CN211117433U - High-order frequency precise harmonic reducer - Google Patents
High-order frequency precise harmonic reducer Download PDFInfo
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- CN211117433U CN211117433U CN201922029478.8U CN201922029478U CN211117433U CN 211117433 U CN211117433 U CN 211117433U CN 201922029478 U CN201922029478 U CN 201922029478U CN 211117433 U CN211117433 U CN 211117433U
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Abstract
The utility model provides a high accurate harmonic speed reducer ware of higher frequency, it makes the flexbile gear can offset and eliminate the vibration that corresponds with cam meshing in-process to alleviate the vibration of whole machine, prolong the life-span of complete machine, reduce the noise of complete machine, make the complete machine transmission more steady, the meshing is more abundant, improves accurate transmission ability. It includes wave generator, flexbile gear, rigid gear, and the flexbile gear includes flexible internal gear, output flange, radial connection part, places in the wave generator arrange in the internally mounted intracavity of flexible internal gear, wave generator is including input axle head, cam, the outer loop of cam global with the interior ring of flexible internal gear is global to encircle cloth flexible bearing between, the cam of wave generator specifically is the protruding structure of N, the outer loop of cam is peripheral evenly to be encircled cloth and is had a plurality of protruding anchor ring of N, and wherein N is more than or equal to 2's natural number, is provided with the transition anchor ring gradually between adjacent protruding anchor ring, the corresponding external gear of rigid gear is connected in the tooth meshing of flexible internal gear.
Description
Technical Field
The utility model relates to a technical field of harmonic speed reducer ware specifically is a high accurate harmonic speed reducer ware of secondary 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; and then a higher-frequency harmonic reducer is generated, and a wave generator of the higher-frequency harmonic reducer rotates for a circle and has at least two staggered teeth.
The high-order frequency precise harmonic reducer comprises three core components: wave generator, flexible wheel, rigid wheel. In the traditional high-order frequency precise harmonic reducer, a flexible gear is a thin-wall shell and is elastically deformed under the action of a wave generator, teeth of the flexible gear enter (mesh) or exit (mesh away) from teeth of a rigid gear in the deformation process, the teeth are completely meshed at the position of a long shaft of the wave generator, and the teeth in the direction of a short shaft are completely disengaged.
Because wave generator rotates a week, there will be two at least staggered teeth movements, can be greater than three staggered teeth movement even, vibration in the transmission process can be higher for harmonic reducer's before frequency, and then make the evagination structure of wave generator's cam and the ring gear internal surface contact frequency of flexbile gear high, the flange of current flexbile gear only connects the axial inner of the ring cloth tooth structure of flexbile gear through a radial thin wall, it is not enough to reduce because the vibration that the contact of higher order frequency brought, make the vibration of whole harmonic reducer great, can not be used to the precision transmission, the development of higher order frequency harmonic reducer has been hindered.
Disclosure of Invention
To the above problem, the utility model provides a high accurate harmonic reduction gear of high frequency, it makes the flexbile gear can offset and eliminate the vibration that corresponds with the cam meshing in-process to alleviate the vibration of whole machine, prolong the life-span of complete machine, reduce the noise of complete machine, make the complete machine transmission more steady, the meshing is more abundant, improves accurate transmission ability.
The utility model provides a precision harmonic speed reducer ware of higher order frequency which characterized in that: the flexible gear comprises a wave generator, a flexible gear and a rigid gear, wherein the flexible gear comprises a flexible inner gear, an output flange and a radial connecting 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, the cam of the wave generator is of an N-convex structure, N convex ring surfaces are uniformly and annularly distributed on the peripheral surface of the outer ring of the cam, N is a natural number more than or equal to 2, progressive transition ring surfaces are arranged between the adjacent convex ring surfaces, the tooth parts of the flexible inner gear are meshed with corresponding outer gears of the rigid gear, the rigid gear is fixedly connected with an external shell through a peripheral connecting flange, the radial connecting part comprises a first inner thin wall, a second axial thin wall ring and a third outer thin wall, the inner side of the radial inner ring of the output flange, the radial inner ring of the first inner thin wall is connected with the axial inner end of the second axial thin wall ring, the axial outer end of the second axial thin wall ring is connected with the radial outer ring of the third outer thin wall, the radial inner ring of the third outer thin wall is connected with the axial outer end of the flexible inner gear, and the outer ring surface of the axial inner end of the flexible inner gear is provided with teeth distributed annularly.
It is further characterized in that:
the radial connecting part is made of alloy steel materials, so that the whole flexible gear becomes a flexible gear of a high-elasticity thin-wall shell, and the radial connecting part comprises an axial part and a radial part and can simultaneously counteract radial force and axial force;
the number of teeth of the outer gear of the rigid gear 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 output flange and the radial connecting part are combined to form a hat-shaped structure, and the whole harmonic reducer is a hat-shaped harmonic reducer.
After the technical scheme is adopted, the radial connecting part comprises a first inner thin wall, a second axial thin wall ring and a third outer thin wall, the inner side of the radial inner ring of the output flange is connected with the radial outer ring of the first inner thin wall, the radial inner ring of the first inner thin wall is connected with the axial inner end of the second axial thin wall ring, the axial outer end of the second axial thin wall ring is connected with the radial outer ring of the third outer thin wall, the radial inner ring of the third outer thin wall is connected with the axial outer end of the flexible internal gear, the outer ring surface of the axial inner end of the flexible internal gear is provided with annularly distributed teeth, the radial connecting part comprises an axial part and a radial part, the radial force and the axial force can be simultaneously counteracted, the corresponding vibration can be counteracted and eliminated in the process of the meshing of the flexible gear and the cam, the vibration of the whole machine is accordingly alleviated, the service life of the whole machine is prolonged, the noise of the whole machine is, improving the precision transmission capability.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a block diagram of 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 region 1221, a gradual transition arc 1222, a flexible wheel 2, a flexible internal gear 21, an output flange 22, a radial connecting part 23, a first inner thin wall 231, a second axial thin wall ring 232, a third outer thin wall 233, a rigid wheel 3, an external gear 31, a connecting flange 32 and a flexible bearing 4.
Detailed Description
A high-order frequency precise harmonic reducer is shown in figures 1-2: the flexible gear comprises a wave generator 1, a flexible gear 2 and a rigid gear 3, wherein the flexible gear 2 comprises a flexible internal gear 21, an output flange 22 and a radial connecting part 23, 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 outer ring circumference of the cam 12 and the inner ring circumference of the flexible internal gear 21, the cam 12 of the wave generator 1 is of an N-convex structure, N convex ring surfaces 121 are uniformly and annularly distributed on the outer ring circumference of the cam 12, N is a natural number which is more than or equal to 2, 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 rigid gear 3, the rigid gear 3 is fixedly connected with an external machine shell through a peripheral connecting flange 32, and the radial connecting part 23 comprises a first inner thin-wall, a second, the inner side of the radial inner ring of the output flange 22 is connected with the radial outer ring of the first inner thin wall 231, the radial inner ring of the first inner thin wall 231 is connected with the axial inner end of the second axial thin wall ring 232, the axial outer end of the second axial thin wall ring 232 is connected with the radial outer ring of the third outer thin wall 233, the radial inner ring of the third outer thin wall 233 is connected with the axial outer connecting end of the flexible inner gear 21, and the outer ring surface of the axial inner end of the flexible inner gear 21 is annularly distributed.
The radial connecting part 23 is made of alloy steel materials, so that the whole flexible gear 2 becomes a flexible gear of a high-elasticity thin-wall shell, and the radial connecting part 23 comprises an axial part and a radial part and can simultaneously counteract radial force and axial force;
the number of teeth of the outer gear 31 of the rigid gear 3 is N more 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 ends of the transition arcs 1212 on the corresponding side of the convex ring surface 121 are connected with the ends of the gradual transition arcs 1222 on the corresponding side of the gradual transition ring surface 122.
In the embodiment, the output flange 22 and the radial connecting portion 23 are combined to form a hat-shaped structure, the whole harmonic reducer is a hat-shaped harmonic reducer, and the value of N is 3.
The working principle is as follows: the radial connecting part comprises a first inner thin wall, a second axial thin wall ring and a third outer thin wall, the inner side of the radial inner ring of the output flange is connected with a radial outer ring of the first inner thin wall, the radial inner ring of the first inner thin wall is connected with the axial inner end of the second axial thin wall ring, the axial outer end of the second axial thin wall ring is connected with a radial outer ring of the third outer thin wall, the radial inner ring of the third outer thin wall is connected with the axial outer end of the flexible internal gear, the outer ring surface of the axial inner end of the flexible internal gear is annularly distributed with teeth, the radial connecting part comprises an axial part and a radial part, and can simultaneously counteract radial force and axial force, so that the flexible gear can counteract and eliminate corresponding vibration in the process of meshing with the cam, thereby reducing the vibration of the whole machine, prolonging the service life of the whole machine, reducing the noise of the whole machine, enabling the transmission of the whole.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a precision harmonic speed reducer ware of higher order frequency which characterized in that: the flexible gear comprises a wave generator, a flexible gear and a rigid gear, wherein the flexible gear comprises a flexible inner gear, an output flange and a radial connecting 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, the cam of the wave generator is of an N-convex structure, N convex ring surfaces are uniformly and annularly distributed on the peripheral surface of the outer ring of the cam, N is a natural number more than or equal to 2, progressive transition ring surfaces are arranged between the adjacent convex ring surfaces, the tooth parts of the flexible inner gear are meshed with corresponding outer gears of the rigid gear, the rigid gear is fixedly connected with an external shell through a peripheral connecting flange, the radial connecting part comprises a first inner thin wall, a second axial thin wall ring and a third outer thin wall, the inner side of the radial inner ring of the output flange, the radial inner ring of the first inner thin wall is connected with the axial inner end of the second axial thin wall ring, the axial outer end of the second axial thin wall ring is connected with the radial outer ring of the third outer thin wall, the radial inner ring of the third outer thin wall is connected with the axial outer end of the flexible inner gear, and the outer ring surface of the axial inner end of the flexible inner gear is provided with teeth distributed annularly.
2. A high order frequency precision harmonic reducer according to claim 1 wherein: the radial connecting part is made of alloy steel materials, so that the whole flexible gear becomes a flexible gear of the high-elasticity thin-wall shell, and the radial connecting part comprises an axial part and a radial part.
3. A high order frequency precision harmonic reducer according to claim 1 wherein: the number of teeth of the outer gear of the rigid gear is N more than that of the teeth of the flexible inner gear.
4. A high order frequency precision harmonic reducer according to 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.
5. A high order frequency precision harmonic reducer according to claim 1 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 a corresponding position, and the progressive transition ring surface is used for connecting two adjacent convex ring surfaces; the area of the flexible inner gear corresponding to the innermost concave area of the progressive transition ring surface is a tooth separation area.
6. A high order frequency precision harmonic reducer according to claim 5 in which: 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.
7. A high order frequency precision harmonic reducer according to claim 1 wherein: the output flange and the radial connecting part are combined to form a hat-shaped structure, and the whole harmonic reducer is a hat-shaped harmonic reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922029478.8U CN211117433U (en) | 2019-11-22 | 2019-11-22 | High-order frequency precise harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922029478.8U CN211117433U (en) | 2019-11-22 | 2019-11-22 | High-order frequency precise harmonic reducer |
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| Publication Number | Publication Date |
|---|---|
| CN211117433U true CN211117433U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922029478.8U Active CN211117433U (en) | 2019-11-22 | 2019-11-22 | High-order frequency precise harmonic reducer |
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| CN (1) | CN211117433U (en) |
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- 2019-11-22 CN CN201922029478.8U patent/CN211117433U/en active Active
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