CN216112027U - Novel harmonic speed reducer ware - Google Patents

Abstract

The utility model provides a novel harmonic reducer, and belongs to the technical field of speed changing devices. It has solved the poor problem of current steering wheel reduction gear product reliability for the unmanned aerial vehicle. The utility model discloses a harmonic reducer ware, which comprises a housin, the end cover, including a motor, an end cap, an end gear, the intermediate gear, the rigid gear, output shaft and wave generator subassembly, the intermediate gear passes through the casing and the end cover is fixed, the both sides of intermediate gear respectively with motor and cam engagement, the cam cover is located on the output shaft, the wave generator subassembly includes flexbile gear and flexible bearing, the outside is fixed in on the cam and is passed through spacer sleeve and baffle location, the flange face has on the output shaft, the flexbile gear is fixed mutually with the flange face, the inner circle and the flexbile gear outer lane of rigid gear mesh mutually, its profile of tooth includes three-section end to end's circular arc A for the circular arc profile of tooth, circular arc B and circular arc C constitute, the tie point of three-section circular arc is the tangent point, round off-load groove has on the cup of flexbile gear. The utility model has the advantages of good reliability and long service life.

Description

Novel harmonic speed reducer ware

Technical Field

The utility model belongs to the technical field of speed changing devices, relates to a speed reducer, and particularly relates to a novel harmonic speed reducer.

Background

The steering engine simply integrates a direct current motor, a motor controller, a speed reducer and the like, and is packaged in a servo unit in a shell convenient to install, so that a motor system capable of accurately rotating a given angle by using a simple input signal can be utilized.

The simple working principle is that the control circuit receives a control signal of a signal source and drives the motor to rotate; the gear set reduces the speed of the motor by a large factor, amplifies the output torque of the motor by a response factor and then outputs the amplified output torque; the potentiometer and the final stage of the gear set rotate together, and the rotation angle of the steering engine shaft is measured; the circuit board detects and judges the steering engine rotation angle according to the potentiometer, and then controls the steering engine to rotate to a target angle or keep the target angle.

In the prior art, the steering engine applied to the unmanned aerial vehicle mainly has the following defects: the return clearance of the output shaft is large (generally 12 'to 30'), and the position precision of the rudder system is difficult to control.

The product precision retentivity is poor, and along with the product is in the use, the continuous wearing and tearing of internal gear, output shaft return clearance can increase gradually. The product reliability is poor, and due to structural limitation, all the matching parts are in sliding fit for replacing the rolling fit of the bearing, and the gluing phenomenon is easy to occur at the matching parts under the conditions of high rotating speed and large load. The bearing capacity range of the product is small, the bearing capacity is greatly limited due to the fact that internal parts are in conventional gear transmission, and the bearing capacity is small under the same appearance structure. The high-end and medium-end customer requirements are difficult to realize due to the defects of the existing steering engine.

Disclosure of Invention

The utility model aims to solve the problems in the prior art, provides a novel harmonic reducer with high precision and long service life, and ensures the compatibility of interfaces, and the dimensions of the appearance and the interfaces are consistent with those of conventional steering engines.

The purpose of the utility model can be realized by the following technical scheme: the utility model provides a novel harmonic speed reducer ware, includes casing, end cover, motor, intermediate gear, rigid wheel, output shaft and wave generator subassembly, intermediate gear pass through the casing and the end cover is fixed, intermediate gear's both sides respectively with motor and cam engagement, the cam cover locate on the output shaft, a serial communication port, wave generator subassembly include flexbile gear and flexible bearing, flexible bearing be fixed in on the cam the outside through spacer and baffle location, the output shaft on have a flange face, flexbile gear and flange face fixed mutually, the inner circle and the flexible wheel outer lane of rigid wheel mesh mutually, its profile of tooth includes the circular arc A of three-section end to end for the circular arc profile of tooth, circular arc B and circular arc C constitute, the tie point of three-section circular arc is the tangent point, a round off-load groove has on the cup of flexbile gear.

In the novel harmonic reducer, the unloading groove is arc-shaped, the depth d of the unloading groove is 0.03-0.1 mm, and the two sides of the unloading groove are of inclined plane structures, and the inclination angle alpha of the unloading groove is 1-4 degrees.

In the novel harmonic reducer, the modulus m of the flexible gear is the pitch circle of the flexible gear/the number of teeth of the flexible gear, the height of the flexible gear is 1.2-1.6 m, the radius of the circular arc A is 1.3-1.5 m, the radius of the circular arc B is 3.3-3.5 m, and the radius of the circular arc C is 0.9-1.0 m.

In the novel harmonic reducer, the flexible gear is made of 15-5PH stainless steel.

In foretell novel harmonic speed reducer ware, the shaft end cover of motor is equipped with the output gear with intermediate gear meshing, the output gear fixed through radially wearing to establish the axle of cylindric lock and motor.

In the novel harmonic reducer, the shell is of a split structure and is formed by combining the upper cover and the side cover.

In the novel harmonic reducer, the transmission ratio of the intermediate gear to the motor and the cam is 1 to 1.

Compared with the prior art, this novel harmonic speed reducer ware has following advantage:

1. the original involute tooth profile is improved into an arc tooth profile, so that the contact of sharp points is relieved, and the number of simultaneously meshed teeth is increased, thereby improving the bearing capacity and the precision retentivity of products, improving the running stability and reducing the noise;

2. the unloading groove is designed on the flexible gear cup body, so that the stress concentration phenomenon in the deformation process of the flexible gear is relieved, the fatigue life of the flexible gear is prolonged, and the service life of the flexible gear is prolonged.

Drawings

FIG. 1 is a cross-sectional structural view of the present speed reducer;

FIG. 2 is a structure diagram of a flexible gear meshing tooth form;

FIG. 3 is a schematic view of a flexspline;

FIG. 4 is an enlarged view of the structure at X in FIG. 3;

FIG. 5 is a schematic view of the output shaft;

FIG. 6 is a schematic view of the structure of the motor;

FIG. 7 is a schematic view of the external structure of the reducer;

in the figure, 1, a housing; 1a, an upper cover; 1b, a side cover; 2. an end cap; 3. a motor; 3a, an output gear; 3b, a cylindrical pin; 4. an intermediate gear; 5. a rigid wheel; 6. an output shaft; 6a, a flange surface; 7. a wave generator assembly; 7a, a flexible gear; 7b, a flexible bearing; 701. an unloading slot; 8. a cam; 9. a spacer sleeve; 10. and a baffle plate.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1 to 7, the novel harmonic reducer comprises a shell 1, an end cover 2, a motor 3, an intermediate gear 4, a rigid wheel 5, an output shaft 6 and a wave generator assembly 7, wherein the intermediate gear 4 is fixed through the shell 1 and the end cover 2, two sides of the intermediate gear 4 are respectively meshed with the motor 3 and a cam 8, the cam 8 is sleeved on the output shaft 6, two ends of the intermediate gear 4 are supported and fixed through bearings for supporting parts, the middle part is used for meshing transmission for a gear part, and the motor 3 drives the cam 8 to synchronously run through the intermediate gear 4.

The wave generator component 7 comprises a flexible gear 7a and a flexible bearing 7B, the flexible bearing 7B is oval, the flexible bearing 7B is fixed on the upper outer side of a cam 8 and is positioned through a spacer 9 and a baffle 10, a flange face 6a is arranged on an output shaft 6, the flexible gear 7a and the flange face 6a are fixed through 6 or 8 circumferentially arranged screws, an inner ring of a rigid gear 5 is meshed with an outer ring of the flexible gear 7a, the tooth form of the rigid gear is an arc tooth form and comprises three sections of arc A connected end to end, an arc B and an arc C, the connection point of the three sections of arcs is a tangent point, and a cup body of the flexible gear 7a is provided with a circle of unloading groove 701.

The principle of this novel harmonic speed reducer ware does: the motor 3 drives the cam 8 to operate through the medium-sword gear, the cam 8 is positioned through the output shaft 6 to realize fixed-shaft rotation, the flexible bearing 7b is arranged outside the cam 8, and the flexible bearing 7b is in an oval shape, so when the highest point of the flexible bearing 7b is in contact with the flexible wheel 7a, the flexible wheel 7a is meshed with the rigid wheel 5, and is separated at the lowest point, the flexible wheel 7a has the function of converting input rotary motion into wavy fluctuating motion by means of the flexible bearing 7b, the flexible wheel 7a realizes product deceleration and rotary output motion with the rigid wheel 5 under the pushing of the wave generator assembly 7, and the flexible wheel 7a drives the output shaft 6 to transmit the rotary motion.

Specifically, in the reducer, the circular arc tooth profile is designed to be formed by three-section tangent circular arcs, the modulus m of a flexible gear 7a is the pitch circle of the flexible gear/the number of teeth of the flexible gear, the height of a flexible gear 7a is 1.2-1.6 m, the radius of a circular arc A is 1.3-1.5 m, the radius of a circular arc B is 3.3-3.5 m, and the radius of a circular arc C is 0.9-1.0 m, when the transmission ratio is relatively small, the tooth height is small, otherwise, the tooth height is large, when the size of the circular arc is taken, synchronous fine adjustment is carried out according to the tooth height dimension, and no interference exists after the flexible gear 7a and a rigid gear 5 are meshed.

On the other hand, the unloading groove 701 is arc-shaped, the depth d of the unloading groove 701 is 0.03-0.1 mm, the two sides of the unloading groove 701 are of inclined surface structures, the inclination angle alpha of the unloading groove 701 is 1-4 degrees, the unloading groove 701 is designed at the position, close to the cup bottom, of the excircle and the position, close to the cup bottom, of the cup bottom surface, and the problem that the cup bottom is broken due to stress concentration in the using process of the flexible gear 7a is solved through the measure.

All aspects performance index of novel steering wheel reduction gear has all obtained promoting through above-mentioned improvement back:

1. the novel steering engine speed reducer can realize 0 'to 2' of return clearance of the output shaft 6.

2. Rated torque build-up life is up to 2000 hours.

3. The precision retentivity is good, the precision return difference is basically unchanged in the whole service life and is ensured to be 0 '-2'.

4. Under the same spatial structure, the product bears the weight of the moment of torsion and increases 3 ~ 5 times than the gear box.

Further, the flexible gear 7a is made of stainless steel with 15-5 PH. The stainless steel material replaces the conventional 30CrNiMo, 35CrMnSi, 40CrNiMo and the like, thereby solving the problem of corrosion of the flexible gear 7a in the production, storage and use processes, and the stainless steel material has great advantages in toughness and fatigue strength, thereby prolonging the service life of the flexible gear 7 a.

The shaft end part of the motor 3 is sleeved with an output gear 3a meshed with the intermediate gear 4, and the output gear 3a is fixed with a shaft of the motor 3 through a cylindrical pin 3b which penetrates through the shaft in the radial direction. The connecting structure is faster to install and can bear larger torque.

In order to facilitate and speed the internal assembly of the speed reducer, the housing 1 is formed by combining an upper cover 1a and a side cover 1b in a split structure.

The transmission ratio of the intermediate gear 4 to the motor 3 and the cam 8 is 1 to 1, and the intermediate gear 4 mainly plays a role in motion transmission in the structure and does not realize the functions of speed reduction and torque increase.

The specific embodiments described herein are merely illustrative of the spirit of the utility model. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the utility model as defined in the appended claims.

Although various terms are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims (7)

1. A novel harmonic reducer comprises a shell (1), an end cover (2), a motor (3), an intermediate gear (4), a rigid wheel (5), an output shaft (6) and a wave generator assembly (7), wherein the intermediate gear (4) is fixed through the shell (1) and the end cover (2), two sides of the intermediate gear (4) are respectively meshed with the motor (3) and a cam (8), the cam (8) is sleeved on the output shaft (6), the wave generator assembly (7) comprises a flexible wheel (7 a) and a flexible bearing (7 b), the flexible bearing (7 b) is fixed on the cam (8) and positioned at the outer side through a spacer bush (9) and a baffle plate (10), the output shaft (6) is provided with a flange face (6 a), the flexible wheel (7 a) is fixed with the flange face (6 a), an inner ring of the rigid wheel (5) is meshed with the flexible wheel (7 a), the tooth profile is an arc tooth profile and comprises three sections of arcs A, B and C which are connected end to end, the connection points of the three sections of arcs are tangent points, and a circle of unloading groove (701) is formed in a cup body of the flexible gear (7 a).

2. The novel harmonic reducer according to claim 1, wherein the unloading groove (701) is arc-shaped, the depth d of the unloading groove is 0.03-0.1 mm, and the two sides of the unloading groove (701) are of a slope structure, and the inclination angle alpha of the unloading groove is 1-4 degrees.

3. The novel harmonic reducer according to claim 1, wherein the modulus m of the flexible gear (7 a) is the pitch circle/tooth number of the flexible gear, the height of the flexible gear (7 a) is 1.2-1.6 m, the radius of the arc A is 1.3-1.5 m, the radius of the arc B is 3.3-3.5 m, and the radius of the arc C is 0.9-1.0 m.

4. A novel harmonic reducer according to claim 1 wherein the flexspline (7 a) is made of 15-5PH stainless steel.

5. A novel harmonic reducer according to claim 1, characterized in that the shaft end of the motor (3) is sleeved with an output gear (3 a) engaged with the intermediate gear (4), and the output gear (3 a) is fixed with the shaft of the motor (3) by radially penetrating cylindrical pins (3 b).

6. The novel harmonic reducer according to claim 1, wherein the housing (1) is a split structure and is formed by combining an upper cover (1 a) and a side cover (1 b).

7. A new harmonic reducer according to claim 1, characterized in that the transmission ratio of the intermediate gear (4) to the motor (3) and cam (8) is 1 to 1.

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