CN211599451U

CN211599451U - Three-wave harmonic speed reducer

Info

Publication number: CN211599451U
Application number: CN201922204471.5U
Authority: CN
Inventors: 陈勰; 陈伟南
Original assignee: Shenzhen Sunjoy Harmonic Transmission Technology Co ltd
Current assignee: Demei Precision Transmission Zibo Co ltd
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-09-29
Anticipated expiration: 2029-12-10

Abstract

The utility model relates to a reduction gear technical field discloses a three wave harmonic reduction gear, including rigid wheel, flexbile gear, flexible bearing and wave generator, wave generator includes input shaft and cam, and the outer wall of cam is connected with flexible bearing's inner wall, and flexible bearing's outer wall is connected with the inner wall of flexbile gear, includes three-section circular arc arch on the cam, and the arch is supported and is held the flexbile gear and is connected with the rigid wheel, and the girth of cam equals flexible bearing's inner circle girth. Because the circumference of the outer wall of the cam is equal to the circumference of the inner wall of the flexible bearing, when the cam is installed in the flexible bearing, the outer wall of the cam is attached to the inner wall of the flexible bearing, the cam and the flexible bearing can be attached tightly, the cam cannot enable the flexible bearing to be attached to the device, and the service lives of the cam and the flexible bearing are prolonged.

Description

Three-wave harmonic speed reducer

Technical Field

The utility model belongs to the technical field of the reduction gear technique and specifically relates to a three wave harmonic speed reducer ware is related to.

Background

The harmonic reducer is a device which utilizes a wave generator to enable a flexible gear to generate controllable elastic deformation waves to realize motion and power transmission, and is widely applied to the industries of electronics, aerospace, automation equipment, numerical control equipment, robots and the like due to the stable motion property of the harmonic reducer.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a three wave harmonic speed reducer ware can prolong the cam and with flexible bearing's life.

The three-wave harmonic reducer comprises a rigid gear, a flexible bearing and a wave generator, wherein the wave generator comprises an input shaft and a cam, the outer wall of the cam is connected with the inner wall of the flexible bearing, the outer wall of the flexible bearing is connected with the inner wall of the flexible gear, the cam comprises three sections of circular arc bulges, the bulges abut against the flexible gear and are connected with the rigid gear, and the perimeter of the outer wall of the cam is equal to the perimeter of the inner wall of the flexible bearing.

As an improvement to the above technical solution, the protrusion is arc-shaped.

As an improvement to the above technical solution, the arc angle of the protrusion is 25 DEG to 45 deg.

As an improvement to the above technical solution, the rigid wheel has three more teeth than the flexible wheel.

As an improvement to the above technical scheme, the number of teeth of the rigid gear is 303, and the number of teeth of the flexible gear is 300.

As an improvement to the technical scheme, the inner diameter of the flexible wheel is 43.28m, and the outer diameter of the flexible wheel is 41.72 mm.

As an improvement to the above technical solution, the wave generator comprises a body, the radius of which is 16.12 m.

As an improvement to the above technical solution, the height of the protrusions ranges from 0.1mm to 0.18 mm.

As an improvement to the above technical scheme, the cam is of a hollow structure.

Has the advantages that: because the circumference of the outer wall of the cam is equal to the circumference of the inner wall of the flexible bearing, when the cam is installed in the flexible bearing, the outer wall of the cam is attached to the inner wall of the flexible bearing, the cam and the flexible bearing can be attached tightly, the cam cannot enable the flexible bearing to be attached to the device, and the service lives of the cam and the flexible bearing are prolonged.

Drawings

FIG. 1 is a schematic diagram of a three-wave harmonic reducer;

fig. 2 is a schematic structural view of the cam.

Reference numerals: rigid wheel 100, flexible wheel 200, cam 400, protrusion 410 and body 420.

Detailed Description

The conception and the resulting technical effects of the present invention will be described clearly and completely with reference to the following embodiments, so that the objects, features and effects of the present invention can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the directions or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" on another feature, it can be directly disposed, fixed, or connected to the other feature or indirectly disposed, fixed, connected, or mounted on the other feature. In the description of the embodiments of the present invention, if "a plurality" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "more than", "less than" or "within" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

Referring to fig. 1 and 2, as an embodiment, the three-wave harmonic reducer includes a cam 400, a flexible gear 200, and a wave generator, the wave generator includes an input shaft, a body 420, and a cam 400, the cam protrudes outward relative to the body, and the protrusions 410 are uniformly distributed on the circumference of the body 420, the input shaft supplies power to the wave generator, the cam 400 is driven to drive the flexible gear 200 and the rigid gear 100 to move, the cam 400 is provided with three protrusions 410, and the rigid gear 100 and the flexible gear 200 are engaged with each other through the protrusions 410.

Referring to fig. 1, the outer wall of the cam 400 is fitted to the inner wall of the flexible bearing, and the outer wall of the flexible bearing is fitted to the flexspline 200, so that the flexspline 200 and the rigid spline 100 are engaged with each other by the protrusions provided on the cam 400. This kind of structure makes, rigid gear 100 and flexbile gear 200 connect through three teeth, make the number of teeth of meshing of rigid gear 100 and flexbile gear 200 reach more than 40% of the flexbile gear 200 number of teeth, the transmission precision of rigid gear 100 and flexbile gear 200 has been increased, make the operation of three wave harmonic speed reducer ware more steady, bearing capacity is higher, on the other hand, because rigid gear 100 and flexbile gear 200 connect through three teeth, make the internal stress of deformation of single protruding 410 reduce, thereby the heat that produces among the deformation process has been reduced, the life of extension three wave harmonic speed reducer ware.

In addition to the above embodiment, the flexspline 200 has 300 teeth and the ring gear 100 has 303 teeth, by which the flexspline 200 can be connected to the ring gear 100 by three teeth.

In addition to the above embodiment, the flexspline 200 has an inner diameter of 43.28mm and an outer diameter of 41.72 mm.

In addition to the above embodiments, the protrusion 410 has a circular arc shape, and the angle of the protrusion 410 ranges from 25 ° to 45 °.

In addition to the above embodiment, the radius of the through body 420 is 16.12 mm.

In addition to the above embodiments, a flexible bearing is further included, the cam 400 is connected with the flexible gear 200 through the flexible bearing, and the circumference of the cam 400 is equal to the circumference of the inner surface of the flexible shaft bearing, so that the cam 400 reduces the generation of stress during the connection with the flexible bearing.

As a supplement to the above embodiment, the height of the protrusion 410 is between 0.1mm and 0.18mm, and the height is the deformation of the cam 400 calculated by multiplying the modulus of the flexspline 200 by 0.8 times or 1.2 times, so that a larger adjustment space can be provided in the subsequent process of adjusting the installation adaptability of the rigid gear 100 and the flexspline 200, and the three-wave harmonic reducer formed by installation has better performance.

In addition to the above-described embodiment, the protrusion 410 is a hollow structure, which enables the weight of the harmonic reducer to be reduced.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims

1. The three-wave harmonic reducer is characterized by comprising a rigid gear, a flexible bearing and a wave generator, wherein the wave generator comprises an input shaft and a cam, the outer wall of the cam is connected with the inner wall of the flexible bearing, the outer wall of the flexible bearing is connected with the inner wall of the flexible gear, the cam is provided with three sections of circular arc bulges, the bulges abut against the flexible gear and the rigid gear, and the perimeter of the outer wall of the cam is equal to the perimeter of the inner wall of the flexible bearing.

2. The three wave harmonic reducer of claim 1 in which the protrusions are circular arc shaped.

3. The three wave harmonic reducer of claim 1 in which the arc angle of the lobes is 25 ° to 45 °.

4. The three wave harmonic reducer of claim 1 in which the ring gear is three teeth more than the flexspline.

5. The three wave harmonic reducer of claim 1 in which the number of teeth of the rigid gear is 303 and the number of teeth of the compliant gear is 300.

6. The three wave harmonic reducer of claim 1 in which the inner diameter of the flexspline is 43.28m and the outer diameter of the flexspline is 41.72 mm.

7. The triple wave harmonic reducer of claim 1 in which the wave generator comprises a body having a radius of 16.12 m.

8. The three wave harmonic reducer of claim 1 in which the height of the bumps ranges from 0.1mm to 0.18 mm.

9. The three wave harmonic reducer of claim 1 in which the cam is hollow.