CN209781614U - High-order-frequency precise harmonic reducer - Google Patents
High-order-frequency precise harmonic reducer Download PDFInfo
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- CN209781614U CN209781614U CN201920329935.2U CN201920329935U CN209781614U CN 209781614 U CN209781614 U CN 209781614U CN 201920329935 U CN201920329935 U CN 201920329935U CN 209781614 U CN209781614 U CN 209781614U
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Abstract
the utility model provides a high-order frequency's accurate harmonic speed reducer ware, it makes wave generator rotate a week, and N staggered teeth motion takes place for flexible internal gear, and N is greater than or equal to 4 for the position accuracy and the rotation precision of harmonic speed reducer ware are higher, and the transmission is more steady, and work is more stable. The flexible gear comprises a wave generator, a flexible gear and a steel gear, wherein the flexible gear comprises a flexible inner gear and an output part, the wave generator is arranged in an internal installation cavity of the flexible inner gear, the wave generator comprises an input shaft end and a cam, flexible bearings are annularly distributed between the peripheral surface of an outer ring of the cam and the peripheral surface of an inner ring of the flexible inner gear, N convex ring surfaces are evenly annularly distributed on the periphery of an outer ring of the cam, N is larger than or equal to 4, a gradual transition ring surface is arranged between the adjacent convex ring surfaces, the tooth part of the flexible inner gear is meshed with a corresponding outer gear of the steel gear, and the steel gear is fixedly connected with a casing through a peripheral connecting flange.
Description
Technical Field
The utility model relates to a technical field of harmonic speed reducer ware specifically is a precision harmonic speed reducer ware of higher frequency.
Background
The harmonic reducer has the advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission and high transmission precision, and is widely applied to the industries of electronics, aerospace, aviation, robots and the like.
The existing harmonic reducer forces the internal gear to generate elastic deformation and to present an ellipse shape when the wave generator is installed in the internal gear, thereby generating twice frequency and generating so-called two staggered tooth motion, thereby realizing the motion transmission of the driving wave generator and the flexible gear.
however, in the existing harmonic reducer structure, because the meshing contact surface of the teeth and the eating surface is less in the transmission process, the load per unit area is large, the transmission stability and the working stability are poor, and because the wave generator rotates for a circle and only two staggered teeth move, the gear pitch error and the accumulated pitch error are relatively large, and the transmission precision is relatively low.
Disclosure of Invention
To the above problem, the utility model provides a precision harmonic speed reducer ware of high order frequency, it is through the structure that improves wave generator, make its internal gear produce elastic deformation and present and be no less than four archs, thereby many times frequently that generates, can have and be no less than four positions and mesh the external gear simultaneously, make in transmission process tooth and the meshing contact surface of flank of tooth more, the tooth ratio of meshing is more than traditional, therefore the unit area load is littleer, bearing capacity is higher than traditional precision speed reducer ware with the rigidity, make the transmission more steady, it is more stable to work, the precision is higher.
The utility model provides a precision harmonic speed reducer ware of high order frequency which characterized in that: the flexible gear comprises a wave generator, a flexible gear and a steel gear, wherein the flexible gear comprises a flexible inner gear and an output part, the wave generator is arranged in an internal installation cavity of the flexible inner gear, the wave generator comprises an input shaft end and a cam, flexible bearings are annularly distributed between the peripheral surface of an outer ring of the cam and the peripheral surface of an inner ring of the flexible inner gear, N convex ring surfaces are evenly annularly distributed on the periphery of an outer ring of the cam, N is larger than or equal to 4, a gradual transition ring surface is arranged between the adjacent convex ring surfaces, the tooth part of the flexible inner gear is meshed with a corresponding outer gear of the steel gear, and the steel gear is fixedly connected with a casing through a peripheral connecting flange.
It is further characterized in that:
The number of teeth of the outer gear of the steel wheel is N more than that of the teeth of the flexible inner gear;
each convex ring surface of the cam is of the same structure, and each progressive transition ring surface of the cam is of the same structure;
The tooth part of the flexible inner gear corresponding to the convex ring surface is meshed with the tooth part of the outer gear at the corresponding position, and the progressive transition ring surface is used for connecting two adjacent convex ring surfaces and ensuring smooth transition; the area of the flexible internal gear corresponding to the innermost concave area of the progressive transition ring surface is a tooth separation area;
The convex ring surface comprises a central most convex point and two side transition arcs, the gradual transition ring surface comprises a central most concave area and two side gradual transition arcs, and the tail ends of the transition arcs on the corresponding side of the convex ring surface are connected with the tail ends of the gradual transition arcs on the corresponding side of the gradual transition ring surface;
the distances from the most salient points of the centers of all the convex ring surfaces to the central point of the cam are equal, so that the meshing degrees of the teeth are ensured to be the same, and the stress uniformity is ensured;
The flexible gear comprises a shell, a flexible gear and a flexible gear, wherein the flexible gear is arranged on the shell, the flexible gear is arranged on the flexible gear, the flexible.
after the technical scheme is adopted, the harmonic reducer device enables the flexible inner gear to generate elastic deformation to present at least four bulges by improving the cam structure of the wave generator, and can have at least four positions to be simultaneously meshed with the corresponding outer gears, so that the gear pitch error and the accumulated pitch error are higher than the position accuracy and the rotation accuracy of the conventional harmonic reducer; in the transmission process, the meshing contact surfaces of the teeth and the tooth surfaces are more, and the meshing tooth ratio is more than that of the traditional gear, so that the unit area load is smaller, and the bearing capacity and the rigidity are higher than those of the traditional precision speed reducer; the high-order frequency precise harmonic reducer has the advantages of more stable transmission, more stable work and higher precision.
Drawings
FIG. 1 is a front view cross-sectional view of an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of an outer ring circumference of a cam according to an embodiment of the present invention;
The names corresponding to the sequence numbers in the figure are as follows:
the wave generator comprises a wave generator 1, an input shaft end 11, a cam 12, a convex ring surface 121, a central most convex point 1211, a transition arc 1212, a gradual transition ring surface 122, a central most concave area 1221, a gradual transition arc 1222, a flexible gear 2, a flexible internal gear 21, an output part 22, a steel gear 3, an external gear 31, a connecting flange 32, a flexible bearing 4, a machine shell 5, a central avoiding hole 51, a sleeve 6, a first inner ring bearing 7 and a second outer ring bearing 8.
Detailed Description
a precision harmonic reducer for higher frequencies, see fig. 1-2: the flexible gear comprises a wave generator 1, a flexible gear 2 and a steel gear 3, wherein the flexible gear 2 comprises a flexible internal gear 21 and an output part 22, the wave generator 1 is arranged in an internal installation cavity of the flexible internal gear 21, the wave generator 1 comprises an input shaft end 11 and a cam 12, a flexible bearing 4 is annularly distributed between the peripheral surface of an outer ring of the cam 12 and the peripheral surface of an inner ring of the flexible internal gear 21, N convex ring surfaces 121 are evenly and annularly distributed on the peripheral surface of the cam 12, N is larger than or equal to 3, a gradual transition ring surface 122 is arranged between the adjacent convex ring surfaces 121, the teeth of the flexible internal gear 21 are meshed with corresponding external gears 31 of the steel 3 gear, and the steel gear 3 is fixedly connected with a machine shell 5.
The number of teeth of the outer gear 31 of the steel wheel 3 is more than N than that of the flexible inner gear 21;
each convex annular surface 121 of the cam 12 is of the same configuration and each progressive transition annular surface 122 of the cam 12 is of the same configuration;
the tooth part of the flexible inner gear 21 corresponding to the convex ring surface 121 is meshed with the tooth part of the outer gear 31 at the corresponding position, and the progressive transition ring surface 122 is used for connecting two adjacent convex ring surfaces 121 and ensuring smooth transition; the region of the flexible internal gear 21 corresponding to the innermost concave region of the progressive transition ring surface 122 is a tooth separation region;
the convex ring surface 121 comprises a central most convex point 1211 and two side transition arcs 1212, the gradual transition ring surface 122 comprises a central most concave area 1221 and two side gradual transition arcs 1222, and the tail ends of the transition arcs 1212 on the corresponding side of the convex ring surface 121 are connected with the tail ends of the gradual transition arcs 1222 on the corresponding side of the gradual transition ring surface 122;
The distances from the most convex points 1211 of the centers of all the convex ring surfaces 121 to the center point of the cam 1 are equal, so that the meshing degree of the teeth is ensured to be the same, and the uniformity of stress is ensured.
During specific implementation, the central portion of the flexible gear 2 penetrates through the center avoidance hole 51 of the casing 5, the output portion 22 of the flexible gear 2 is of a top hat type structure, the outer ring of the output portion 22 is connected with the sleeve 6 in a flange mode, the sleeve 6 is annularly distributed on the outer ring surface of the corresponding casing 5, the inner ring wall of the sleeve 6 and the corresponding outer ring surface of the casing 5 are provided with the first inner ring bearing 7 and the second outer ring bearing 8, the second outer ring bearing 8 is specifically a roller bearing, the output of the output portion 22 is stable and reliable, and the outer ring periphery of the cam 12 is uniformly and annularly distributed with four convex ring surfaces 121.
The harmonic reducer device enables the flexible inner gear to generate elastic deformation to present at least four bulges by improving the cam structure of the wave generator, and can have at least four positions to simultaneously engage with the corresponding outer gear, so that the gear pitch error and the accumulated pitch error are higher than the position accuracy and the rotation accuracy of the conventional harmonic reducer; in the transmission process, the meshing contact surfaces of the teeth and the tooth surfaces are more, and the meshing tooth ratio is more than that of the traditional gear, so that the unit area load is smaller, and the bearing capacity and the rigidity are higher than those of the traditional precision speed reducer; the high-order frequency precise harmonic reducer has the advantages of more stable transmission, more stable work and higher precision.
the detailed description of the embodiments of the present invention has been provided, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the present invention shall fall within the scope of the present patent application.
Claims (7)
1. The utility model provides a precision harmonic speed reducer ware of high order frequency which characterized in that: the flexible gear comprises a wave generator, a flexible gear and a steel gear, wherein the flexible gear comprises a flexible inner gear and an output part, the wave generator is arranged in an internal installation cavity of the flexible inner gear, the wave generator comprises an input shaft end and a cam, flexible bearings are annularly distributed between the peripheral surface of an outer ring of the cam and the peripheral surface of an inner ring of the flexible inner gear, N convex ring surfaces are evenly annularly distributed on the periphery of an outer ring of the cam, N is larger than or equal to 4, a gradual transition ring surface is arranged between the adjacent convex ring surfaces, the tooth part of the flexible inner gear is meshed with a corresponding outer gear of the steel gear, and the steel gear is fixedly connected with a casing through a peripheral connecting flange.
2. A precision harmonic reducer of higher frequencies as claimed in claim 1 wherein: the number of teeth of the outer gear of the steel wheel is N more than that of the teeth of the flexible inner gear.
3. A precision harmonic reducer of higher frequencies as claimed in claim 1 wherein: each convex ring surface of the cam is of the same structure, and each progressive transition ring surface of the cam is of the same structure.
4. A precision harmonic reducer of higher order frequencies as in claim 3 wherein: the tooth part of the flexible inner gear corresponding to the convex ring surface is meshed with the tooth part of the outer gear at the corresponding position, and the progressive transition ring surface is used for connecting two adjacent convex ring surfaces and ensuring smooth transition; the area of the flexible inner gear corresponding to the innermost concave area of the progressive transition ring surface is a tooth separation area.
5. A precision harmonic reducer of higher order frequencies as in claim 3 wherein: the convex ring surface comprises a central most convex point and two side transition arcs, the gradual transition ring surface comprises a central most concave area and two side gradual transition arcs, and the tail ends of the transition arcs on the corresponding sides of the convex ring surface are connected with the tail ends of the gradual transition arcs on the corresponding sides of the gradual transition ring surface.
6. A precision harmonic reducer of higher frequencies as in claim 5 wherein: the distances from the most salient points of the centers of all the convex ring surfaces to the central point of the cam are equal, so that the meshing degrees of the teeth are ensured to be the same.
7. A precision harmonic reducer of higher frequencies as claimed in claim 1 wherein: the flexible gear comprises a shell, a flexible gear and a flexible gear, wherein the flexible gear is arranged on the shell, the flexible gear is arranged on the flexible gear, the flexible gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920329935.2U CN209781614U (en) | 2019-03-15 | 2019-03-15 | High-order-frequency precise harmonic reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920329935.2U CN209781614U (en) | 2019-03-15 | 2019-03-15 | High-order-frequency precise harmonic reducer |
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| CN209781614U true CN209781614U (en) | 2019-12-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737196A (en) * | 2019-03-15 | 2019-05-10 | 苏州绿的谐波传动科技股份有限公司 | A kind of accurate harmonic speed reducer of high order frequency |
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2019
- 2019-03-15 CN CN201920329935.2U patent/CN209781614U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737196A (en) * | 2019-03-15 | 2019-05-10 | 苏州绿的谐波传动科技股份有限公司 | A kind of accurate harmonic speed reducer of high order frequency |
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