CN212584216U

CN212584216U - Harmonic reducer

Info

Publication number: CN212584216U
Application number: CN202020518064.1U
Authority: CN
Inventors: 李汉江
Original assignee: Shenzhen Qichilong Technology Co ltd
Current assignee: Shenzhen Qichilong Technology Co ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-02-23
Anticipated expiration: 2030-04-09

Abstract

The utility model discloses a harmonic speed reducer ware, including rigid gear, flexbile gear and shock wave ware, the shock wave ware includes two at least cams that link together, the cam is followed the circumference direction range of the interior week of flexbile gear sets up the inboard of flexbile gear, the rigid gear cover is located the periphery of flexbile gear, every cam have arc convex surface, every the arc convex surface of cam with be provided with one row of rolling member between the inboard of flexbile gear, offer on the cam and be used for the holding the storage tank of rolling member. The utility model discloses a set up one row of rolling member between the arc convex surface of cam and the inboard of flexbile gear for can realize the degree of engagement of different degrees between flexbile gear and the rigid gear through the radian of the arc convex surface of design cam and cooperation rolling member, increase the meshing number of teeth, improve holistic transmission precision, accomplish simultaneously and simplify the manufacturing.

Description

Harmonic reducer

Technical Field

The utility model relates to a reduction gear field especially relates to a harmonic speed reducer ware.

Background

The harmonic reducer realizes the speed reduction function through the meshing tooth difference between the flexible gear and the rigid gear, the meshing effect between the flexible gear and the rigid gear is mainly realized through the action of the shock wave device on the flexible gear, and the different profile shapes of the shock wave device can lead the meshing tooth number between the flexible gear and the rigid gear to generate difference. Because the shock wave device and the flexible gear in the harmonic reducer in the prior art are easy to interfere when being assembled, the flexible gear and the rigid gear are difficult to be meshed in different degrees, and the integral transmission precision can not be controlled.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a harmonic reducer can realize the meshing of different degrees between flexbile gear and the rigid gear.

The utility model discloses an one of the purpose adopts following technical scheme to realize:

the utility model provides a harmonic speed reducer ware, includes rigid gear, flexbile gear and shock wave ware, the shock wave ware includes two at least cams that link together, at least two the cam is followed the circumference direction range of the interior week of flexbile gear sets up the inboard of flexbile gear, the rigid gear cover is located the periphery of flexbile gear, every cam have arc convex surface, every the arc convex surface of cam with be provided with one row of rolling member between the inboard of flexbile gear, offer on the cam and be used for the holding the storage tank of rolling member.

Further, baffles are respectively arranged on two axial sides of the cam and used for positioning the rolling parts on the two axial sides of the cam.

Further, the rolling members are needle rollers.

Furthermore, the rolling parts are balls, the balls are arranged in at least two rows, and the cam is provided with the accommodating groove corresponding to each row of balls.

Further, the accommodating groove is in a closed ring shape.

Further, all the cams are connected with the center of the rigid wheel through a driving shaft, and the driving shaft is a hollow shaft.

Furthermore, the number of the cams is two, the two cams are arranged at intervals, and an elastic element is abutted between the two cams.

Furthermore, the number of the cams is two, the two cams are arranged at intervals, two magnets arranged at intervals are arranged between the two cams, one magnet is fixedly connected with one of the cams, the other magnet is fixedly connected with the other cam, and the polarities of the opposite sides of the two magnets are the same.

Further, the number of the cams is three, and the three cams are arranged at equal intervals in the circumferential direction of the inner periphery of the flexible gear.

Further, the rigid gear sets up to two, is first rigid gear and second rigid gear respectively, the flexbile gear is two external tooth flexbile gears, has first flexbile gear external tooth and second flexbile gear external tooth, first rigid gear cover is located first flexbile gear external tooth, second rigid gear cover is located second flexbile gear external tooth.

Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses a set up one row of rolling member between the arc convex surface of cam and the inboard of flexbile gear for can realize the degree of engagement of different degrees between flexbile gear and the rigid gear through the radian of the arc convex surface of design cam and cooperation rolling member, increase the meshing number of teeth, improve holistic transmission precision, accomplish simultaneously and simplify the manufacturing.

Drawings

Fig. 1 is a simplified schematic diagram of a harmonic reducer provided in an embodiment of the present invention;

FIG. 2 is a cross-sectional view of the harmonic reducer of FIG. 1;

fig. 3 is a cross-sectional view of a harmonic reducer according to another embodiment of the present invention;

fig. 4 is a cross-sectional view of a harmonic reducer according to another embodiment of the present invention;

fig. 5 is a simplified schematic diagram of a harmonic reducer according to another embodiment of the present invention.

In the figure:

100. a harmonic reducer; 1. a rigid wheel; 2. a flexible gear; 3. a shock wave device; 31. a cam; 32. a rolling member; 301. a containing groove; 33. a drive shaft; 35. a stopper portion; 34. a sliding support shaft; 21. a first flexspline outer tooth; 22. a second flexspline outer tooth; 11. a first rigid wheel; 12. and a second rigid wheel.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, back, top, bottom … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 to 3, a harmonic reducer 100 is provided, which includes a rigid gear 1, a flexible gear 2 and a shock wave device 3, where the shock wave device 3 includes at least two cams 31, the cams 31 are disposed on an inner side of the flexible gear 2, and the at least two cams 31 are arranged in a circumferential direction of an inner periphery of the flexible gear 2, the rigid gear 1 is sleeved on an outer periphery of the flexible gear 2, all the cams 31 are connected, each cam 31 has an arc-shaped convex surface, a row of rolling members 32 is disposed between the arc-shaped convex surface of each cam 31 and the inner side of the flexible gear 2, and an accommodating groove 301 for accommodating the rolling members 32 is disposed on the arc-shaped convex surface of the cam 31, or a stopping portion 35 for stopping the rolling members 32 at two ends is disposed on the cam 31.

The utility model discloses a set up one row of rolling member 32 between the arc convex surface of cam 31 and the inboard of flexbile gear 2 for can realize the degree of engagement of different degrees between flexbile gear 2 and the rigid wheel 1 through the radian of the arc convex surface of design cam 31 and cooperation rolling member 32, increase the meshing number of teeth, improve holistic transmission precision, can accomplish simultaneously and simplify the manufacturing, simplify the assembly (need not with one heart).

Preferably, the accommodating groove 301 is in a closed ring shape, so that the rolling members 32 are distributed in a ring shape, and the overall operation of the mechanism is more stable, as shown in fig. 4.

It is preferable that the cam 31 is provided with stoppers (not shown) at both axial sides thereof, respectively, for positioning the rolling members 32 at both axial sides of the cam 31.

Preferably, the rolling elements 32 are needle rollers (not shown).

Preferably, the rolling elements 32 are balls (not shown), and it is understood that the balls (not shown) may be arranged in two or more rows, the convex surface of the cam 31 is provided with a receiving groove 301 corresponding to each row of balls (not shown), two ends of the receiving groove 301 are formed as stopping portions 35 for stopping the balls (not shown), and the two cover plates respectively cover the balls (not shown).

Preferably, all the cams 31 are connected by a drive shaft 33 at the center of the rigid wheel 1, and the drive shaft 33 is a hollow shaft. The connecting shaft can be driven to rotate by the brushless motor, so that all the cams 31 are driven to swing and rotate, and when the brushless motor is selected, the hollow shaft is convenient for a power-on lead to run.

Preferably, the number of the cams 31 is two, the two cams 31 are arranged at intervals, and an elastic element (not shown) is abutted between the two cams 31, so that the elastic element (not shown) is abutted between the cams 31, the two cams 31 are stressed oppositely, the backlash between the flexible gear 2 and the rigid gear 1 can be eliminated, and the overall transmission precision is improved.

Preferably, a sliding support shaft 34 is provided to connect the two cams 31, an elastic member (not shown) which may be a spring is sleeved on the sliding support shaft 34, and preferably, the two sliding support shafts 34 are provided symmetrically with respect to the center of the rigid wheel 1.

Preferably, the number of the cams 31 is two, the two cams 31 are arranged at intervals, two magnets (not shown) are arranged between the two cams 31 at intervals, one magnet (not shown) is fixedly connected with one of the cams 31, the other magnet (not shown) is fixedly connected with the other cam 31, and the polarities of the opposite sides of the two magnets (not shown) are the same. Thus, the opposite sides of the two magnets (not shown) have the same polarity, and generate repulsion force, so that the two cams 31 are stressed oppositely, the back clearance between the flexible wheel 2 and the rigid wheel 1 can be eliminated, and the overall transmission precision is improved.

Preferably, the magnets (not shown) are arranged in a plurality of groups, each group of magnets (not shown) being symmetrical about the center of the rigid wheel 1.

Preferably, the number of the cams 31 is three, and the three cams 31 are arranged at equal intervals in the circumferential direction of the inner periphery of the flexspline 2. When the cams 31 are three, the mechanism is stably engaged, and particularly, referring to fig. 3, the rolling members 32 are omitted in fig. 3.

It is preferable that the cross section of the cam 31 in the axial direction is semicircular, so that the engaging area between the cam 31 and the flexible gear 2 is large, and the degree of engagement between the flexible gear 2 and the rigid gear 1 is increased.

Preferably the rigid wheel 1 sets up to two, is first rigid wheel 11 and second rigid wheel 12 respectively, first rigid wheel 11 with second rigid wheel 12 cover is located the periphery of flexbile gear 2, during speed reduction, drive cam 31 rotates, and cam 31 drives flexbile gear 2 and rotates, and the flexbile gear is two external tooth flexbile gears, has first flexbile gear external tooth 21 and second flexbile gear external tooth 22, and first flexible gear external tooth 21 is located to first rigid wheel 11 cover, and second flexible gear external tooth 22 is located to second rigid wheel 12 cover, and the number of teeth of first rigid wheel 11 and second rigid wheel 12 is different, and first rigid wheel 11 is fixed, and second rigid wheel 12 output torque. The double-rigid-wheel transmission is adopted, so that the transmission ratio is high, the efficiency is high, and the volume is small, and particularly, the reference figure 5 can be made.

The utility model provides a harmonic speed reducer ware 100 through set up one row of rolling member 32 between the arc convex surface of cam 31 and the inboard of flexbile gear 2 for can realize the degree of engagement of different degrees between flexbile gear 2 and the rigid wheel 1 through the radian of the arc convex surface of design cam 31 and cooperation rolling member 32.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims

1. The utility model provides a harmonic speed reducer ware, its characterized in that, includes rigid gear, flexbile gear and shock wave ware, the shock wave ware includes two at least cams that link together, the cam is followed the circumference direction range of the inner week of flexbile gear sets up the inboard of flexbile gear, the rigid gear cover is located the periphery of flexbile gear, every cam have the arc convex surface, every the arc convex surface of cam with be provided with one row of rolling member between the inboard of flexbile gear, offer on the cam and be used for the holding the storage tank of rolling member.

2. The harmonic reducer of claim 1, wherein: the axial two sides of the cam are respectively provided with a baffle plate, and the baffle plates are used for limiting the rolling parts on the axial two sides of the cam.

3. The harmonic reducer of claim 1, wherein: the rolling piece is a roller pin.

4. The harmonic reducer of claim 1, wherein: the rolling parts are balls, the balls are arranged into at least two rows, and the cam is provided with the accommodating groove corresponding to each row of balls.

5. The harmonic reducer of claim 1, wherein: the containing groove is in a closed ring shape.

6. The harmonic reducer of claim 1, wherein: all the cams are connected at the center of the rigid wheel through a driving shaft, and the driving shaft is a hollow shaft.

7. The harmonic reducer of claim 1, wherein: the cam sets up to two, two the cam interval sets up, two butt elastic element between the cam.

8. The harmonic reducer of claim 1, wherein: the two cams are arranged at intervals, two magnets arranged at intervals are arranged between the two cams, one magnet is fixedly connected with one of the cams, the other magnet is fixedly connected with the other cam, and the polarities of the opposite sides of the two magnets are the same.

9. The harmonic reducer of claim 1, wherein: the number of the cams is three, and the three cams are arranged at equal intervals along the circumferential direction of the inner periphery of the flexible gear.

10. The harmonic reducer of claim 1, wherein: the rigid wheel sets up to two, is first rigid wheel and second rigid wheel respectively, the flexbile gear is two external teeth flexbile gear, has first flexbile gear external tooth and second flexbile gear external tooth, first rigid wheel cover is located first flexbile gear external tooth, second rigid wheel cover is located second flexbile gear external tooth.