CN216478762U - Helical gear harmonic speed reducer - Google Patents
Helical gear harmonic speed reducer Download PDFInfo
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- CN216478762U CN216478762U CN202122481444.XU CN202122481444U CN216478762U CN 216478762 U CN216478762 U CN 216478762U CN 202122481444 U CN202122481444 U CN 202122481444U CN 216478762 U CN216478762 U CN 216478762U
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Abstract
The utility model provides a helical gear harmonic speed reducer, which relates to the technical field of harmonic speed reducers and comprises a wave generator, a flexible gear, a fixed end rigid gear, an output end rigid gear, a fixed end cover and an output end cover, wherein two identical flexible bearings are arranged on an elliptic cam of the wave generator along the axial direction of the elliptic cam, and the flexible gear is arranged on outer rings of the two flexible bearings in a straight cylinder annular shape; the fixed end rigid wheel and the output end rigid wheel are both meshed with the outer teeth of the flexible gear through inner teeth, the fixed end rigid wheel is fixedly connected with the fixed end cover, and the output end rigid wheel is fixedly connected with the output end cover; the outer teeth of the flexible gear, the inner teeth of the fixed end rigid gear and the inner teeth of the output end rigid gear are all helical gears, and the outer teeth of the flexible gear are opposite to the inner teeth of the fixed end rigid gear and the inner teeth of the output end rigid gear in rotating directions. The utility model has higher transmission precision and impact resistance, and has small noise and vibration when running at high speed, thereby effectively prolonging the service life of the speed reducer.
Description
Technical Field
The utility model relates to the technical field of harmonic speed reducers, in particular to a helical gear harmonic speed reducer.
Background
The harmonic speed reducer has the characteristics of high precision, small volume, high bearing torque and the like, and is widely applied to the field of industrial robots. At present, all the common harmonic speed reducers are used for transmitting torque by meshing a straight tooth external gear of a flexible gear and a straight tooth internal gear of a rigid gear. The straight-tooth gear is relatively simple in production and processing and low in processing cost, but has several main problems: firstly, once the external teeth of the flexible gear or the internal teeth of the rigid gear have processing defects, the transmission precision of the harmonic speed reducer is obviously reduced; secondly, the straight gear is integrally meshed and integrally disengaged, so that when the harmonic reducer is impacted, the impact on the straight gear is large, and the phenomenon of tooth breakage is easy to occur; and thirdly, when the harmonic speed reducer runs at a high speed, noise and vibration of the straight-tooth gear are obviously increased when the straight-tooth gear is meshed at a high speed, the transmission efficiency is reduced, and the service life of the speed reducer is greatly shortened. The application range of the harmonic speed reducer is limited by the problems, and the higher and higher use requirements of the industrial robot cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a helical gear harmonic speed reducer which has higher transmission precision and shock resistance, has small noise and vibration during high-speed operation and effectively prolongs the service life of the speed reducer.
The technical purpose of the utility model is realized by the following technical scheme:
a helical gear harmonic speed reducer comprises a wave generator, a flexible gear, a fixed end rigid gear, an output end rigid gear, a fixed end cover and an output end cover, wherein two identical flexible bearings are arranged on an elliptic cam of the wave generator along the axial direction of the elliptic cam, and the flexible gear is arranged on outer rings of the two flexible bearings in a straight cylinder annular shape; the fixed end rigid wheel and the output end rigid wheel are both meshed with the outer teeth of the flexible gear through inner teeth, the fixed end rigid wheel is fixedly connected with the fixed end cover, and the output end rigid wheel is fixedly connected with the output end cover; the flexible gear outer teeth, the fixed end rigid gear inner teeth and the output end rigid gear inner teeth are all helical gears, and the flexible gear outer teeth are opposite to the fixed end rigid gear and the output end rigid gear inner teeth in rotating directions.
Through adopting above-mentioned technical scheme, flexible wheel external tooth, stiff end rigid wheel internal tooth and output rigid wheel internal tooth are the helical gear, compare in the straight-teeth gear, and the tooth width increase of helical gear can obtain great coincidence coefficient, and when flexible wheel and stiff end rigid wheel and output rigid wheel meshing, the number of teeth of participating in the meshing simultaneously is more to the meshing area is bigger, therefore the bearing capacity of helical gear is higher than the straight-teeth gear, and the rigidity of harmonic speed reducer machine is better. And the contact line of the helical tooth meshing is a straight line inclined with the axis of the gear, and the gear teeth are gradually engaged and disengaged, so that the transmission is stable, and particularly, the noise and the vibration are small during high-speed operation, so that the service life of the speed reducer is prolonged, and meanwhile, the influence of the manufacturing error on the transmission precision is reduced by the helical tooth meshing mode. In addition, when the helical teeth are meshed, the meshing contact line is gradually changed from short to long to short, so that when the harmonic speed reducer is impacted, the impact on the thin-wall flexible gear is small, the flexible gear can be effectively protected from being damaged easily, and the impact resistance of the speed reducer is improved.
Furthermore, the external teeth of the flexible gear and the internal teeth of the fixed end rigid gear are meshed by the difference of the number of teeth, and the difference of the number of teeth is two teeth difference; the outer teeth of the flexible gear and the inner teeth of the output end rigid gear are meshed with each other by the same number of teeth.
By adopting the technical scheme, the external teeth of the flexible gear and the internal teeth of the fixed end rigid gear are meshed by the difference of the two tooth differences, so that the meshing state of the flexible gear and the fixed end rigid gear and the meshing state of the rigid gear and the flexible gear in the single rigid gear harmonic speed reducer are consistent, and a large transmission ratio is obtained. And the external teeth of the flexible gear and the internal teeth of the output end rigid gear are meshed with each other by the same teeth number to ensure that the flexible gear and the output end rigid gear cannot rotate relatively, so that the output synchronism of the flexible gear is ensured.
Furthermore, the helix angle of the flexible gear outer teeth, the fixed end rigid gear inner teeth and the output end rigid gear inner teeth is 1-15 degrees.
By adopting the technical scheme, when the helical angle of the helical gear is small, the meshing condition of the helical gear is close to that of a straight gear, and when the helical angle of the helical gear is large, the helical gear can generate large axial force, so that the normal work of the harmonic speed reducer can be influenced. Therefore, the helical angle of the helical teeth of the flexible gear, the fixed end rigid gear and the output end rigid gear is set to be 1-15 degrees, so that the transmission precision and the shock resistance of the speed reducer are improved by the engagement of the helical teeth, and the phenomenon that the work of the harmonic speed reducer is influenced by overlarge generated axial force is avoided.
Further, two ends of the wave generator along the axial direction are respectively provided with an angular contact ball bearing, and the two angular contact ball bearings are respectively arranged between the wave generator and the fixed end cover and between the wave generator and the output end cover.
Through adopting above-mentioned technical scheme, set up angular contact ball bearing respectively at wave generator both ends and bear the axial force that the skewed tooth meshing produced, improve the axial bearing capacity of harmonic speed reducer machine promptly, like this under the circumstances that can bear the weight of the axial force, the skewed tooth helix angle of flexbile gear external tooth, stiff end rigid gear internal tooth and output rigid gear internal tooth can suitably increase to obtain bigger coincidence coefficient, play the effect that noise reduction, reduction vibration better.
Furthermore, two one sides that angular contact ball bearing kept away from each other are equipped with the skeleton sealing washer respectively, two the skeleton sealing washer is located the setting respectively between wave generator and fixed end cover and wave generator and output end cover.
By adopting the technical scheme, the sealing of the outer sides of the two angular contact ball bearings of the flexible gear is realized by utilizing the two framework sealing rings, and the sealing performance of the whole harmonic speed reducer is improved.
Further, a cross roller bearing is fixed between the fixed end rigid wheel and the output end rigid wheel, the fixed end cover, the fixed end rigid wheel and the inner ring of the cross roller bearing are fixedly connected with each other through bolts, and the output end cover, the output end rigid wheel and the outer ring of the cross roller bearing are fixedly connected with each other through pins.
By adopting the technical scheme, the fixed end cover, the fixed end rigid wheel and the cross roller bearing inner ring are fixedly connected through the bolt in an integrated manner, and the output end cover, the output end rigid wheel and the cross roller bearing outer ring are fixedly connected through the pin in an integrated manner. The cross roller bearing is matched with the framework sealing ring to realize the full sealing of the double-rigid-wheel harmonic speed reducer, the harmonic speed reducer is directly a whole, a customer does not need to be reassembled and can directly use the harmonic speed reducer, the installation is convenient, the assembly precision is high, and the noise of the harmonic speed reducer is further reduced by the full sealing structure.
Further, one side that the fixed end cover is close to the stiff end rigid wheel is equipped with the U type spacing groove of opening towards the flexbile gear, the stiff end fender ring of terminal surface and flexbile gear terminal surface butt is equipped with to the card in the U type spacing inslot.
Through adopting above-mentioned technical scheme, set up stiff end retaining ring at the U type spacing groove of fixed end cover, avoid straight cylindric flexbile gear at the during operation drunkenness, influence the skewed tooth meshing of flexbile gear and stiff end rigid wheel and output end rigid wheel.
Further, one side that output end cover is close to the flexbile gear is equipped with rather than coaxial flange, the flange overcoat is equipped with the output and keeps off the ring, the output keeps off ring outer wall and output rigid wheel inner wall butt, the output keeps off the terminal surface that the ring is close to the flexbile gear and flexbile gear terminal surface butt.
Through adopting above-mentioned technical scheme, output keeps off ring and stiff end and keeps off ring collaborative cooperation, avoids the flexbile gear drunkenness from top to bottom, further guarantees the skewed tooth meshing effect of flexbile gear and stiff end rigid wheel and output rigid wheel. The output end baffle ring is abutted to the flexible gear and the output end rigid gear, the output end cover and the flexible gear are relatively fixed, so that the problem that the output end baffle ring interferes with other parts is not needed to be considered, the structure is simplified, and the output end baffle ring is convenient to mount.
In conclusion, the utility model has the following beneficial effects:
1. the outer teeth of the flexible gear, the inner teeth of the fixed end rigid gear and the inner teeth of the output end rigid gear are in helical gear meshing, compared with a straight gear, the tooth width of the helical gear is increased, a larger coincidence coefficient can be obtained, when the flexible gear is meshed with the fixed end rigid gear and the output end rigid gear, the number of teeth participating in meshing is more, and the meshing area is larger, so that the bearing capacity of the helical gear is higher than that of the straight gear, and the rigidity of the harmonic speed reducer is better;
2. the contact line of the helical tooth meshing is a straight line inclined to the axis of the gear, and the gear teeth are gradually engaged and disengaged, so that the transmission is stable, and particularly, the noise and the vibration are small during high-speed operation, so that the service life of the speed reducer is prolonged, and meanwhile, the influence of manufacturing errors on the transmission precision is reduced by the helical tooth meshing mode;
3. the meshing contact line during meshing of the helical teeth is a gradual change process from short to long to short, so that when the harmonic reducer is impacted, the impact on the thin-wall flexible gear is small, the flexible gear can be effectively protected from being damaged easily, and the impact resistance of the reducer is improved;
4. the angular contact ball bearings at the two ends of the wave generator replace conventional deep groove ball bearings, and the angular contact ball bearings are used for bearing axial force generated by meshing of helical teeth, so that under the condition that the axial force can be borne, helical angles of the helical teeth of the flexible gear outer teeth, the fixed end rigid gear inner teeth and the output end rigid gear inner teeth can be properly increased, a larger coincidence coefficient is obtained, and the effects of reducing noise and vibration are better achieved.
Drawings
Fig. 1 is a schematic view of the overall structure of a helical gear harmonic reducer.
In the figure, 1, a wave generator; 2. a compliant bearing; 3. a flexible gear; 4. fixing an end cover; 41. a U-shaped limiting groove; 42. fixing end baffle ring; 5. a rigid wheel is fixed; 6. an output end rigid wheel; 7. an output end cover; 71. a flange; 72. an output end baffle ring; 8. a crossed roller bearing; 81. a bolt; 82. a pin; 9. angular contact ball bearings; 10. skeleton sealing washer.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
A helical gear harmonic speed reducer comprises a wave generator 1, a flexible gear 3, a fixed end rigid gear 5, an output end rigid gear 6, a fixed end cover 4, an output end cover 7 and a cross roller bearing 8, wherein two identical flexible bearings 2 are arranged on an elliptical cam of the wave generator 1 along the axial direction of the elliptical cam, and the flexible gear 3 is arranged on outer rings of the two flexible bearings 2 in a straight cylinder annular shape. The fixed end cover 4, the fixed end rigid wheel 5 and the inner ring of the crossed roller bearing 8 are integrally and fixedly connected through a bolt 81 and serve as a fixed end of the harmonic reducer; the output end cover 7, the output end rigid wheel 6 and the outer ring of the crossed roller bearing 8 are integrally and fixedly connected through a pin 82 and serve as the output end of the harmonic speed reducer.
As shown in fig. 1, the fixed end rigid gear 5 and the output end rigid gear 6 are both engaged with the outer teeth of the flexible gear 3 through the inner teeth, the outer teeth of the flexible gear 3 are engaged with the inner teeth of the fixed end rigid gear 5 by the difference of the two teeth, and the flexible gear 3 moves relative to the fixed end rigid gear 5, so that the harmonic speed reducer has a larger speed reduction ratio. And the outer teeth of the flexible gear 3 are meshed with the inner teeth of the output end rigid gear 6 by the same number of teeth, and the flexible gear 3 and the output end rigid gear 6 are relatively fixed and do not rotate relatively, so that the power output of the flexible gear 3 is realized. In addition, a skeleton sealing ring 10 is respectively arranged between the outer ring of the wave generator 1 and the inner ring of the fixed end cover 4 and between the outer ring of the wave generator 1 and the inner ring of the output end cover 7. Utilize two skeleton sealing rings 10 and cross roller bearing 8 to realize the full seal of harmonic speed reducer machine, effectively reduce the noise of harmonic speed reducer machine, and the customer can directly use, need not in addition the assembly.
As shown in fig. 1, in the present embodiment, the external teeth of the flexspline 3, the internal teeth of the fixed end rigid gear 5, and the internal teeth of the output end rigid gear 6 are all helical gears, and the internal teeth of the fixed end rigid gear 5 and the output end rigid gear 6 have the same rotational direction, and the external teeth of the flexspline 3 have the opposite rotational direction. Adopt the skewed tooth meshing between flexbile gear 3 and stiff end rigid gear 5 and the output rigid gear 6, compare in the straight-teeth gear, the tooth width increase of helical gear can obtain great coincidence coefficient, when flexbile gear 3 meshes with stiff end rigid gear 5 and output rigid gear 6, the number of teeth of participating in the meshing simultaneously is more to the meshing area is bigger, therefore the bearing capacity of helical gear is higher than the straight-teeth gear, and the rigidity of harmonic speed reducer machine is better.
In addition, the contact line of the helical tooth meshing is a straight line inclined to the axis of the gear, and the gear teeth are gradually engaged and disengaged, so that the transmission is stable, and particularly, the noise and the vibration are small during high-speed operation, so that the service life of the speed reducer is prolonged, and meanwhile, the influence of the manufacturing error on the transmission precision is reduced by the helical tooth meshing mode. In addition, when the helical teeth are meshed, the meshing contact line is gradually changed from short to long to short, so that when the harmonic speed reducer is impacted, the impact on the thin-wall flexible gear 3 is small, the flexible gear 3 can be effectively protected from being damaged easily, and the impact resistance of the speed reducer is improved.
Wherein, the helical angle of the external teeth of the flexible gear 3, the internal teeth of the fixed end rigid gear 5 and the internal teeth of the output end rigid gear 6 is 1-15 degrees. When the helical angle of the helical teeth is small, the meshing condition of the helical gears is close to that of the straight gears, and when the helical angle of the helical teeth is large, the helical gears can generate large axial force, so that the normal operation of the harmonic speed reducer can be influenced. Therefore, the helical angle of the helical teeth of the flexible gear 3, the fixed end rigid gear 5 and the output end rigid gear 6 is set to be 1-15 degrees, so that the effect of the helical teeth meshing on the improvement of the transmission precision and the shock resistance of the speed reducer is ensured, and the phenomenon that the work of the harmonic speed reducer is influenced by overlarge generated axial force is avoided.
As shown in fig. 1, in the present embodiment, in order to cancel the axial force generated by the helical tooth engagement, two angular ball bearings 9 located between two skeleton seal rings 10 are respectively provided at both ends of the wave generator 1 in the axial direction thereof, and the two angular ball bearings 9 are respectively provided between the outer ring of the wave generator 1 and the inner ring of the fixed end cap 4 and between the outer ring of the wave generator 1 and the inner ring of the output end cap 7. The angular contact ball bearing 9 is used for bearing the axial force generated by meshing of the helical teeth, so that under the condition of bearing the axial force, the helical angles of the helical teeth of the outer teeth of the flexible gear 3, the inner teeth of the fixed end rigid gear 5 and the inner teeth of the output end rigid gear 6 can be properly increased, a larger superposition coefficient is obtained, and the effects of reducing noise and vibration are better achieved. However, since the angular contact ball bearing 9 is provided, the helical angle of the helical teeth in the present embodiment can be selected to be 10 °.
As shown in fig. 1, in order to avoid the up-and-down movement of the flexspline 3 during the operation of the harmonic reducer, in this embodiment, a U-shaped limiting groove 41 with an opening facing the flexspline 3 is provided on the side of the fixed end cover 4 close to the fixed end rigid spline 5, a fixed end stop ring 42 is clamped in the U-shaped limiting groove 41, and the end faces of the fixed stop ring and the flexspline 3 close to each other abut against each other. A flange 71 coaxial with the output end cover 7 is arranged on one side close to the flexible gear 3, an output end baffle ring 72 is sleeved outside the flange 71, the outer wall of the output end baffle ring 72 is abutted against the inner wall of the output end rigid gear 6, and the end face of the output end baffle ring 72 close to the flexible gear 3 is abutted against the end face of the flexible gear 3. The flexible gear 3 is limited by the fixed end baffle ring 42 and the output end baffle ring 72, so that the flexible gear 3 is prevented from moving up and down, and the meshing effect of the flexible gear 3, the fixed end rigid gear 5 and the output end rigid gear 6 is ensured.
The working principle and the using method of the utility model are as follows:
the flexible gear 3 is meshed with the fixed end rigid gear 5 and the output end rigid gear 6 by adopting helical teeth, so that a larger coincidence coefficient can be obtained, the bearing capacity of the helical gear is higher than that of a straight gear, and the rigidity of the harmonic speed reducer is better. The contact line of the helical tooth meshing is a straight line inclined to the axis of the gear, and the gear teeth are gradually engaged and disengaged, so that the transmission is stable, and particularly, the noise and vibration are small during high-speed operation, so that the service life of the speed reducer is prolonged, and meanwhile, the influence of manufacturing errors on the transmission precision is reduced by the helical tooth meshing mode. When the helical teeth are meshed, the meshing contact line is gradually changed from short to long to short, so that when the harmonic speed reducer is impacted, the impact on the thin-wall flexible gear 3 is small, the flexible gear 3 can be effectively protected from being damaged easily, and the impact resistance of the speed reducer is improved.
The angular contact ball bearings 9 at the two ends of the wave generator 1 replace conventional deep groove ball bearings, and the angular contact ball bearings 9 are used for bearing axial force generated by meshing of helical teeth, so that under the condition that the axial force can be borne, helical angles of the helical teeth of the outer teeth of the flexible gear 3, the inner teeth of the fixed end rigid gear 5 and the inner teeth of the output end rigid gear 6 can be properly increased, a larger coincidence coefficient is obtained, and the effects of reducing noise and vibration are better achieved.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the utility model is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (8)
1. A helical gear harmonic speed reducer comprises a wave generator (1), a flexible gear (3), a fixed end rigid gear (5), an output end rigid gear (6), a fixed end cover (4) and an output end cover (7), wherein two identical flexible bearings (2) are arranged on an elliptic cam of the wave generator (1) along the axial direction of the elliptic cam, and the flexible gear (3) is arranged on outer rings of the two flexible bearings (2) in a straight cylinder annular shape; the fixed end rigid wheel (5) and the output end rigid wheel (6) are meshed with the outer teeth of the flexible wheel (3) through inner teeth, the fixed end rigid wheel (5) is fixedly connected with the fixed end cover (4), and the output end rigid wheel (6) is fixedly connected with the output end cover (7); the method is characterized in that: the outer teeth of the flexible gear (3), the inner teeth of the fixed end rigid gear (5) and the inner teeth of the output end rigid gear (6) are helical gears, and the outer teeth of the flexible gear (3) are opposite to the inner teeth of the fixed end rigid gear (5) and the inner teeth of the output end rigid gear (6).
2. The helical gear harmonic reducer of claim 1, wherein: the outer teeth of the flexible gear (3) are meshed with the inner teeth of the fixed end rigid gear (5) in a differential tooth number which is two-tooth difference; the outer teeth of the flexible gear (3) are meshed with the inner teeth of the output end rigid gear (6) by the same number of teeth.
3. The helical gear harmonic reducer of claim 1 or 2, wherein: the helix angle of the external teeth of the flexible gear (3), the internal teeth of the fixed end rigid gear (5) and the internal teeth of the output end rigid gear (6) is 1-15 degrees.
4. The helical gear harmonic reducer of claim 3, wherein: the two angular contact ball bearings (9) are respectively arranged at two ends of the wave generator (1) along the axial direction, and the two angular contact ball bearings (9) are respectively arranged between the wave generator (1) and the fixed end cover (4) and between the wave generator (1) and the output end cover (7).
5. The helical gear harmonic reducer of claim 4, wherein: two one side that angular contact ball bearing (9) kept away from each other is equipped with skeleton sealing washer (10) respectively, two skeleton sealing washer (10) are located respectively and set up between wave generator (1) and fixed end cover (4) and between wave generator (1) and output end cover (7).
6. The helical gear harmonic reducer of claim 5, wherein: be fixed with cross roller bearing (8) between stiff end rigid wheel (5) and output rigid wheel (6), fixed end cover (4), stiff end rigid wheel (5) and cross roller bearing (8) inner circle three pass through bolt (81) integrative fixed connection, output end cover (7), output rigid wheel (6) and cross roller bearing (8) outer lane three pass through the integrative fixed connection of pin (82).
7. The helical gear harmonic reducer of claim 1, wherein: one side that fixed end cover (4) are close to stiff end rigid wheel (5) is equipped with opening towards U type spacing groove (41) of flexbile gear (3), the stiff end fender ring (42) of terminal surface and flexbile gear (3) terminal surface butt is equipped with to the card in U type spacing groove (41).
8. The helical gear harmonic reducer of claim 1 or 7, wherein: one side that output end cover (7) are close to flexbile gear (3) is equipped with rather than coaxial flange (71), flange (71) overcoat is equipped with the output and keeps off ring (72), the output keeps off ring (72) outer wall and output rigid wheel (6) inner wall butt, the output keeps off the terminal surface that ring (72) are close to flexbile gear (3) and flexbile gear (3) terminal surface butt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202122481444.XU CN216478762U (en) | 2021-10-14 | 2021-10-14 | Helical gear harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122481444.XU CN216478762U (en) | 2021-10-14 | 2021-10-14 | Helical gear harmonic speed reducer |
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| CN216478762U true CN216478762U (en) | 2022-05-10 |
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| CN202122481444.XU Active CN216478762U (en) | 2021-10-14 | 2021-10-14 | Helical gear harmonic speed reducer |
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