CN218408403U - High-precision low-vibration harmonic speed reducer with double rigid wheels - Google Patents
High-precision low-vibration harmonic speed reducer with double rigid wheels Download PDFInfo
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- CN218408403U CN218408403U CN202222606409.0U CN202222606409U CN218408403U CN 218408403 U CN218408403 U CN 218408403U CN 202222606409 U CN202222606409 U CN 202222606409U CN 218408403 U CN218408403 U CN 218408403U
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Abstract
The utility model relates to a speed reducer technical field, concretely relates to two rigid wheel harmonic speed reducers of low vibration of high accuracy, the technical problem who aims at solving lies inThe defect that in the prior art, the backlash between a flexible gear and a rigid gear is large, and the precision of a traditional double-rigid gear harmonic speed reducer is low is overcome, and the method is mainly realized through the following technical scheme: comprises a wave generator, a flexible bearing is sleeved outside the wave generator, a flexible gear is sleeved outside the flexible bearing, a first rigid gear and a second rigid gear are sleeved outside the flexible gear in parallel, and an inclination angle beta exists between the first rigid gear and the flexible gear 1 An inclined angle beta exists between the second rigid gear and the flexible gear 2 (ii) a The flexible gear is in a ring shape, so that the failure of a thin wall is avoided, and the harmonic speed reducer runs more stably and greatly reduces vibration due to the existence of an inclination angle or drum-shaped teeth.
Description
Technical Field
The utility model relates to a speed reducer technical field, concretely relates to two rigid wheel harmonic speed reducers of low vibration of high accuracy.
Background
The harmonic reducer is a speed reducer, and consists of three basic components: the flexible gear comprises a rigid gear with an inner gear ring, a flexible gear with an outer gear ring and a wave generator for radially deforming the flexible gear. The reducer is usually in the form of wave generator driving, rigid wheel fixing and flexible wheel output. The harmonic speed reducer has the characteristics of high precision, small volume and high bearing torque, and is widely applied to the field of industrial robots.
In the prior art, in a conventional single-rigid-wheel harmonic speed reducer, a flexible gear is cup-shaped or silk hat-shaped, a tooth part is arranged at a cylinder part, and a bottom flange part is usually used for outputting torque. After the wave generator and the flexible bearing are arranged in the cylinder body of the flexible gear, the cylinder body of the flexible gear is expanded to generate deformation, the flexible gear teeth are expanded outwards and are outwards inclined by an angle alpha relative to the axis of the flexible gear, namely, the flexible gear teeth and the internal teeth of the rigid gear form an included angle alpha; the conventional harmonic reducer with a double rigid wheel structure has six main components: two rigid gears, a flexible gear, two flexible bearings and a wave generator. The flexible gear is in a circular ring shape, a traditional 90-degree corner structure is not arranged, the flexible gear is prevented from being distorted and deformed and even damaged, and the bearing capacity and the impact resistance of the flexible gear can be improved. However, the flexible gear of the conventional harmonic speed reducer with a double-rigid-gear structure still has a straight-cylinder annular shape after the wave generator and the flexible bearing are installed, at the moment, the axis of the external teeth of the flexible gear is completely parallel to the internal teeth of the rigid gear, and the meshing surface of the external teeth of the flexible gear and the internal teeth of the rigid gear is small; in addition, in order to facilitate assembly, a sufficient gap is reserved between the flexible gear and the rigid gear, so that the backlash precision of the traditional double-rigid-gear harmonic speed reducer is over 3 arc minutes, the large backlash generally causes the vibration of the harmonic speed reducer to be increased, and the harmonic speed reducer with the double-rigid-gear structure is not suitable for the high-precision field.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming among the prior art defect that the backlash is big, the two rigid gear harmonic speed reducer precisions of tradition between flexbile gear and the rigid gear are low to a two rigid gear harmonic speed reducer machines of low vibration of high accuracy are provided.
The above technical purpose of the present invention can be achieved by the following technical solutions:
the utility model provides a two rigid wheel harmonic speed reducers of high accuracy low vibration, includes wave generator, and the wave generator overcoat is equipped with a pair of flexible bearing, flexible bearing sets up side by side along the axial of wave generator, the flexible bearing overcoat is equipped with the flexbile gear, the flexbile gear overcoat is equipped with first rigid wheel and second rigid wheel, first rigid wheel and second rigid wheel set up side by side along the flexbile gear axial, its characterized in that, first rigid wheel inner wall ring is equipped with first internal tooth, first internal tooth sets up with first rigid wheel an organic whole, second rigid wheel inner ring is equipped with the second internal tooth, the second internal tooth sets up with second rigid wheel an organic whole, there are two tooth number differences in first internal tooth number and the second internal tooth, flexbile wheel outside ring is equipped with the flexbile gear tooth number, the tooth number of the flexbile gear tooth is the same with the tooth number of second, one of first rigid wheel and second rigid wheel is the stiff end, another is the output, there is the clearance between first rigid wheel and the second rigid wheel, and the clearance is 1mm; the first rigid gear and the flexible gear are storedAt an angle of inclination beta 1 An inclined angle beta exists between the second rigid gear and the flexible gear 2 Said angle of inclination β 1 And an angle of inclination beta 2 The inclination angle beta is opposite to the center line of the flexible gear axis 1 And an angle of inclination beta 2 Is 0.01 to 1 degree.
By adopting the technical scheme, the flexible gear is sleeved outside the wave generator in a circular ring shape, and is not a cup type or a hat type of the traditional single rigid gear structure, so that the possibility of failure at a 90-degree thin-wall position of the flexible gear is eliminated, the impact resistance is greatly enhanced, the straight cylindrical flexible gear is convenient to process, and the processing cost can be reduced; the first rigid gear and the second rigid gear have inclination angles with the flexible gear, so that the directions of the inclination angles of the two rigid gears and the flexible gear are opposite, machining errors of the two rigid gears and the flexible gear are offset, or axial force between the flexible gear and the rigid gear caused by incomplete consistency of the two flexible bearings is offset, axial movement between the flexible gear and the wave generator is reduced, the harmonic reducer runs more stably, and vibration is greatly reduced.
Furthermore, the first rigid wheel axis and one side of the first internal teeth close to the flexible wheel form an inclination angle beta 1 The axis of the second rigid gear and one side of the second internal gear close to the flexible gear form an inclination angle beta 2 The clearance that first internal tooth is close to flexbile gear external teeth tip is less than the clearance that first internal tooth is close to the flexbile gear center, the clearance that the second internal tooth is close to flexbile gear external teeth tip is less than the clearance that the second internal tooth is close to the flexbile gear center, axis and the equal level setting in edge of the flexbile gear and the flexbile gear teeth.
Through adopting above-mentioned technical scheme, first internal tooth and second internal tooth form relative angle of inclination with the harmonic speed reducer machine axis respectively, position meshing clearance when meshing with second internal tooth and flexbile gear tooth is being close to the speed reducer machine both ends is very little when first internal tooth and flexbile gear tooth mesh, can eliminate the backlash even, thereby can keep the backlash precision that improves two rigid gear harmonic speed reducers by a wide margin under the condition in installation clearance enough guaranteeing, the vibration is greatly reduced simultaneously, and can improve the continuity of two pairs of tooth meshing, improve the running stability.
Furthermore, the axis of the flexible gear is close to the flexible gear teethOne side of the first rigid wheel forms an inclination angle beta 1 The axis of the flexible gear and one side of the flexible gear tooth close to the second rigid gear form an inclination angle beta 2 The first internal tooth is less than the clearance that first internal tooth is close to the flexbile gear center near the clearance of the gentle teeth of a cogwheel tip, the clearance that the second internal tooth is close to the gentle teeth of a cogwheel tip is less than the clearance that the second internal tooth is close to the flexbile gear center, flexbile gear and flexbile gear tooth set up about the central line symmetry of flexbile gear axis.
Through adopting above-mentioned technical scheme, flexbile gear external tooth forms relative angle of inclination with the harmonic speed reducer machine axis, and the position meshing clearance that is close to the speed reducer machine both ends is very little when meshing with second internal tooth and flexbile gear tooth when first internal tooth and flexbile gear tooth mesh, keeps keeping the backlash precision that improves two rigid gear harmonic speed reducer machines by a wide margin under the condition of installing the clearance.
Furthermore, the inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 1 The inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 2 Said angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about a centre line of the flexspline axis, said angle of inclination γ 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear and the flexible bearing is smaller than the clearance between the center of the flexible gear and the flexible bearing, and the distance between the end part of the flexible gear and the flexible bearing corresponding to the first rigid gear is d 1 The distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the second rigid gear is d 2 。
By adopting the technical scheme, when the inner wall of the flexible gear and the flexible bearing form a relative inclination angle, a gap is generated between the inner wall of the flexible gear and the outer wall of the outer ring of the flexible bearing, so that the flexible gear has certain elasticity in the radial direction, and further the flexible gear can expand towards the direction of the teeth of the rigid gear when the harmonic speed reducer runs to the flexible gear teeth and the teeth of the rigid gear to generate abrasion and the tooth gap is increased, so that the tooth gap is eliminated, and the tooth gap of the harmonic speed reducer is always kept in a small range.
Furthermore, the axis of the flexible gear and the flexible gear tooth are close to the first steelOne side of the wheel forming an angle of inclination beta 1 The axis of the flexible gear and one side of the flexible gear tooth close to the second rigid gear form an inclination angle beta 2 The clearance that first internal tooth is close to gentle teeth of a cogwheel tip is greater than the clearance that first internal tooth is close to the flexbile gear center, the clearance that the second internal tooth is close to gentle teeth of a cogwheel tip is greater than the clearance that the second internal tooth is close to the flexbile gear center, flexbile gear and flexbile gear tooth set up about the central line symmetry of flexbile gear axis.
Through adopting above-mentioned technical scheme, flexbile gear external tooth forms relative angle of inclination with the harmonic speed reducer machine axis, and the meshing clearance that is close to speed reducer machine central point when meshing with second internal tooth and flexbile gear tooth when first internal tooth and flexbile gear tooth meshing is very little, keeps the backlash precision that improves two rigid gear harmonic speed reducers by a wide margin under the condition of installing the clearance enough.
Furthermore, the inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 1 The inner wall of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear form an inclination angle gamma 2 The angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the flexspline axis, said angle of inclination γ 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear and the flexible bearing is larger than the clearance between the center of the flexible gear and the flexible bearing, and the distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the first rigid gear is d 1 The distance between the end part of the flexible gear and the outer side of the flexible bearing corresponding to the second rigid gear is d 2 。
By adopting the technical scheme, when the inner wall of the flexible gear and the flexible bearing form a relative inclination angle, the flexible gear has certain elasticity in the radial direction, and can play a role in buffering in the running process of the harmonic reducer, thereby achieving the purpose of effectively reducing vibration.
A high-precision low-vibration harmonic speed reducer with double rigid gears comprises a wave generator, wherein a pair of flexible bearings are arranged outside the wave generator in a sleeved mode, the flexible bearings are arranged in parallel along the axial direction of the wave generator, a flexible gear is arranged outside the flexible bearing in a sleeved mode, a first rigid gear and a second rigid gear are arranged outside the flexible gear in a sleeved mode, the first rigid gear and the second rigid gear are arranged in parallel along the axial direction of the flexible gear, the harmonic speed reducer is characterized in that the first rigid gear is provided with first rigid gear teeth in an inner wall ring, the first rigid gear teeth and the first rigid gear are integrally arranged, the second rigid gear teeth and the second rigid gear are integrally arranged, the number of the first rigid gear teeth is greater than that of the second rigid gear teeth, a flexible gear teeth is arranged on an outer side ring of the flexible gear, the number of the flexible gear teeth is the same as that of the second rigid gear teeth, one of the first rigid gear and the second rigid gear is a fixed end, and the other rigid gear is an output end, and a gap is 1mm; the flexible gear is in a shape of a modified double drum in the tooth length direction, a first drum and a second drum are arranged on the flexible gear teeth, the first drum and the second drum are oppositely arranged about the center line of the axis of the flexible gear, the vertex of the first drum is located on the center line of the axis of the first rigid gear, and the vertex of the second drum is located on the center line of the axis of the second rigid gear.
By adopting the technical scheme, the flexible gear is modified into a double drum shape in the tooth length direction, the machining errors of the rigid gear and the flexible gear, the interference of tooth meshing between the flexible gear and the rigid gear caused by the assembly error of the speed reducer or the incomplete consistency of two flexible bearings can be greatly reduced, the continuity of meshing of two pairs of teeth is effectively improved, the running stability is improved, and the vibration is reduced.
Further, the drum shape amount of the first drum shape and the second drum shape is 0.002 mm-0.05 mm.
By adopting the technical scheme, the drum shape quantity of the limited flexible gear teeth meets the ISO standard, the external teeth and the contact condition of the flexible gear are improved, the noise is effectively reduced, and the abrasion condition is improved.
To sum up, the utility model discloses technical scheme has following advantage:
1. the utility model provides a two rigid wheel harmonic speed reducers of high accuracy low vibration, flexbile gear are the annular shape to the cup type or the top hat type of traditional single rigid wheel structure have stopped the possibility that 90 degrees thin wall positions of flexbile gear department became invalid, and shock resistance strengthens by a wide margin to straight tube-shape flexbile gear is convenient for process, but reduction in processing cost.
2. The utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, rigid gear internal tooth or flexbile gear external tooth and harmonic speed reducer axis form the inclination, and two rigid gear and flexbile gear totally two pairs of tooth meshing's inclination opposite direction, can offset the axial force between flexbile gear and the rigid gear that rigid gear, flexbile gear machining error or two flexible bearings are not completely unanimous and bring, reduce the axial float of flexbile gear and wave generator, can make the harmonic speed reducer operation more steady, the vibration reduces by a wide margin; the tooth clearance precision of the double-rigid-wheel harmonic speed reducer can be greatly improved, the vibration is greatly reduced, the meshing continuity of two pairs of teeth can be improved, and the running stability is improved.
3. The utility model provides a high accuracy low vibration's two rigid gear harmonic speed reducers, flexbile gear inner wall and flexible bearing outer lane outer wall produce the clearance, make the flexbile gear have certain elasticity in radial direction, and then make the flexbile gear can move to flexbile gear tooth and rigid gear tooth and produce wearing and tearing, the tooth clearance expands to rigid gear tooth direction when increasing at the harmonic speed reducer, thereby eliminate the tooth clearance, keep the harmonic speed reducer tooth clearance in a very small scope all the time; the flexible gear has certain elasticity in the radial direction and can play a role in buffering in the running process of the harmonic reducer, so that the vibration is effectively reduced.
4. The utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, flexible gear repair two cydariform in the direction of the tooth length, can reduce rigid gear, flexible gear machining error by a wide margin, and the interference of tooth meshing between flexible gear and the rigid gear that speed reducer assembly error or two flexible bearings are not totally unanimous brings to effectively improve two pairs of tooth meshed continuity, improve the operation stationarity, reduce the vibration.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following descriptions are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of a conventional harmonic reducer with double rigid wheels
Fig. 2 is a schematic diagram illustrating an overall structure of the inner teeth inclination of the first rigid gear and the second rigid gear according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an overall structure of an external tooth bevel of a flexible gear according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an overall structure of an outer tooth and an inner wall of a flexible gear according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an overall structure of a flexible gear outer tooth inclination according to another embodiment of the present invention;
fig. 6 is a schematic diagram of an overall structure of an outer tooth and an inner wall of a flexible gear according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of an external gear of a flexible gear according to an embodiment of the present invention.
Description of reference numerals:
1. a wave generator; 2. a compliant bearing; 3. a flexible gear; 4. flexible gear teeth; 41. a first drum shape; 42. a second drum shape; 5. a first rigid wheel; 51. a first internal tooth; 6. a second rigid wheel; 61. and a second internal tooth.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The utility model provides a two rigid gear harmonic speed reducers of high accuracy low vibration, as shown in figure 1, including wave generator 1, wave generator 1 overcoat is equipped with a pair of flexible bearing 2, flexible bearing 2 sets up side by side along the axial of wave generator 1, flexible bearing 2 overcoat is equipped with flexible gear 3, flexible gear 3 overcoat is equipped with first rigid wheel 5 and second rigid wheel 6, first rigid wheel 5 and second rigid wheel 6 set up side by side along the axial of flexible wheel 3 and axial thickness is unanimous, first rigid wheel 5 inner wall ring is equipped with first rigid wheel 5 teeth, first rigid wheel 5 teeth and first rigid wheel 5 an organic whole set up, second rigid wheel 6 inner ring is equipped with second rigid wheel 6 teeth, second rigid wheel 6 teeth and second rigid wheel 6 an organic whole set up, 5 tooth number of teeth of first rigid wheel and 6 tooth number of teeth of second rigid wheel have two tooth difference numbers, flexible gear 3 outside ring is equipped with flexible gear tooth 4, the tooth number of teeth of flexible gear tooth is the same with the tooth number of second rigid wheel 6 teeth, one of first rigid wheel 5 and second rigid wheel 6 tooth number, another is 5 and the second rigid wheel clearance exists for the output, there is the interval between the second rigid wheel 6 mm. The flexible gear 3 of the traditional harmonic speed reducer with a double rigid gear structure still takes the shape of a straight cylinder ring after the wave generator 1 and the flexible bearing 2 are installed, and the axis of the flexible gear teeth 4 is completely parallel to the internal teeth of the rigid gear.
Example 1:
as shown in FIG. 2, the axis of the first rigid gear 5 and the side of the first internal teeth 51 close to the flexible gear 3 form an inclination angle β 1 The axial line of the second rigid gear 6 and the side of the second internal teeth 61 close to the flexible gear 3 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 Disposed opposite to each other about the center line of the axis of the flexspline 3 at an inclination angle beta 1 And an angle of inclination beta 2 The angles being the same or different, the angle of inclination beta 1 And an angle of inclination beta 2 The angle value range of be 0.01 ~ 1, first internal tooth 51 is less than the clearance that first internal tooth 51 is close to the gentle clearance that 4 tip of teeth are close to the flexbile gear 3 center, and the clearance that second internal tooth 61 is close to the gentle clearance that 4 tip of teeth are less than the clearance that second internal tooth 61 is close to the flexbile gear 3 center, and the axis and the equal level in edge of flexbile gear 3 and flexbile gear 4 set up.
First internal tooth 51 and second internal tooth 61 form relative angle of inclination with the harmonic speed reducer axis respectively, position meshing clearance when meshing with second internal tooth 61 and flexspline tooth 4 when meshing first internal tooth 51 and flexspline tooth 4 is being close to the speed reducer both ends is very little, can eliminate the backlash even, thereby can keep the backlash precision that improves two rigid gear harmonic speed reducers by a wide margin under the condition in installation clearance enough guaranteeing, simultaneously the vibration is greatly reduced, and can improve the continuity of two pairs of tooth meshing, improve the running stability.
Example 2:
as shown in FIG. 3, the axis of the flexible gear 3 and the side of the flexible gear tooth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and one side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclinationAngle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles may be the same or different, the angle of inclination being beta 1 And an angle of inclination beta 2 The angle value range of be 0.01 ~ 1, first internal tooth 51 is less than the clearance that first internal tooth 51 is close to the gentle 4 tip of teeth of a cogwheel and is close to the clearance at the flexbile gear 3 center, the clearance that second internal tooth 61 is close to the gentle 4 tip of teeth of a cogwheel is less than the clearance that second internal tooth 61 is close to the flexbile gear 3 center, the relative slope setting in 4 outsides of flexbile gear under this condition, the clearance between 4 both ends of flexbile gear and first rigid gear 5 and second rigid gear 6 is less than the clearance between 4 centers of gentle teeth of a cogwheel and first rigid gear 5 and second rigid gear 6, flexbile gear 4 sets up about the central line symmetry of the axis of flexbile gear 3.
As shown in fig. 3 and 4, the axis of the flexible gear 3 and the side of the flexible gear tooth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and one side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles may be the same or different, the angle of inclination being beta 1 And an angle of inclination beta 2 The angle value range of the flexible gear 3 is 0.01-1 degrees, and the inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 also form an inclination angle gamma 1 The inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 also form an inclination angle gamma 2 Angle of inclination gamma 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the axis of the flexspline 3, at an angle of inclination gamma 1 Angle of inclination beta 1 The angle and direction are the same, and the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear 3 and the flexible bearing 2 is smaller than the clearance between the center of the flexible gear 3 and the flexible bearing 2, and the distance between the end part of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 is d 1 The distance between the end of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the second rigid gear 6 is d 2 。
When the inner wall of the flexible gear 3 and the flexible bearing 2 form a relative inclination angle, a gap is generated between the inner wall of the flexible gear 3 and the outer ring of the flexible bearing 2, so that the flexible gear 3 has certain elasticity in the radial direction, and then the flexible gear 3 can expand towards the tooth direction of the rigid gear when the harmonic speed reducer runs to the flexible gear teeth 4 and the rigid gear teeth to generate abrasion and the tooth gap is increased, so that the tooth gap is eliminated, and the tooth gap of the harmonic speed reducer is always kept in a small range.
Example 3:
as shown in FIG. 5, the axis of the flexible gear 3 and the side of the flexible gear tooth 4 close to the first rigid gear 5 form an inclination angle β 1 The axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And an angle of inclination beta 2 The angles being the same or different, the angle of inclination beta 1 And an angle of inclination beta 2 The angle value range of be 0.01 ~ 1, first internal tooth 51 is close to the clearance that gentle teeth of a cogwheel 4 tip is greater than the clearance that first internal tooth 51 is close to the flexbile gear 3 center, the clearance that second internal tooth 61 is close to gentle teeth of a cogwheel 4 tip is greater than the clearance that second internal tooth 61 is close to flexbile gear 3 center, the relative slope in 4 outsides of flexbile gear sets up under this condition, the clearance between 4 both ends of flexbile gear and first rigid gear 5 and second rigid gear 6 is greater than the clearance between gentle teeth of a cogwheel 4 center and first rigid gear 5 and second rigid gear 6, flexbile gear 4 sets up about the central line symmetry of flexbile gear 3 axis.
When the first internal teeth 51 are meshed with the flexible gear teeth 4, the meshing gap close to the center of the speed reducer is small when the first internal teeth 51 are meshed with the second internal teeth 61 and the flexible gear teeth 4, and the backlash precision of the double rigid gear harmonic speed reducer is greatly improved under the condition that enough installation gaps are reserved.
As shown in FIGS. 5 and 6, the axis of the flexible gear 3 and the side of the flexible gear teeth 4 close to the first rigid gear 5 form an inclination angle beta 1 The axis of the flexible gear 3 and one side of the flexible gear teeth 4 close to the second rigid gear 6 form an inclination angle beta 2 Angle of inclination beta 1 And the angle of the tilt angle beta 2 can be the same or different, the tilt angle beta 1 And an angle of inclination beta 2 The angle dereferencing range of the flexible gear 3 is 0.01-1 degrees, and the inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 form an inclination angle gamma 1 The inner wall of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the first rigid gear 5 form an inclination angle gamma 2 Angle of inclination gamma 1 And an inclination angle gamma 2 Symmetrically arranged about the centre line of the axis of the flexspline 3, at an angle of inclination gamma 1 Angle of inclination beta 1 The angle and the direction are the same, and the inclination angle gamma is 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear 3 and the flexible bearing 2 is larger than the clearance between the center of the flexible gear 3 and the flexible bearing 2The clearance of the flexible bearing 2, the outer side distance of the flexible bearing 2 corresponding to the first rigid wheel 5 at the end part of the flexible wheel 3 is d 1 The distance between the end of the flexible gear 3 and the outer side of the flexible bearing 2 corresponding to the second rigid gear 6 is d 2 。
When the inner wall of the flexible gear 3 and the flexible bearing 2 form a relative inclination angle, the flexible gear 3 has certain elasticity in the radial direction, and can play a role in buffering in the running process of the harmonic reducer, thereby achieving the purpose of effectively reducing vibration.
Example 4:
the utility model provides a two rigid wheel harmonic speed reducer machine of high accuracy low vibration, as shown in fig. 1 and fig. 6, including wave generator 1, wave generator 1 overcoat is equipped with a pair of flexible bearing 2, flexible bearing 2 sets up side by side along the axial of wave generator 1, flexible bearing 2 overcoat is equipped with flexbile gear 3, flexbile gear 3 overcoat is equipped with first rigid wheel 5 and second rigid wheel 6, first rigid wheel 5 and second rigid wheel 6 set up side by side along flexbile gear 3 axial and axial thickness is unanimous, first rigid wheel 5 inner wall ring is equipped with first rigid wheel 5 tooth, first rigid wheel 5 tooth sets up with first rigid wheel 5 is integrative, second rigid wheel 6 inner ring is equipped with second rigid wheel 6 tooth, second rigid wheel 6 tooth sets up with second rigid wheel 6 is integrative, first rigid wheel 5 tooth number of teeth and second rigid wheel 6 tooth number of teeth have two tooth difference numbers, the outer ring of flexbile gear 3 is equipped with tooth gentle 4, the tooth number of teeth of rigid wheel 4 is the same with second rigid wheel 6 tooth of teeth, one of first rigid wheel 5 and second rigid wheel 6 tooth number of teeth are the output, another rigid wheel is the output, there is the clearance for second rigid wheel 5, there is the clearance for second rigid wheel, there is the clearance for second clearance between second rigid wheel 6.
The flexspline 3 is in a shape of a modified double drum in the tooth length direction, a first drum 41 and a second drum 42 are arranged on the flexspline tooth 4, the first drum 41 and the second drum 42 are oppositely arranged relative to the center line of the axis of the flexspline 3, the vertex of the first drum 41 is on the center line of the axis of the first rigid gear 5, namely, the highest point of the first drum 41 corresponds to the axial center position of the first rigid gear 5, and the vertex of the second drum 42 is on the center line of the axis of the second rigid gear 6, namely, the highest point of the second drum 42 corresponds to the axial center position of the second rigid gear 6. The drum shapes of the first drum 41 and the second drum 42 range from 0.002mm to 0.05mm.
The flexible gear 3 is modified into a double drum shape in the tooth length direction, so that machining errors of a rigid gear and the flexible gear 3, speed reducer assembly errors or interference of tooth meshing between the flexible gear 3 and the rigid gear caused by incomplete consistency of two flexible bearings 2 can be greatly reduced, the continuity of meshing of two pairs of teeth is effectively improved, the running stability is improved, and vibration is reduced.
The working principle and the using method of the high-precision low-vibration double-rigid-wheel harmonic speed reducer comprise the following steps: in order to reduce the backlash between the flexible gear 3 and the first rigid gear 5 and the second rigid gear 6 and improve the precision of the double rigid gear harmonic speed reducer, the following structure is adopted: (1) the first internal teeth 51 of the first rigid gear 5 and the second internal teeth 61 of the second rigid gear 6 are both provided with inclination angles; (2) the flexible gear teeth 4 on the flexible gear 3 are provided with inclination angles, and the clearance between the two ends of the flexible gear teeth 4 and the rigid gear is smaller than that between the flexible gear teeth 4 and the rigid gear; (3) on the basis of (2), the inner wall of the flexible gear 3 is also provided with an inclination angle; (4) the flexible gear teeth 4 on the flexible gear 3 are provided with inclination angles, and the clearance between the two ends of the flexible gear teeth 4 and the rigid gear is larger than that between the flexible gear teeth 4 and the rigid gear; (5) on the basis of (4), the inner wall of the flexible gear 3 is also provided with an inclination angle; (6) the flexspline 3 has flexspline teeth 4 which are modified into a double drum shape in the tooth length direction.
While the foregoing specification illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to the disclosed embodiments, and that modifications and environments may be resorted to, falling within the scope of the inventive concept as described herein, either as indicated by the above teachings or as modified by the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a two rigid wheel harmonic speed reducers of low vibration of high accuracy, includes wave generator (1), wave generator (1) overcoat is equipped with a pair of flexible bearing (2), flexible bearing (2) set up side by side along the axial of wave generator (1), flexible bearing (2) overcoat is equipped with flexbile gear (3), flexbile gear (3) outer side by side the cover be equipped with first rigid wheel (5) and second rigid wheel (6), first rigid wheel (5) and second rigid wheel (6) set up side by side along flexbile wheel (3) axial, a serial communication port, wall ring is equipped with first internal tooth (51) in first rigid wheel (5), the first rigid wheel (5) interior wall ring, the second rigid wheel (6) are equipped with first internal tooth (51) along flexbile wheel (3) axial side by sideAn internal tooth (51) and first rigid wheel (5) an organic whole set up, second rigid wheel (6) inner ring is equipped with second internal tooth (61), second internal tooth (61) and the integrative setting of second rigid wheel (6), there is two numbers of teeth difference in first internal tooth (51) number of teeth and second internal tooth (61), flexbile gear (3) outside ring is equipped with gentle teeth of a cogwheel (4), the number of teeth of gentle teeth of a cogwheel (4) is the same with the number of teeth of second internal tooth (61), one of them is the stiff end, and another is the output for first rigid wheel (5) and second rigid wheel (6), there is the clearance between first rigid wheel (5) and second rigid wheel (6), and the clearance is 1mm; an inclined angle beta exists between the first rigid wheel (5) and the flexible wheel (3) 1 An inclined angle beta exists between the second rigid wheel (6) and the flexible wheel (3) 2 Said angle of inclination β 1 And an angle of inclination beta 2 Are oppositely arranged relative to the center line of the flexible gear (3) axis, and the inclination angle beta 1 And an angle of inclination beta 2 Is 0.01-1 degree.
2. A high accuracy low vibration double rigid gear harmonic reducer according to claim 1, wherein the axis of said first rigid gear (5) and the side of said first internal teeth (51) near to flexible gear (3) form an inclination angle β 1 The axis of the second rigid gear (6) and one side of the second internal teeth (61) close to the flexible gear (3) form an inclination angle beta 2 And, the clearance that first internal tooth (51) is close to flexbile gear (3) external tooth tip is less than the clearance that first internal tooth (51) is close to flexbile gear (3) center, the clearance that second internal tooth (61) is close to flexbile gear (3) external tooth tip is less than the clearance that second internal tooth (61) is close to flexbile gear (3) center, the axis and the equal level setting in edge of the flexbile gear (3) and the gentle teeth of a cogwheel (4).
3. A high precision low vibration double rigid gear harmonic reducer according to claim 1 wherein the axis of the flexible gear (3) and the side of the flexible gear teeth (4) close to the first rigid gear (5) form an inclination angle β 1 The axis of the flexible gear (3) and one side of the flexible gear teeth (4) close to the second rigid gear (6) form an inclination angle beta 2 The clearance that first internal tooth (51) is close to gentle teeth of a gear (4) tip is less than the clearance that first internal tooth (51) is close to flexspline (3) center, the clearance that second internal tooth (61) is close to gentle teeth of a gear (4) tip is less thanThe second internal tooth (61) is close to the clearance at flexbile gear (3) center, flexbile gear (3) and flexible teeth of a cogwheel (4) are symmetrical about the central line of flexbile gear (3) axis and set up.
4. A high-precision low-vibration double-rigid-gear harmonic reducer as claimed in claim 3, wherein the inner wall of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle γ 1 The inner wall of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle gamma 2 The angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the center line of the axis of the flexspline (3), said angle of inclination gamma 1 Angle of inclination beta 1 The angle and the direction are the same, and the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear (3) and the flexible bearing (2) is smaller than the clearance between the center of the flexible gear (3) and the flexible bearing (2), and the distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) is d 1 The distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the second rigid gear (6) is d 2 。
5. A high precision low vibration double rigid gear harmonic reducer according to claim 1 wherein the axis of the flexible gear (3) and the side of the flexible gear teeth (4) close to the first rigid gear (5) form an inclination angle β 1 The axis of the flexible gear (3) and one side of the flexible gear teeth (4) close to the second rigid gear (6) form an inclination angle beta 2 The first internal teeth (51) are closer to the flexible gear teeth (4) end than the first internal teeth (51) are closer to the flexible gear (3) center, the second internal teeth (61) are closer to the flexible gear teeth (4) end than the second internal teeth (61) are closer to the flexible gear (3) center, the flexible gear (3) and the flexible gear teeth (4) are symmetrically arranged about the center line of the flexible gear (3) axis.
6. A high accuracy low vibration double rigid gear harmonic reducer machine according to claim 5, characterized in that the inner wall of said flexspline (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle γ 1 The inner wall of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) form an inclination angle gamma 2 The angle of inclination γ 1 And an inclination angle gamma 2 Symmetrically arranged about the center line of the axis of the flexspline (3), said angle of inclination gamma 1 Angle of inclination beta 1 The angle and direction are the same, the inclination angle gamma 2 Angle of inclination beta 2 The angle and the direction are the same, the clearance between the end part of the flexible gear (3) and the flexible bearing (2) is larger than the clearance between the center of the flexible gear (3) and the flexible bearing (2), and the distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the first rigid gear (5) is d 1 The distance between the end part of the flexible gear (3) and the outer side of the flexible bearing (2) corresponding to the second rigid gear (6) is d 2 。
7. The utility model provides a two rigid wheel harmonic speed reducer machine of high accuracy low vibration, includes wave generator (1), wave generator (1) overcoat is equipped with a pair of flexible bearing (2), flexible bearing (2) set up side by side along the axial of wave generator (1), flexible bearing (2) overcoat is equipped with flexbile gear (3), flexbile gear (3) outer side by side the cover is equipped with first rigid wheel (5) and second rigid wheel (6), first rigid wheel (5) and second rigid wheel (6) set up side by side along flexbile gear (3) axial, its characterized in that, first rigid wheel (5) inner wall ring is equipped with first rigid wheel (5) tooth, first rigid wheel (5) tooth sets up with first rigid wheel (5) an organic whole, second rigid wheel (6) inner ring is equipped with second rigid wheel (6) tooth, second rigid wheel (6) tooth sets up with second rigid wheel (6) an organic whole, first rigid wheel (5) tooth number is greater than second rigid wheel (6) tooth, flexible wheel (3) tooth number 4) tooth number, flexible wheel (6) tooth number and second rigid wheel (6) tooth are the clearance is the same with second rigid wheel (5) tooth, wherein there is the clearance (5) and second rigid wheel (6) clearance, the clearance is one the second rigid wheel (5) tooth is the output end (5) and the clearance is the second rigid wheel (6); the flexible gear (3) is in a shape of a modified double drum in the tooth length direction, a first drum (41) and a second drum (42) are arranged on the flexible gear tooth (4), the first drum (41) and the second drum (42) are oppositely arranged relative to the center line of the axis of the flexible gear (3), the vertex of the first drum (41) is located on the center line of the axis of the first rigid gear (5), and the vertex of the second drum (42) is located on the center line of the axis of the second rigid gear (6).
8. A high accuracy low vibration double rigid-wheel harmonic reducer according to claim 7, characterized in that the drum shape of the first drum shape (41) and the second drum shape (42) is 0.002 mm-0.05 mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222606409.0U CN218408403U (en) | 2022-09-30 | 2022-09-30 | High-precision low-vibration harmonic speed reducer with double rigid wheels |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222606409.0U CN218408403U (en) | 2022-09-30 | 2022-09-30 | High-precision low-vibration harmonic speed reducer with double rigid wheels |
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| CN218408403U true CN218408403U (en) | 2023-01-31 |
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| CN202222606409.0U Active CN218408403U (en) | 2022-09-30 | 2022-09-30 | High-precision low-vibration harmonic speed reducer with double rigid wheels |
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- 2022-09-30 CN CN202222606409.0U patent/CN218408403U/en active Active
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