CN216478763U - Shock-resistant single rigid wheel harmonic speed reducer - Google Patents
Shock-resistant single rigid wheel harmonic speed reducer Download PDFInfo
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- CN216478763U CN216478763U CN202122485112.9U CN202122485112U CN216478763U CN 216478763 U CN216478763 U CN 216478763U CN 202122485112 U CN202122485112 U CN 202122485112U CN 216478763 U CN216478763 U CN 216478763U
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Abstract
The utility model provides an impact-resistant single rigid gear harmonic speed reducer, which relates to the technical field of harmonic speed reducers and comprises a wave generator, a flexible bearing, a flexible gear, a rigid gear, a cross roller bearing and a flange end cover, wherein the flexible bearing is arranged outside the wave generator; the inner wall of the straight cylinder part of the flexible gear is provided with a straight cylinder lining ring, the straight cylinder lining ring is positioned at one end far away from the meshing of the flexible gear and the rigid gear, and one end of the straight cylinder lining ring is close to the transition part of the flange part of the flexible gear and the straight cylinder part. When the flexible gear is used, the plastic deformation of the flexible gear at the position of the bend transition thin wall can be effectively prevented, the load capacity and the shock resistance of the harmonic speed reducer are enhanced, the vibration of the harmonic speed reducer is reduced, the fatigue life of the harmonic speed reducer is prolonged, and the flexible gear is simple in structure, convenient to process and convenient and fast to install.
Description
Technical Field
The utility model relates to the technical field of harmonic speed reducers, in particular to an impact-resistant single rigid wheel 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. The traditional harmonic speed reducer is of a single rigid gear structure, the flexible gear is in a cup shape or a silk hat shape, and a flange part at the bottom of the flexible gear is usually used for outputting torque. The bottom flange and the straight cylindrical tooth part are in bent angle transitional connection with the angle close to 90 degrees, the wall thickness of the position is thin in order to meet the flexible deformation of the flexible gear, the wall thickness is usually close to 0.3mm, the position is the weakest part of the harmonic speed reducer, the speed reducer is easy to generate distortion deformation when the speed reducer bears large torque or impact torque, the speed reducer is damaged, and the load capacity and the impact resistance of the harmonic speed reducer are greatly limited. In addition, the bending angle transition thin-wall structure of the flexible gear has low rigidity, so that the harmonic reducer is easy to vibrate under the working condition of high rotating speed and high load.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an impact-resistant single rigid wheel harmonic speed reducer, which can effectively prevent a flexible wheel from plastically deforming at a corner transition thin-wall position, enhance the load capacity and the impact resistance of the harmonic speed reducer, reduce the vibration of the harmonic speed reducer, prolong the fatigue life of the harmonic speed reducer, and has the advantages of simple structure, convenience in processing and convenience in installation.
The technical purpose of the utility model is realized by the following technical scheme:
an impact-resistant single-rigid-wheel harmonic speed reducer comprises a wave generator, a flexible bearing, a flexible wheel, a rigid wheel, a cross roller bearing and a flange end cover, wherein the flexible bearing is installed outside the wave generator, a straight cylinder part of the flexible wheel is installed on an outer ring of the flexible bearing, the outer wall of the straight cylinder part of the flexible wheel is meshed with the inner wall of the rigid wheel, and the flange part of the flexible wheel is fixedly connected with the flange end cover and the outer ring of the cross roller bearing; the inner wall of the straight cylinder part of the flexible gear is provided with a straight cylinder lining ring, the straight cylinder lining ring is positioned at one end far away from the meshing of the flexible gear and the rigid gear, and one end of the straight cylinder lining ring is close to the transition part of the flange part of the flexible gear and the straight cylinder part.
By adopting the technical scheme, the straight-cylinder lining ring is arranged on the inner wall of the straight-cylinder part of the flexible gear, and the straight-cylinder part of the flexible gear continuously generates elastic deformation with alternate ellipse long axes and short axes in the running process of the harmonic reducer, and the straight-cylinder lining ring can generate the same alternate elastic deformation along with the elastic deformation. When the harmonic speed reducer is subjected to larger torque or impact force, the supporting force of the straight-cylinder liner ring can effectively prevent the flexible gear from being plastically deformed, so that the load capacity and the impact resistance of the harmonic speed reducer are improved. In addition, the arrangement of the straight-cylinder liner ring is equivalent to the improvement of the thickness of the straight-cylinder part of the flexible gear, so that the rigidity of the flexible gear is improved, the vibration of the harmonic speed reducer can be effectively reduced, and the fatigue life of the harmonic speed reducer can be improved by nearly 50 percent compared with that of the traditional harmonic speed reducer.
Furthermore, one end of the straight lining ring, which is close to the flange part of the flexible gear, is provided with a flange lining ring, the straight lining ring and the flange lining ring are integrally formed, and the shape of the integrally formed bent angle part is the same as that of the transition part of the straight cylinder part of the flexible gear and the flange part.
By adopting the technical scheme, the straight-cylinder lining ring and the flange lining ring are integrally formed and combined to form a whole body with the same shape as the bent angle transition part of the straight cylinder part and the flange part of the flexible wheel, so that the plastic deformation of the straight cylinder part of the flexible wheel and the plastic deformation of the flange part of the flexible wheel can be prevented, and when the harmonic reducer is subjected to larger torque or impact force, the load capacity and the impact resistance of the harmonic reducer are further improved.
Further, the thickness of the straight barrel lining ring is 0.3mm-1 mm.
Through adopting above-mentioned technical scheme, the thickness of straight section of thick bamboo neck ring is close with the flexbile gear, and when harmonic speed reducer ware work, flexbile gear straight section of thick bamboo position took place elastic deformation like this, straight section of thick bamboo neck ring can take place elastic deformation thereupon, avoids influencing the normal work of flexbile gear, and its convenient processing, installation are convenient.
Furthermore, the outer diameter of the straight-tube lining ring is in clearance fit with the inner diameter of the straight-tube part of the flexible wheel, and the single-side clearance is 0mm-0.01 mm.
By adopting the technical scheme, before the wave generator and the flexible bearing are not arranged in the flexible gear, the flexible gear is not deformed, and the straight-cylinder lining ring can be easily arranged in the inner side of the flexible gear due to clearance fit. After the wave generator and the flexible bearing are installed in the flexible gear, the tooth part of the flexible gear is expanded to be deformed into an oval shape, the straight cylinder part of the flexible gear is correspondingly deformed, the gap between the flexible gear and the straight cylinder lining ring is eliminated, namely, the straight cylinder lining ring is tightly supported by the flexible gear, the flexible gear is simple in structure, installation and matching between the straight cylinder lining ring and the flexible gear can be achieved without using other parts, and installation is convenient and fast.
Furthermore, the thickness of the straight barrel lining ring is the same as that of the flange lining ring, and both the thickness of the straight barrel lining ring and the thickness of the flange lining ring are 0.3mm-1 mm.
Through adopting above-mentioned technical scheme, the thickness of bushing ring in straight section of thick bamboo and flange bushing ring is the same, and is close with the flexbile gear, and when harmonic speed reducer ware work, flexbile gear took place elastic deformation like this, the bushing ring can take place elastic deformation thereupon, avoids influencing the normal work of flexbile gear, and the integrated into one piece of bushing ring in straight section of thick bamboo and flange bushing ring of still being convenient for in addition makes things convenient for processing and installs conveniently.
Further, the axial length of the straight-barrel lining ring is 1/2-2/3 of the axial length of the toothless part of the straight-barrel part of the flexible gear.
By adopting the technical scheme, the axial length of the straight-barrel lining ring is 1/2-2/3 of the axial length of the toothless part of the straight barrel part of the flexible gear, so that when the harmonic reducer is subjected to larger torque or impact force, the supporting force of the straight-barrel lining ring can be enough to effectively prevent the flexible gear from plastic deformation, the using effect of the straight-barrel lining ring is ensured, the interference between the straight-barrel lining ring and the flexible bearing is avoided, the structure is simple, and the effect is obvious.
Furthermore, a straight barrel limiting ring is arranged on the inner wall of the straight barrel part of the flexible wheel, and a straight barrel limiting groove matched with the end part of one end, close to the flexible bearing, of the straight barrel lining ring is arranged on one side, far away from the flexible bearing, of the straight barrel limiting ring.
By adopting the technical scheme, before the wave generator and the flexible bearing are not arranged in the flexible gear, the straight-barrel lining ring is arranged on the inner side of the flexible gear, one end of the straight-barrel lining ring is clamped in the straight-barrel limiting groove on the straight-barrel limiting ring, the straight-barrel lining ring is positioned and arranged by utilizing the limiting effect of the straight-barrel limiting groove on the end part of the straight-barrel lining ring, and the flexible bearing is prevented from being interfered by the straight-barrel lining ring and the flexible bearing to influence the arrangement of the flexible bearing.
In conclusion, the utility model has the following beneficial effects:
1. the inner wall of the straight cylinder part of the flexible gear is provided with the straight cylinder lining ring, or the transition bend angle between the straight cylinder part of the flexible gear and the flange part is provided with the straight cylinder lining ring and the flange lining ring which are integrally formed, so that the plastic deformation of the flexible gear at the bend angle transition thin-wall position can be effectively prevented by utilizing the straight cylinder lining ring and the flange lining ring on the premise of not influencing the elastic deformation of the flexible gear during normal operation, and the load capacity and the shock resistance of the harmonic reducer are greatly enhanced;
2. the arrangement of the straight cylinder lining ring and the flange lining ring is equivalent to the improvement of the thickness of the flexible gear, so that the rigidity of the flexible gear is improved, the vibration of the harmonic speed reducer can be effectively reduced, and the fatigue life of the harmonic speed reducer can be improved by nearly 50% compared with that of the traditional harmonic speed reducer;
3. the straight barrel lining ring and the flange lining ring are made of the same material as the flexible gear, and have the shape and the thickness similar to those of the flexible gear, so that the processing is convenient, and the installation is convenient.
Drawings
Fig. 1 is a schematic view of an overall structure of an impact-resistant single-rigid-wheel harmonic reducer in a first embodiment;
fig. 2 is a schematic view of the overall structure of an anti-impact single-rigid-wheel harmonic reducer in the second embodiment.
In the figure, 1, a wave generator; 2. a compliant bearing; 3. a flexible gear; 31. a straight barrel part; 32. a flange portion; 4. a rigid wheel; 5. a crossed roller bearing; 6. a flange end cover; 7. a straight barrel liner ring; 8. a flange liner ring; 9. a straight barrel limiting ring; 91. straight barrel spacing groove.
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.
The first embodiment is as follows:
an impact-resistant single-rigid-gear harmonic speed reducer comprises a wave generator 1, a flexible bearing 2, a flexible gear 3, a rigid gear 4, a cross roller bearing 5 and a flange end cover 6, wherein the flexible bearing 2 is installed outside the wave generator 1, a straight cylinder part 31 of the flexible gear 3 is installed on an outer ring of the flexible bearing 2, the outer wall of the straight cylinder part is meshed with the inner wall of the rigid gear 4, external teeth are arranged at the position, meshed with the rigid gear 4, of the straight cylinder part 31, and the rest parts are toothless parts. And the flange part 32 of the flexible gear 3 is fixedly connected with the flange end cover 6 and the outer ring of the crossed roller bearing 5 together to be used as a fixed end or an output end of the harmonic speed reducer.
As shown in fig. 1, in order to avoid distortion at the thin wall position at the 90-degree bend transition between the straight tube portion 31 and the flange portion 32 of the flexible spline 3 when a large torque or an impact torque is applied, a straight tube lining ring 7 is provided on the inner wall of the straight tube portion 31 of the flexible spline 3, and the straight tube lining ring 7 is located at the toothless portion of the flexible spline 3, i.e., at the end away from the meshing between the flexible spline 3 and the rigid spline 4, and has one end close to the transition between the flange portion 32 and the straight tube portion 31 of the flexible spline 3. The processing material of the straight barrel lining ring 7 is the same as that of the flexible gear 3, and the thickness of the straight barrel lining ring 7 is 0.3mm-1 mm. The outer diameter of the straight-tube lining ring 7 is in clearance fit with the inner diameter of the straight-tube part 31 of the flexible gear 3, the single-side clearance is 0mm-0.01mm, and the axial length of the straight-tube lining ring 7 is 1/2-2/3 of the axial length of the toothless part of the straight-tube part 31 of the flexible gear 3.
As shown in fig. 1, when the wave generator 1 and the flexible bearing 2 are not fitted into the flexspline 3, the flexspline 3 is not deformed, and the straight liner ring 7 can be easily fitted into the inside of the flexspline 3 due to the clearance fit. After the wave generator 1 and the flexible bearing 2 are installed in the flexible gear 3, the tooth portion of the flexible gear 3 is expanded and deformed into an oval shape, and at this time, the straight cylinder portion 31 of the flexible gear 3 is also deformed correspondingly, and the gap between the straight cylinder portion 31 and the straight cylinder liner ring 7 is eliminated, namely, the straight cylinder liner ring 7 is tightly supported by the flexible gear 3. In the present embodiment, the thickness of the straight liner ring 7 is preferably 0.5mm, the unilateral clearance is 0mm, and the axial length of the straight liner ring 7 is 2/3 of the axial length of the toothless portion of the straight portion 31 of the flexspline 3.
As shown in fig. 1, during the operation of the harmonic reducer, the straight cylindrical portion 31 of the flexspline 3 is continuously elastically deformed alternately with the major axis and the minor axis of the ellipse, and the straight cylindrical liner ring 7 is also elastically deformed alternately. When the harmonic speed reducer is subjected to larger torque or impact force, the supporting force of the straight liner ring 7 can effectively prevent the flexible gear 3 from being plastically deformed, so that the load capacity and the impact resistance of the harmonic speed reducer are improved. In addition, the arrangement of the straight-tube lining ring 7 is equivalent to the improvement of the thickness of the straight-tube part 31 of the flexible gear 3, so that the rigidity of the flexible gear 3 is improved, the vibration of the harmonic reducer can be effectively reduced, and the fatigue life of the harmonic reducer can be improved by nearly 50 percent compared with that of the traditional harmonic reducer.
As shown in fig. 1, a straight tube stopper ring 9 is provided on the inner wall of the straight tube portion 31 of the flexspline 3, and a straight tube stopper groove 91 that engages with an end portion of the straight tube lining ring 7 near the flexible bearing 2 is provided on a side of the straight tube stopper ring 9 away from the flexible bearing 2. Before the wave generator 1 and the flexible bearing 2 are not arranged in the flexible gear 3, the straight-cylinder liner ring 7 is arranged on the inner side of the flexible gear 3, one end of the straight-cylinder liner ring is clamped in the straight-cylinder limiting groove 91 on the straight-cylinder limiting ring 9, the straight-cylinder liner ring 7 is positioned and arranged by utilizing the limiting effect of the straight-cylinder limiting groove 91 on the end part of the straight-cylinder liner ring 7, and the flexible bearing 2 is prevented from being interfered with the straight-cylinder liner ring 7 and being arranged.
Example two:
an impact-resistant single-rigid-gear harmonic speed reducer comprises a wave generator 1, a flexible bearing 2, a flexible gear 3, a rigid gear 4, a cross roller bearing 5 and a flange end cover 6, wherein the flexible bearing 2 is installed outside the wave generator 1, a straight cylinder part 31 of the flexible gear 3 is installed on an outer ring of the flexible bearing 2, the outer wall of the straight cylinder part is meshed with the inner wall of the rigid gear 4, external teeth are arranged at the position, meshed with the rigid gear 4, of the straight cylinder part 31, and the rest parts are toothless parts. And the flange part 32 of the flexible gear 3 is fixedly connected with the flange end cover 6 and the outer ring of the crossed roller bearing 5 together to be used as a fixed end or an output end of the harmonic speed reducer.
As shown in fig. 2, in order to avoid the distortion deformation when large torque or impact torque is applied to the thin wall position at the corner transition between the straight tube portion 31 and the flange portion 32 of the flexible wheel 3, a straight tube lining ring 7 is disposed on the inner wall of the straight tube portion 31 of the flexible wheel 3, a flange lining ring 8 is disposed at one end of the straight tube lining ring 7 close to the flange portion 32 of the flexible wheel 3, the straight tube lining ring 7 and the flange lining ring 8 are integrally formed, and the shape of the integrally formed corner and the shape of the transition between the straight tube portion 31 and the flange portion 32 of the flexible wheel 3 are the same, that is, the inner wall of the corner transition between the straight tube lining ring 7 and the flange lining ring 8 is attached to the outer wall of the corner transition between the flexible wheel 3.
As shown in fig. 2, the processing materials of the straight liner ring 7 and the flange liner ring 8 are the same as those of the flexspline 3, and the thicknesses of the straight liner ring 7 and the flange liner ring 8 are both 0.3mm to 1 mm. In addition, the outer diameter of the straight lining ring 7 is in clearance fit with the inner diameter of the straight part 31 of the flexible gear 3, the single-side clearance is 0mm-0.01mm, and the axial length of the straight lining ring 7 is 1/2-2/3 of the axial length of the toothless part of the straight part 31 of the flexible gear 3. In this embodiment, the thickness of the straight liner ring 7 and the flange liner ring 8 is preferably 0.5mm, the single-side clearance of the straight liner ring 7 in clearance fit with the straight portion 31 of the flexible spline 3 is 0mm, and the axial length of the straight liner ring 7 is 2/3 of the axial length of the toothless portion of the straight portion 31 of the flexible spline 3.
As shown in fig. 1 and 2, unlike the first embodiment, in the present embodiment, the straight liner ring 7 is further connected to the flange liner ring 8 integrally formed therewith, so that not only the plastic deformation of the straight portion 31 of the flexspline 3 but also the plastic deformation of the flange portion 32 of the flexspline 3 can be prevented, and when the harmonic reducer is subjected to a large torque or impact force, the load capacity and the impact resistance of the harmonic reducer can be further improved. In this embodiment, the corner transition between the straight liner ring 7 and the flange liner ring 8 plays a role in limiting during installation, so that it is not necessary to additionally provide a limiting structure to limit the installation of the straight liner ring 7.
The working principle and the using method of the utility model are as follows:
the inner wall of the straight cylinder part 31 of the flexible gear 3 is provided with the straight cylinder lining ring 7, or the transition bend angle between the straight cylinder part 31 of the flexible gear 3 and the flange part 32 is provided with the straight cylinder lining ring 7 and the flange lining ring 8 which are integrally formed, so that the plastic deformation of the flexible gear 3 at the bend angle transition thin-wall position can be effectively prevented by utilizing the straight cylinder lining ring 7 and the flange lining ring 8 on the premise of not influencing the elastic deformation of the flexible gear 3 in normal operation, and the load capacity and the shock resistance of the harmonic speed reducer are greatly enhanced. In addition, the arrangement of the straight-tube lining ring 7 and the flange lining ring 8 is equivalent to the improvement of the thickness of the flexible gear 3, so that the rigidity of the flexible gear 3 is improved, the vibration of the harmonic speed reducer can be effectively reduced, and the fatigue life of the harmonic speed reducer can be improved by nearly 50% compared with that of the traditional harmonic speed reducer. The materials of the straight-barrel lining ring 7 and the flange lining ring 8 are the same as those of the flexible gear 3, the shapes and the thicknesses of the straight-barrel lining ring 7 and the flange lining ring 8 are similar to those of the flexible gear 3, the straight-barrel lining ring 7 and the flange lining ring 8 can be conveniently machined, and the installation is convenient.
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 (7)
1. An impact-resistant single-rigid-wheel harmonic speed reducer comprises a wave generator (1), a flexible bearing (2), a flexible wheel (3), a rigid wheel (4), a cross roller bearing (5) and a flange end cover (6), wherein the flexible bearing (2) is installed outside the wave generator (1), a straight cylinder part (31) of the flexible wheel (3) is installed on an outer ring of the flexible bearing (2), the outer wall of the straight cylinder part is meshed with the inner wall of the rigid wheel (4), and a flange part (32) of the flexible wheel (3) is fixedly connected with the flange end cover (6) and the outer ring of the cross roller bearing (5); the method is characterized in that: the inner wall of a straight cylinder part (31) of the flexible gear (3) is provided with a straight cylinder lining ring (7), the straight cylinder lining ring (7) is positioned at one end far away from the meshing of the flexible gear (3) and the rigid gear (4), and one end of the straight cylinder lining ring is close to the transition part of a flange part (32) of the flexible gear (3) and the straight cylinder part (31).
2. The anti-impact single rigid wheel harmonic reducer of claim 1, characterized in that: the flexible gear straight-tube lining ring is characterized in that a flange lining ring (8) is arranged at one end, close to a flange part (32) of the flexible gear (3), of the straight-tube lining ring (7), the straight-tube lining ring (7) and the flange lining ring (8) are integrally formed, and the shape of a bent angle formed after the straight-tube lining ring and the flange lining ring are integrally formed is the same as that of a transition part of a straight-tube part (31) and the flange part (32) of the flexible gear (3).
3. The anti-impact single rigid wheel harmonic reducer according to claim 1 or 2, characterized in that: the thickness of the straight-barrel lining ring (7) is 0.3mm-1 mm.
4. The anti-impact single rigid wheel harmonic reducer according to claim 1 or 2, characterized in that: the outer diameter of the straight-cylinder lining ring (7) is in clearance fit with the inner diameter of the straight-cylinder part (31) of the flexible gear (3), and the single-side clearance is 0-0.01 mm.
5. The anti-impact single rigid wheel harmonic reducer of claim 2, characterized in that: the thickness of the straight barrel lining ring (7) is the same as that of the flange lining ring (8), and the thickness of the straight barrel lining ring and the thickness of the flange lining ring are both 0.3mm-1 mm.
6. The anti-impact single rigid wheel harmonic reducer according to claim 1 or 2, characterized in that: the axial length of the straight-barrel lining ring (7) is 1/2-2/3 of the axial length of the toothless part of the straight-barrel part (31) of the flexible gear (3).
7. The anti-impact single rigid wheel harmonic reducer of claim 1, characterized in that: the inner wall of the straight cylinder part (31) of the flexible gear (3) is provided with a straight cylinder limiting ring (9), and one side, far away from the flexible bearing (2), of the straight cylinder limiting ring (9) is provided with a straight cylinder limiting groove (91) matched with the end part of one end, close to the flexible bearing (2), of the straight cylinder lining ring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122485112.9U CN216478763U (en) | 2021-10-14 | 2021-10-14 | Shock-resistant single rigid wheel harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122485112.9U CN216478763U (en) | 2021-10-14 | 2021-10-14 | Shock-resistant single rigid wheel harmonic speed reducer |
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| CN216478763U true CN216478763U (en) | 2022-05-10 |
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| CN202122485112.9U Active CN216478763U (en) | 2021-10-14 | 2021-10-14 | Shock-resistant single rigid wheel harmonic speed reducer |
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- 2021-10-14 CN CN202122485112.9U patent/CN216478763U/en active Active
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