Stator is arranged in left outside shell, and the firm gear and output flange are arranged in right shell body.
It is preferred that between the flexbile gear and output flange, between the firm gear and stator casing, the output of the rotor
It is bolted to connection between end and wave producer, between the left shell and right shell body.
It is preferred that the position of the rotor and rotor bearing cooperation is equipped with the shaft shoulder for limit.
Compared to the prior art, the beneficial effects of the utility model are: the design of the bicircular arcs gear teeth, improves stress distribution
The phenomenon that uneven and cusp, make to produce the gear motion of side set between flexbile gear and firm gear, is not only able to achieve deceleration and increases square, may be used also
Improve meshing performance to improve bearing capacity；It is directly fixedly connected with impeller generator due to using rotor, and will
Motor and retarder are arranged in the same shell, effectively shorten the axial dimension of harmonic speed reducer device, realize machine
It is electrical integrated, keep structure more compact, while also improving the reliability of equipment.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of direct-drive type harmonic speed reducer transmission device of the utility model；
Fig. 2 is the structural schematic diagram of double circular arc tooth outline in Fig. 1.
Wherein: stator casing 1, left shell 11, right shell body 12, left end cap 13, right end cap 14, motor stator 2, rotor
3, rotor bearing 31, the shaft shoulder 32, wave producer 4, rolling bearing 41, flexbile gear 5, firm gear 6, output flange 7, flange bearing 71 is defeated
Shaft 8, double circular arc tooth outline 9, dome arc 91, concave arc 92.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that saying that the specific embodiment of description is used only for explaining herein
The utility model is not used to limit the utility model.
As shown in Figure 1, 2, a kind of direct-drive type harmonic speed reducer transmission device, including stator casing 1, motor stator 2, motor
Rotor 3, wave producer 4, short cup flexbile gear 5, firm gear 6, output flange 7 and output shaft 8, the stator casing 1 include coaxial fixed
Concatenated left shell 11, right shell body 12, left end cap 13 and right end cap 14, rotor 3 are existed by 31 support limit of rotor bearing
In left shell 11, motor stator 2 is fixed on the inner circumferential of left shell 11 and matches with rotor 3 to be turned so as to driving motor
Sub 3 relative stator shells 1 rotation, the output end of rotor 3 protrude into right shell body 12 and are fixedly connected with wave producer 4, wave hair
The both ends of raw device 4 mutually compress to make 5 periphery of flexbile gear for being compacted place by the idler wheel of rolling bearing 41 and the inner wall of flexbile gear 5
The gear teeth are connect with 6 inner circumferential gear teeth meshing of firm gear, and the periphery of firm gear 6 is fixedly connected on the inner circumferential of right shell body 12, output flange 7 it is outer
Week is rolled by the inner circumferential of flange bearing 71 and right shell body 12 and is connected, and one end of output flange 7 is fixedly connected with flexbile gear 5, another
End is fixedly connected with output shaft 8, and the other end of output shaft 8 stretches out right shell body 12；The 5 periphery gear teeth of flexbile gear and the firm gear 6
The inner circumferential gear teeth are double circular arc tooth outline 9, and by dome arc 91 and concave arc 92 is tangent forms.The flexbile gear 5 and output flange 7 it
Between, between the firm gear 6 and stator casing 1, between the output end of the rotor 3 and wave producer 4, the left shell 11
It is bolted to connection between right shell body 12.Rotor 3 is equipped with the position that the rotor bearing 31 cooperates and is used for
The shaft shoulder 32 of limit.
In use, the rotor of motor rotates under the action of a magnetic force, while the wave of harmonic speed reducer being driven to occur
Device 4 rotates, and flexbile gear 5 can deform under the action of wave producer 4, and rotate together with wave producer 4, be now placed in long axis
5 external tooth of flexbile gear and 6 internal tooth of firm gear on position are engaged, and since firm gear 6 is fixed on stator case, are not rotated,
Therefore the active force of the gear teeth by firm gear 6 in engagement process of flexbile gear 5, can make flexbile gear 5 towards 4 rotation direction phase of wave producer
Anti- position rotates, and flexbile gear 5 is transferred to output shaft by revolving speed and torque transfer to output flange 7 and by output flange 7
8, increase square to have the function that slow down.
The design of the bicircular arcs gear teeth, makes to produce between flexbile gear 5 and firm gear 6 the phenomenon that improving stress distribution unevenness and cusp
The gear motion of side set has been given birth to, deceleration has not only been able to achieve and increases square, can also improve bearing capacity improves meshing performance；Due to using
Rotor 3 is directly fixedly connected with impeller generator, and motor and retarder are arranged in the same shell, effectively
The axial dimension for shortening harmonic speed reducer device, realize electromechanical integration, keep structure more compact, also improve simultaneously
The reliability of equipment.
The preferred embodiment of the utility model is given in attached drawing.But the utility model can be with many different shapes
Formula is realized, however it is not limited to this specification described embodiment.On the contrary, purpose of providing these embodiments is makes to this reality
Understanding with novel disclosure is more thorough and comprehensive.
Claims (6)
1. a kind of direct-drive type harmonic speed reducer transmission device, which is characterized in that including stator casing, motor stator, rotor,
Wave producer, flexbile gear, firm gear, output flange and output shaft, rotor pass through rotor bearing support limit in stator casing,
Motor stator is fixed on the inner circumferential of stator casing and is matched outside so as to driving motor rotor relative stator with rotor
Shell rotation, the output end of rotor are fixedly connected with wave producer, and the both ends of wave producer pass through the inner wall of idler wheel and flexbile gear
It mutually compresses to connect the flexbile gear periphery gear teeth for being compacted place with firm gear inner circumferential gear teeth meshing, the periphery of firm gear is fixedly connected
In the inner circumferential of stator casing, the periphery of output flange is rolled by the inner circumferential of flange bearing and stator casing to be connected, output flange
One end be fixedly connected with flexbile gear, the other end is fixedly connected with output shaft；The flexbile gear periphery gear teeth and the firm gear inner circumferential wheel
Tooth is double circular arc tooth outline, is formed by dome arc and concave arc are tangent.
2. direct-drive type harmonic speed reducer transmission device according to claim 1, which is characterized in that the two of the wave producer
End is fixedly connected with rolling bearing and constitutes the idler wheel.
3. direct-drive type harmonic speed reducer transmission device according to claim 1, which is characterized in that the flexbile gear is that short cup is soft
Wheel.
4. direct-drive type harmonic speed reducer transmission device according to claim 1, which is characterized in that the stator casing includes
Coaxially fix concatenated left shell, right shell body and left and right end cap, the motor stator is arranged in left outside shell, the firm gear and
Output flange is arranged in right shell body.
5. direct-drive type harmonic speed reducer transmission device according to claim 4, which is characterized in that the flexbile gear and output method
Between orchid, between the firm gear and stator casing, between the output end and wave producer of the rotor, the left shell and
It is bolted to connection between right shell body.
6. direct-drive type harmonic speed reducer transmission device according to claim 1, which is characterized in that the rotor and institute
The position for stating rotor bearing cooperation is equipped with the shaft shoulder for being used for limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821767476.8U CN209444758U (en) | 2018-10-29 | 2018-10-29 | A kind of direct-drive type harmonic speed reducer transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821767476.8U CN209444758U (en) | 2018-10-29 | 2018-10-29 | A kind of direct-drive type harmonic speed reducer transmission device |
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| Publication Number | Publication Date |
|---|---|
| CN209444758U true CN209444758U (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821767476.8U Active CN209444758U (en) | 2018-10-29 | 2018-10-29 | A kind of direct-drive type harmonic speed reducer transmission device |
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| Country | Link |
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| CN (1) | CN209444758U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602344A (en) * | 2021-08-13 | 2021-11-05 | 吉林大学 | Position rotary-change external wheel steering mechanism |
| CN114684318A (en) * | 2022-03-15 | 2022-07-01 | 苏州绿的谐波传动科技股份有限公司 | Central-positioned driving device and power-assisted bicycle |
-
2018
- 2018-10-29 CN CN201821767476.8U patent/CN209444758U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602344A (en) * | 2021-08-13 | 2021-11-05 | 吉林大学 | Position rotary-change external wheel steering mechanism |
| CN113602344B (en) * | 2021-08-13 | 2022-06-07 | 吉林大学 | Position rotary-change external wheel steering mechanism |
| CN114684318A (en) * | 2022-03-15 | 2022-07-01 | 苏州绿的谐波传动科技股份有限公司 | Central-positioned driving device and power-assisted bicycle |
| CN114684318B (en) * | 2022-03-15 | 2023-09-22 | 苏州绿的谐波传动科技股份有限公司 | Centrally-mounted driving device and power-assisted bicycle |
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