CN212717872U - Novel triple double-rigid-wheel harmonic speed reducer device - Google Patents
Novel triple double-rigid-wheel harmonic speed reducer device Download PDFInfo
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- CN212717872U CN212717872U CN202021723053.3U CN202021723053U CN212717872U CN 212717872 U CN212717872 U CN 212717872U CN 202021723053 U CN202021723053 U CN 202021723053U CN 212717872 U CN212717872 U CN 212717872U
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Abstract
The utility model provides a novel two rigid wheel harmonic speed reducer wares of cubic device, it makes the transmission more steady, and work is more stable, and the precision is higher. It includes wave generator, flexbile gear, first rigid gear, second rigid gear, the flexbile gear specifically is the flexible gear, place in the wave generator arrange in the internally mounted intracavity of flexbile gear, the wave generator includes the cam, the outer loop of cam global with the flexible bearing is encircleed between the inner ring of flexbile gear global, the cam of wave generator specifically is three protruding structures, the outer loop of cam is gone up evenly to encircle and is had three protruding anchor ring, is provided with transition anchor ring gradually between adjacent protruding anchor ring, first rigid gear, second steel wheel have been arranged in the external tooth width direction face area of flexbile gear, first rigid gear, second steel wheel suit respectively in the external tooth width direction's of flexbile gear corresponding region, connect through the ring gear meshing that corresponds the outer ring gear of flexbile gear.
Description
Technical Field
The utility model relates to a technical field of harmonic speed reducer ware specifically is a novel two rigid wheel harmonic speed reducer ware of cubic device.
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 problem, the utility model provides a novel two rigid wheel harmonic speed reducer ware of cubic device, it makes the transmission in-process tooth more with the meshing contact surface of flank of tooth, and the number of teeth of meshing increases, therefore the unit area load is littleer, and bearing capacity and rigidity are higher than the two rigid wheel speed reducer ware of tradition for the transmission is more steady, and work is more stable, and the precision is higher.
The utility model provides a novel harmonic speed reducer device of two rigid wheels of cubic, its characterized in that: the flexible gear is a flexible gear, the wave generator is arranged in an internal installation cavity of the flexible gear, the wave generator comprises 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 gear, the cam of the wave generator is of a three-convex structure, three convex ring surfaces are uniformly and annularly distributed on the peripheral surface of the outer ring of the cam, progressive transition ring surfaces are arranged between adjacent convex ring surfaces, a first rigid gear and a second steel gear are distributed on an external tooth width direction surface area of the flexible gear, the first rigid gear and the second steel gear are respectively sleeved in a corresponding area of the external tooth width direction of the flexible gear and are connected with an external gear ring of the flexible gear through corresponding internal gear rings in an engaged manner, the number of teeth of the first internal gear ring of the first rigid gear is the same as that of teeth of the external gear ring of the flexible gear, the number of teeth of the second inner gear ring of the second steel gear is three more than that of the outer gear ring of the flexible gear.
It is further characterized in that:
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 parts of the flexible gears corresponding to the convex ring surfaces are meshed with the tooth parts of the inner gear rings of the first rigid gear and the second rigid gear at corresponding positions, and the progressive transition ring surface is used for connecting two adjacent convex ring surfaces and ensuring smooth transition; the area of the flexible gear corresponding to the innermost concave area of the gradual 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 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.
After the technical scheme is adopted, the external gear of the flexible gear with the wave generator, which is positioned in the convex ring surface, is inserted into the internal gear rings of the first rigid gear and the second steel gear to form a complete meshing state; the teeth of the external gear of the flexible gear corresponding to the gradual transition ring surface of the cam of the wave generator are not contacted with the inner gear rings of the two rigid gears completely and are in a disengaged state, and the teeth are in a meshed or meshed state in the process from meshing to disengaging, because the teeth of the first rigid gear are the same as the teeth of the flexible gear, the first rigid gear and the flexible gear synchronously move, the second steel gear and the flexible gear have 3 teeth number difference, the second steel gear and the flexible gear generate staggered movement, because the first rigid gear and the flexible gear are synchronous, namely the first rigid gear and the second steel gear also generate the same staggered movement, the two rigid gears can be used for transmission arrangement, the flexible gear generates elastic deformation under the rotation of the cam to present three protrusions, can be meshed at three positions simultaneously, the meshing contact surfaces of the teeth and the tooth surfaces in the transmission process are more, the number of the meshed teeth is increased, and the load per unit area is smaller, bearing capacity and rigidity are higher than traditional two rigid wheel reduction gears for the transmission is more steady, and work is more stable, and the precision is higher.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the connection of the cam, the flexible gear and the rigid gear 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, a flexible gear 2, an outer gear ring 21, a first rigid gear 3, a first inner gear ring 31, a second rigid gear 4, a second inner gear ring 41, a cam 5, a flexible bearing 6, a convex ring surface 51, a central most convex point 511, a transition arc 512, a gradual transition ring surface 52, a central most concave area 521 and a gradual transition arc 522.
Detailed Description
A novel triple double rigid wheel harmonic reducer device is shown in figures 1-2: the flexible gear generator comprises a wave generator 1, a flexible gear 2, a first rigid gear 3 and a second rigid gear 4, wherein the flexible gear 2 is a flexible gear, the wave generator 1 is arranged in an internal installation cavity of the flexible gear 2, the wave generator 1 comprises a cam 5, a flexible bearing 6 is annularly distributed between the peripheral surface of an outer ring of the cam 5 and the peripheral surface of an inner ring of the flexible gear 2, the convex 5 gear of the wave generator 1 is of a three-convex structure, three convex ring surfaces 51 are uniformly and annularly distributed on the peripheral surface of the outer ring of the cam 5, a gradual transition ring surface 52 is arranged between the adjacent convex ring surfaces 51, the first rigid gear 3 and the second steel gear 4 are distributed on the surface area of the external tooth width direction of the flexible gear 2, the first rigid gear 3 and the second steel gear 4 are respectively sleeved in the corresponding area of the external tooth width direction of the flexible gear 2 and are connected with the outer gear ring 21 of the flexible gear 2 through corresponding inner gear rings in an engaged manner, the first inner gear ring 31 of the first, the number of teeth of the second inner ring gear 41 of the second steel gear 4 is three more than the number of teeth of the outer ring gear 21 of the flexible gear 2.
Each convex annular surface 51 of the cam 5 is of the same structure, and each progressive transition annular surface 52 of the cam 5 is of the same structure;
the tooth part of the flexible gear corresponding to the convex ring surface 51 is meshed with the tooth parts of the inner gear rings of the first rigid gear and the second rigid gear at corresponding positions, and the progressive transition ring surface 52 is used for connecting two adjacent convex ring surfaces 51 and ensuring smooth transition; the area of the flexible gear corresponding to the innermost concave area of the gradual transition ring surface 52 is a tooth separation area;
the convex ring surface 51 comprises a central most convex point 511 and two side transition arcs 512, the gradual transition ring surface 52 comprises a central most concave area 521 and two side gradual transition arcs 522, and the tail ends of the transition arcs 512 on the corresponding side of the convex ring surface 51 are connected with the tail ends of the gradual transition arcs 522 on the corresponding side of the gradual transition ring surface 52.
The working principle is as follows: the outer gear of the flexible gear with the wave generator, which is positioned in the convex ring surface, is inserted into the inner gear rings of the first rigid gear and the second steel gear to form a complete meshing state; and the tooth part of the external gear of the flexible gear corresponding to the progressive transition ring surface of the cam of the wave generator is in a disengaged state without contacting the internal gear rings of the two rigid gears. The first rigid gear and the flexible gear move synchronously, namely the first rigid gear and the second steel gear also move in the same staggered mode, so that the two rigid gears can be used for transmission arrangement, the flexible gear generates elastic deformation under the rotation of the cam to form three protrusions, and the three positions can be meshed simultaneously.
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 (4)
1. The utility model provides a novel harmonic speed reducer device of two rigid wheels of cubic, its characterized in that: the flexible gear is a flexible gear, the wave generator is arranged in an internal installation cavity of the flexible gear, the wave generator comprises 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 gear, the cam of the wave generator is of a three-convex structure, three convex ring surfaces are uniformly and annularly distributed on the peripheral surface of the outer ring of the cam, progressive transition ring surfaces are arranged between adjacent convex ring surfaces, a first rigid gear and a second steel gear are distributed on an external tooth width direction surface area of the flexible gear, the first rigid gear and the second steel gear are respectively sleeved in a corresponding area of the external tooth width direction of the flexible gear and are connected with an external gear ring of the flexible gear through corresponding internal gear rings in an engaged manner, the number of teeth of the first internal gear ring of the first rigid gear is the same as that of teeth of the external gear ring of the flexible gear, the number of teeth of the second inner gear ring of the second steel gear is three more than that of the outer gear ring of the flexible gear.
2. A novel triple double rigid wheel harmonic reducer apparatus 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.
3. A novel triple double rigid wheel harmonic reducer apparatus as claimed in claim 1 or 2, wherein: the tooth parts of the flexible gears corresponding to the convex ring surfaces are meshed with the tooth parts of the inner gear rings of the first rigid gear and the second rigid gear at corresponding positions, and the progressive transition ring surface is used for connecting two adjacent convex ring surfaces and ensuring smooth transition; the area of the flexible gear corresponding to the innermost concave area of the progressive transition ring surface is a tooth separation area.
4. A novel triple double rigid wheel harmonic reducer apparatus as claimed 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021723053.3U CN212717872U (en) | 2020-08-18 | 2020-08-18 | Novel triple double-rigid-wheel harmonic speed reducer device |
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| CN202021723053.3U CN212717872U (en) | 2020-08-18 | 2020-08-18 | Novel triple double-rigid-wheel harmonic speed reducer device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113074233A (en) * | 2021-03-30 | 2021-07-06 | 江苏镌极特种设备有限公司 | Hollow parallel harmonic speed reducer and driving method thereof |
| CN114278714A (en) * | 2022-01-19 | 2022-04-05 | 无锡巨蟹智能驱动科技有限公司 | Simple harmonic drive, use and method |
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2020
- 2020-08-18 CN CN202021723053.3U patent/CN212717872U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113074233A (en) * | 2021-03-30 | 2021-07-06 | 江苏镌极特种设备有限公司 | Hollow parallel harmonic speed reducer and driving method thereof |
| CN114278714A (en) * | 2022-01-19 | 2022-04-05 | 无锡巨蟹智能驱动科技有限公司 | Simple harmonic drive, use and method |
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