CN209781614U - High-order-frequency precise harmonic reducer - Google Patents

Abstract

The utility model provides a high-frequency precision harmonic reducer, which makes the wave generator rotate once, and the flexible inner gear generates N wrong teeth movements, N≥4, so that the position accuracy and rotation accuracy of the harmonic reducer Higher, more stable transmission and more stable work. It includes a wave generator, a flexible wheel, and a steel wheel. The flexible wheel includes a flexible internal gear and an output part. The wave generator is built in the internal installation cavity of the flexible internal gear. The wave generator includes The input shaft end, the cam, the outer peripheral surface of the cam and the inner peripheral surface of the flexible internal gear are surrounded by flexible bearings, and N convex annular surfaces are evenly distributed on the outer peripheral surface of the cam, Wherein N≥4, a progressive transition ring is provided between the adjacent raised rings, the teeth of the flexible internal gear mesh with the corresponding outer gear of the steel wheel, and the steel wheel is fixed through the peripheral connecting flange shell.

Description

A High Frequency Precision Harmonic Reducer

technical field

The utility model relates to the technical field of harmonic reducers, in particular to a high-frequency precision harmonic reducer.

Background technique

Harmonic reducers have been widely used in electronics, aerospace, robotics and other industries due to their advantages of high load capacity, large transmission ratio, small size, light weight, stable transmission and high transmission precision.

In the existing harmonic reducer, when the wave generator is installed in the internal gear, the internal gear is forced to deform elastically and become elliptical, thereby generating a secondary frequency and producing the so-called two staggered tooth movements, thereby realizing active wave generation The motion transmission of the device and the flexible spline.

However, in the existing harmonic reducer structure, due to the small meshing contact surface between the teeth and the eating surface during the transmission process, the load per unit area is large, resulting in poor transmission stability and poor working stability. There are two staggered tooth movements, so the ratio of the gear pitch error to the cumulative pitch error is relatively large, and its transmission accuracy is relatively low.

Contents of the invention

Aiming at the above problems, the utility model provides a high-frequency precision harmonic reducer. By improving the structure of the wave generator, the inner gear is elastically deformed to present no less than four protrusions, thereby generating With multiple frequencies, no less than four positions can mesh with the external gear at the same time, so that the meshing contact surface between the tooth and the tooth surface is more during the transmission process, and the number of meshing teeth is more than the traditional one, so the load per unit area is smaller and the load capacity is lower. The force and rigidity are higher than the traditional precision reducer, which makes the transmission more stable, the work more stable and the precision higher.

A high-frequency precision harmonic reducer is characterized in that it includes a wave generator, a flex wheel, and a steel wheel, and the flex wheel includes a flexible internal gear and an output part, and the wave generator is built into the flexible Arranged in the internal installation cavity of the internal gear, the wave generator includes an input shaft end, a cam, and a ring cloth flexible bearing between the outer peripheral surface of the cam and the inner peripheral surface of the flexible internal gear, and the cam There are N convex torus evenly distributed on the outer circumference of the outer ring, where N≥4, a progressive transition torus is provided between adjacent raised torus, and the tooth portion of the flexible internal gear meshes with the corresponding steel wheel. The outer gear, the steel wheel is fixed to the casing through the peripheral connecting flange.

It is further characterized by:

The number of teeth of the external gear of the steel wheel is N more than the number of teeth of the flexible internal gear;

Each convex annulus of the cam is of the same structure, and each progressive transition annulus of the cam is of the same structure;

The tooth portion of the flexible internal gear corresponding to the convex ring surface meshes with the tooth portion of the external gear at the corresponding position, and the progressive transition ring surface is used to connect two adjacent convex ring surfaces and ensure Smooth transition; the area of the flexible internal gear corresponding to the most concave area of the progressive transition annulus is the tooth separation area;

The convex annulus includes the most convex point in the center and transition arcs on both sides, the progressive transition annulus includes the most concave area in the center and progressive transition arcs on both sides, and the end of the transition arc on the corresponding side of the convex annulus ends of progressive transition arcs connecting corresponding sides of said progressive transition annulus;

The distance from the most convex point of the center of all the raised rings to the center point of the cam is equal to ensure the same meshing degree of the teeth and the uniformity of the force;

The central part of the flexible spline runs through the central avoidance hole of the casing, the output part of the flexible spline is a hat-shaped structure, and the outer ring flange of the output part is connected with a sleeve, and the sleeve is arranged around the Corresponding to the outer ring surface of the casing, the inner ring wall of the sleeve and the corresponding outer ring surface of the casing are provided with a first inner ring bearing and a second outer ring bearing, and the second outer ring bearing is specifically It is a roller bearing, which makes the output of the output part stable and reliable.

After adopting the above technical solution, the harmonic reducer device improves the cam structure of the wave generator, so that the flexible internal gear produces elastic deformation and presents no less than four protrusions, and can have no less than four positions simultaneously meshing with the corresponding External gear, so the gear pitch error and cumulative pitch error are higher than the existing harmonic reducer's position accuracy and rotation accuracy; More, so the load per unit area is smaller, and the bearing capacity and rigidity are higher than the traditional precision reducer; the transmission of the high-frequency precision harmonic reducer is more stable, the work is more stable, and the precision is higher.

Description of drawings

Fig. 1 is the front view sectional view of the specific embodiment of the present utility model;

Fig. 2 is the structural schematic diagram of the outer circumference of the cam of the specific embodiment of the present utility model;

The names corresponding to the serial numbers in the figure are as follows:

Wave generator 1, input shaft end 11, cam 12, convex annulus 121, center most convex point 1211, transition arc 1212, progressive transition annulus 122, center most concave area 1221, progressive transition arc 1222, flex spline 2 , flexible internal gear 21, output part 22, steel wheel 3, external gear 31, connecting flange 32, flexible bearing 4, casing 5, center escape hole 51, sleeve 6, first inner ring bearing 7, second outer ring ring bearing 8.

Detailed ways

A high-frequency precision harmonic reducer, see Figure 1-Figure 2: it includes a wave generator 1, a flex wheel 2, and a steel wheel 3, and the flex wheel 2 includes a flexible internal gear 21, an output part 22, and a wave generator 1 Arranged in the internal installation cavity of the flexible internal gear 21, the wave generator 1 includes an input shaft end 11, a cam 12, and a ring cloth flexible bearing between the outer peripheral surface of the cam 12 and the inner peripheral surface of the flexible internal gear 21 4. There are N convex ring surfaces 121 evenly distributed on the outer circumference of the cam 12, where N≥3, and a progressive transition ring surface 122 is provided between adjacent convex ring surfaces 121, and the teeth of the flexible internal gear 21 Engage with the corresponding external gear 31 connecting the steel wheel 3, and the steel wheel 3 is fixedly connected to the casing 5 through the peripheral connecting flange 32.

The number of teeth of the external gear 31 of the steel wheel 3 is N more than the number of teeth of the flexible internal gear 21;

Each convex ring surface 121 of the cam 12 has the same structure, and each progressive transition ring surface 122 of the cam 12 has the same structure;

The tooth portion of the flexible internal gear 21 corresponding to the convex ring surface 121 meshes with the tooth portion of the external gear 31 at the corresponding position, and the progressive transition ring surface 122 is used to connect two adjacent convex ring surfaces 121 and ensure a smooth transition ; The area of the flexible internal gear 21 corresponding to the most concave area of the progressive transition ring surface 122 is the tooth separation area;

The convex annulus 121 includes the most convex point 1211 in the center and transition arcs 1212 on both sides. The progressive transition annulus 122 includes the most concave area 1221 in the center and progressive transition arcs 1222 on both sides. The transition arcs 1212 on the corresponding sides of the convex annulus 121 ends of progressive transition arcs 1222 whose ends connect corresponding sides of progressive transition annulus 122;

The distance from the most convex point 1211 in the center of all the raised ring surfaces 121 to the center point of the cam 1 is equal to ensure the same meshing degree of the teeth and the uniformity of the force.

During specific implementation, the central part of the flexspline 2 runs through the center avoidance hole 51 of the casing 5, the output part 22 of the flexspline 2 is a hat-shaped structure, and the outer ring flange of the output part 22 is connected with a sleeve 6, and the sleeve 6 is ring-shaped. 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 a first inner ring bearing 7, a second outer ring bearing 8, and a second outer ring bearing 8 is specifically a roller bearing, which makes the output of the output part 22 stable and reliable, and four convex ring surfaces 121 are evenly distributed on the outer circumference of the cam 12 .

The harmonic reducer device improves the cam structure of the wave generator so that its flexible internal gear produces elastic deformation and presents no less than four protrusions, and no less than four positions can mesh with the corresponding external gear at the same time, so the gear teeth The pitch error and cumulative pitch error are higher than the position accuracy and rotation accuracy of the existing harmonic reducer; in the transmission process, the meshing contact surface between the tooth and the tooth surface is more, and the number of meshing teeth is more than the traditional one, so the unit The area load is smaller, and the bearing capacity and rigidity are higher than the traditional precision reducer; the transmission of the high-frequency precision harmonic reducer is more stable, the work is more stable, and the precision is higher.

The specific embodiments of the utility model have been described in detail above, but the content is only a preferred embodiment of the utility model creation, and cannot be considered as limiting the implementation scope of the utility model creation. All equal changes and improvements made according to the application scope of the utility model should still belong to the scope of the patent.

Claims (7)

1. A high-frequency precision harmonic reducer, characterized in that: it includes a wave generator, a flex wheel, and a steel wheel, and the flex wheel includes a flexible internal gear and an output part, and the wave generator is built into the Arranged in the internal installation cavity of the flexible internal gear, the wave generator includes an input shaft end, a cam, and a flexible bearing is arranged between the outer peripheral surface of the cam and the inner peripheral surface of the flexible internal gear. The outer circumference of the cam is evenly distributed with N convex ring surfaces, wherein N≥4, and a progressive transition ring surface is provided between adjacent convex ring surfaces, and the tooth portion of the flexible internal gear meshes with the steel wheel The corresponding external gear, the steel wheel is fixed to the casing through the peripheral connecting flange. 2. A high frequency precision harmonic reducer according to claim 1, characterized in that: the number of teeth of the outer gear of the steel wheel is N more than the number of teeth of the flexible inner gear. 3. A high-order frequency precision harmonic reducer as claimed in claim 1, characterized in that: each convex ring surface of the cam has the same structure, and each progressive transition ring surface of the cam for the same structure. 4. A high-frequency precision harmonic reducer as claimed in claim 3, characterized in that: the teeth of the flexible internal gear corresponding to the raised ring surface mesh with the teeth of the external gear at the corresponding position The progressive transition annulus is used to connect two adjacent raised annulus and ensure a smooth transition; the most concave area of the progressive transition annulus corresponds to the area of the flexible internal gear for tooth separation Area. 5. A high-frequency precision harmonic reducer as claimed in claim 3, characterized in that: said convex annulus includes the most convex point in the center and transition arcs on both sides, and said progressive transition annulus includes a center The most concave area, the progressive transition arcs on both sides, the ends of the transition arcs on the corresponding sides of the convex annulus are connected to the ends of the progressive transition arcs on the corresponding sides of the progressive transition annulus. 6. A high-order frequency precision harmonic reducer as claimed in claim 5, characterized in that: the distance from the most convex point of the center of all the raised annulus to the center point of the cam is equal to ensure the meshing degree of the teeth same. 7. A high frequency precision harmonic reducer as claimed in claim 1, characterized in that: the central portion of the flexspline runs through the central avoidance hole of the casing, and the output portion of the flexspline is Top-hat structure, the outer ring flange of the output part is connected with a sleeve, and the sleeve ring is arranged on the outer ring surface of the corresponding casing, and the inner ring wall of the sleeve and the corresponding outer ring of the casing A first inner ring bearing and a second outer ring bearing are arranged on the ring surface, and the second outer ring bearing is specifically a roller bearing.