CN218845025U - Single-pair-tooth meshed double-rigid-wheel harmonic speed reducer - Google Patents

Abstract

The utility model provides a single-pair-tooth meshed double-rigid-wheel harmonic speed reducer, which relates to the technical field of speed reducers and comprises a wave generator, a flexible wheel, a first rigid wheel and a second rigid wheel, wherein the flexible wheel is arranged outside the wave generator, and the first rigid wheel and the second rigid wheel are arranged outside the flexible wheel; the outer teeth of the flexible gear comprise first outer teeth and second outer teeth, the inner teeth of the first rigid gear are in spline fit with the first outer teeth with the same number of teeth, and the inner teeth of the second rigid gear are in differential meshing with the second outer teeth; a first bearing corresponding to the first rigid wheel and a second bearing corresponding to the second rigid wheel are arranged between the wave generator and the flexible wheel, the position of the first bearing on the wave generator is a true circle, and the position of the second bearing on the wave generator is an elliptical cam. The utility model discloses can reduce the backlash by a wide margin, improve the transmission precision, noise reduction and vibration satisfy the user demand in high-accuracy field.

Description

Single-pair-tooth meshed double-rigid-wheel harmonic speed reducer

Technical Field

The utility model relates to a speed reducer technical field especially relates to a single pair of tooth meshing's two rigid wheel harmonic speed reducer machine.

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 hat shape, the tooth part is arranged on the barrel part, and the bottom flange part is usually used for outputting torque. The bottom flange is in transition connection with the straight cylindrical tooth part at a right angle close to 90 degrees, and in order to meet the flexible deformation of the flexible gear, the wall thickness of the flexible gear at the position is thinner and is generally close to 0.3 mm, which is the weakest part of the harmonic speed reducer.

In the conventional harmonic speed reducer with a double-rigid-wheel structure, the flexible wheel is in a circular ring shape, and a 90-degree bent angle structure in the conventional single-rigid-wheel structure is not adopted, so that the bearing capacity and the impact resistance of the flexible wheel can be improved. However, the conventional harmonic speed reducer with a double rigid gear structure has two pairs of teeth meshed, so that the tooth clearance is about twice that of a single rigid gear harmonic speed reducer, and higher tooth clearance precision is difficult to achieve.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a single pair of tooth meshing's two rigid wheel harmonic speed reducer machine, it can reduce the backlash by a wide margin, improves the transmission precision, and noise reduction and vibration satisfy the user demand in high-accuracy field.

The above technical object of the present invention can be achieved by the following technical solutions:

a single-pair-tooth meshed double-rigid-gear harmonic speed reducer comprises a wave generator, a flexible gear, a first rigid gear and a second rigid gear, wherein the flexible gear is arranged outside the wave generator, and the first rigid gear and the second rigid gear are arranged outside the flexible gear; the external teeth of the flexible gear comprise first external teeth and second external teeth, the internal teeth of the first rigid gear are in spline fit with the first external teeth with the same number of teeth, and the internal teeth of the second rigid gear are in differential meshing with the second external teeth; a first bearing corresponding to the first rigid wheel and a second bearing corresponding to the second rigid wheel are arranged between the wave generator and the flexible wheel, the position of the wave generator where the first bearing is installed is a true circle, and the position of the wave generator where the second bearing is installed is an elliptical cam.

By adopting the technical scheme, any one of the first rigid gear and the second rigid gear serves as a fixed end, the other one serves as an output end, the inner teeth of the second rigid gear are in differential meshing with the second outer teeth of the flexible gear, and the meshing principle of the two gears is consistent with that of the rigid gear and the flexible gear in the single rigid gear harmonic reducer. The internal teeth of the first rigid gear and the first external teeth of the flexible gear are meshed with each other through the same teeth number and the splines, a 90-degree bent angle structure of a flexible gear flange in a single-rigid-gear transmission harmonic speed reducer is replaced by a spline matching mode, and a meshing mode that the rigid gears with the same teeth number of a conventional double-rigid-gear harmonic speed reducer and the flexible gear are meshed in and out is replaced, so that a matching gap is greatly reduced, and the tooth gap precision, the transmission precision and the torsional rigidity of the harmonic speed reducer are improved. In addition, the first rigid gear and the flexible gear are in spline fit with the same number of teeth, so that the double-rigid-gear harmonic speed reducer is changed from two pairs of teeth meshing into only one pair of teeth meshing, noise and vibration caused by machining and assembly errors in the same number of teeth meshing are avoided, the running stability of the double-rigid-gear harmonic speed reducer is improved, the use requirement in the high-precision field is met, the difficulty in tooth shape design caused by the same number of teeth meshing is avoided, and the design difficulty is reduced.

Furthermore, a thin-wall connecting section between the first outer teeth and the second outer teeth is arranged on the flexible gear, and the minimum thickness of the flexible gear at the thin-wall connecting section is 0.2mm-1mm.

Through adopting above-mentioned technical scheme, because be spline seizure state between first external tooth and the rigid gear one, second external tooth and rigid gear two are the poor meshing of two teeth, the atress difference that corresponds first external tooth position and corresponds the second external tooth position on the flexbile gear is bigger like this, the deformation difference is bigger, consequently, set up thin wall linkage segment between first external tooth and second external tooth, can produce micro-deformation when harmonic speed reducer machine operates, can be propped into ellipse and the in-process that constantly periodic deformation takes place deformation thereupon at the second external tooth section of flexbile gear on the one hand, second external tooth section for the flexbile gear provides sufficient elastic deformation space, on the other hand can play the cushioning effect at the middle part of first external tooth and second external tooth, reduce the mutual influence between first external tooth and the second external tooth.

Further, the first bearing is a flexible bearing or a deep groove ball bearing, the second bearing is a flexible bearing, and the outer diameters of the first bearing and the second bearing are the same in a normal state.

By adopting the technical scheme, the second bearing is a flexible bearing and is arranged outside the elliptical cam of the wave generator, the second bearing is expanded into an elliptical shape by the wave generator, and then the second outer teeth corresponding to the flexible gear are expanded into an elliptical shape, so that the second bearing and the second rigid gear are subjected to differential tooth number harmonic meshing. The first bearing can not be supported into an elliptical shape by the wave generator, so that the first bearing can be a flexible bearing or a common deep groove ball bearing, and the use is flexible. And the outer diameters of the first bearing and the second bearing are the same in a conventional state, so that the outer diameters of the two ends of the harmonic reducer are the same after the harmonic reducer is assembled.

Further, the axial spline tooth width of the first external teeth and the axial thickness of the first rigid wheel are both smaller than the axial tooth width of the second external teeth meshed with the second rigid wheel, and the axial spline tooth width of the first external teeth and the axial thickness of the first rigid wheel are not smaller than 2mm.

Through adopting above-mentioned technical scheme, the first external tooth of flexbile gear and rigid wheel spline fit have certain rigidity, and the axial spline tooth width of first external tooth and the axial thickness of rigid wheel one all are less than the axial tooth width of second external tooth and rigid wheel two meshing, reduce the axial thickness of harmonic speed reducer as far as possible under the prerequisite of guaranteeing rigidity like this, realize miniaturization and lightweight to a certain extent. The axial spline tooth width of the first external teeth and the axial thickness of the first rigid wheel are not smaller than 2mm, and stability and working effect of spline fit between the first external teeth and the first rigid wheel are guaranteed.

Further, the spline fit clearance of the first outer teeth and the first rigid wheel is 0-1 arc minute.

Through adopting above-mentioned technical scheme, first external tooth is as little as possible with the spline fit clearance of rigid wheel one, or is zero clearance, and is better than ordinary spline fit precision, reduces fit clearance, improves harmonic speed reducer's backlash precision and transmission precision.

Furthermore, the axial thickness of the first rigid wheel and the second rigid wheel is the same, and a gap not smaller than 0.5mm is arranged between the first rigid wheel and the second rigid wheel.

By adopting the technical scheme, the axial thickness of the first rigid wheel and the second rigid wheel is the same, a gap which is not less than 0.5mm is arranged between the first rigid wheel and the second rigid wheel, and the thickness of the first rigid wheel is increased from one side of the first rigid wheel, which is close to the second rigid wheel, so that the rigidity of the first rigid wheel is improved, and the axial width of the inner teeth of the first rigid wheel can be reduced. And a gap which is not less than 0.5mm must be reserved between the first rigid wheel and the second rigid wheel, so that interference between the first rigid wheel and the second rigid wheel is avoided.

Further, the axial tooth width of the inner teeth of the first rigid wheel is smaller than the axial tooth width of the second outer teeth meshed with the second rigid wheel, and the axial tooth width of the inner teeth of the first rigid wheel is not smaller than 1mm.

Through adopting above-mentioned technical scheme, after the axial thickness of rigid wheel one increases, the whole rigidity of rigid wheel one improves, consequently can be less than the axial tooth width of second external tooth and rigid wheel two meshing with the internal tooth axial tooth width of rigid wheel one but minimum not less than 1mm with the design of internal tooth axial tooth width of rigid wheel one, reduce design and processing requirement to the rigid wheel internal tooth axial tooth width to guarantee the spline cooperation effect of first external tooth on rigid wheel one internal tooth and the flexbile gear.

Furthermore, the inner hole of the flexible gear is conical, the first bearing is a flexible bearing or a deep groove ball bearing, the second bearing is a flexible bearing, and the outer diameter of the first bearing is smaller than that of the second bearing; the pitch circle of the inner teeth of the first rigid gear is smaller than that of the inner teeth of the second rigid gear, and the inner diameter of the flexible gear corresponding to the first outer teeth is smaller than the outer diameter of the flexible gear corresponding to the second outer teeth; and after the flexible gear is sleeved in the second bearing, the tooth axis of the second external tooth and the internal tooth of the second rigid gear form an inclination angle beta.

By adopting the technical scheme, after the flexible gear is sleeved in the second bearing, the tooth axis of the second external tooth and the internal tooth of the second rigid gear form the inclination angle beta, so that the gap between the second external tooth of the flexible gear and the internal tooth of the second rigid gear close to one side of the outer end surface is reduced, namely, the meshing gap between the second external tooth of the flexible gear and the internal tooth of the second rigid gear is reduced, even the tooth gap can be eliminated, the tooth gap precision of the harmonic speed reducer can be improved, the noise and the vibration are reduced, and the running stability of the harmonic speed reducer is further improved.

Further, the spline fit of the first rigid wheel and the first external tooth is involute spline fit or rectangular spline fit.

By adopting the above technical scheme, one kind in involute spline fit or the rectangular spline fit is selected in the spline fit, involute spline manufacturing accuracy is high, the root intensity of spline tooth is high, stress is concentrated in the middle or small, easily centering, it is great to be applicable to the load, the higher and great connection of size of centering required precision, rectangular spline processing is convenient, with path centering, easily guarantee centering precision, be applicable to the light load and connect, can select to use involute spline fit or rectangular spline fit according to harmonic speed reducer's whole size and use occasion, select more to have the flexibility, effectively improve the utility model discloses an application scope guarantees the working effect.

Furthermore, a groove or a flange which is positioned between the true circle and the elliptical cam is arranged on the wave generator.

By adopting the technical scheme, the groove or the flange is arranged on the wave generator to separate the true circle from the elliptical cam, so that the wave generator can be conveniently processed, and interference or influence is avoided when the true circle and the elliptical cam are processed.

To sum up, the utility model discloses following beneficial effect has:

1. compared with the traditional single rigid gear harmonic speed reducer, the flexible gear of the utility model is in a ring shape, replaces a cup-shaped or hat-shaped flexible gear 90-degree bent angle structure, is convenient to process, utilizes the internal teeth of the rigid gear I and the first external teeth of the flexible gear to perform torque output of the rigid gear I in spline fit with the same tooth number, replaces torque output of the flange surface of the cup-shaped or hat-shaped flexible gear, stops the possibility of failure at the thin-wall position of the flange surface, and greatly enhances the shock resistance of the harmonic speed reducer;

2. compared with a conventional double-rigid-gear harmonic speed reducer, the meshing mode of meshing in and out is replaced by the spline fit of the inner teeth of the first rigid gear and the first outer teeth of the flexible gear, the fit clearance between the first rigid gear and the flexible gear is greatly reduced, and the tooth clearance precision, the transmission precision and the torsional rigidity of the double-rigid-gear harmonic speed reducer are improved;

3. in the utility model, the first rigid gear with the same number of teeth and the flexible gear are in spline fit, so that the double-rigid-gear harmonic speed reducer is changed from two pairs of teeth meshing into only one pair of teeth meshing, thereby not only avoiding the noise and vibration caused by processing and assembly errors due to the meshing with the same number of teeth, improving the running stability of the double-rigid-gear harmonic speed reducer, but also avoiding the difficulty of tooth profile design caused by the meshing with the same number of teeth, and reducing the design difficulty;

4. the utility model discloses set up the thin wall changeover portion between the first external tooth of well flexbile gear and the second external tooth and adopt the thin wall transition can provide sufficient flexibility for the oval periodic deformation in this one side of rigid gear two, provide sufficient elastic deformation space for the second external tooth section of flexbile gear to can play the cushioning effect in the middle part of first external tooth and second external tooth, reduce the mutual influence of first external tooth and second external tooth, thereby reduce the vibration of harmonic speed reducer;

5. the utility model discloses two internal teeth of rigid wheel and flexible gear second external gear axis formation inclination of well poor tooth number meshing become, and the backlash diminishes on one side of being close to the outer terminal surface of speed reducer to can eliminate the backlash even to can improve the backlash precision of speed reducer, reduce the vibration by a wide margin simultaneously, improve the operation stationarity.

Drawings

Fig. 1 is a schematic view of an overall structure of a single-pair-tooth meshed double-rigid-wheel harmonic reducer in an embodiment;

FIG. 2 is a schematic diagram illustrating the engagement of second outer teeth of a rigid gear and a flexible gear in a single-pair-tooth-engaged double-rigid-gear harmonic reducer according to a first embodiment;

fig. 3 is a schematic diagram of a first rigid gear and a second external tooth involute spline of a flexible gear in a single-pair-tooth meshed double-rigid-gear harmonic speed reducer according to a first embodiment;

FIG. 4 is a schematic diagram of a first rigid gear and a second external gear rectangular spline of a flexible gear in a single-pair-tooth meshed double-rigid-gear harmonic reducer according to an embodiment;

FIG. 5 is a schematic structural diagram of a wave generator in a single-pair-tooth meshed double-rigid-wheel harmonic reducer according to one embodiment;

FIG. 6 is a partial structural schematic diagram of a single-pair-tooth meshed double-rigid-wheel harmonic reducer in the first embodiment;

FIG. 7 is a schematic structural diagram of a single-pair-tooth-meshing double-rigid-wheel harmonic reducer according to a second embodiment;

fig. 8 is a schematic structural diagram of a single-pair-tooth meshed double-rigid-wheel harmonic reducer in the third embodiment.

In the figure, 1, a wave generator; 11. a true circle; 12. an elliptical cam; 13. a groove; 2. a flexible gear; 21. a first outer tooth; 22. a second external tooth; 23. a thin-walled connecting section; 3. a first rigid wheel; 4. a second rigid wheel; 5. a first bearing; 6. and a second bearing.

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 first embodiment is as follows:

a single-pair-tooth meshed double-rigid-gear harmonic speed reducer comprises a wave generator 1, a bearing I5, a bearing II 6, a flexible gear 2, a rigid gear I3 and a rigid gear II 4, wherein the bearing I5 and the bearing II 6 are installed between the wave generator 1 and the flexible gear 2, the rigid gear I3 and the rigid gear II 4 are installed outside the flexible gear 2, the rigid gear I3 corresponds to the bearing I5, and the rigid gear II 4 corresponds to the bearing II 6. Any one of the first rigid gear 3 and the second rigid gear 4 serves as a fixed end, and the other one serves as an output end, and the basic working principle of the harmonic reducer is the same as that of a harmonic reducer with double rigid gears in the prior art.

As shown in fig. 1 and 2, in the present embodiment, the external teeth of the flexspline 2 include two segments, namely, a first external tooth 21 and a second external tooth 22, the internal teeth of the rigid gear two 4 are meshed with the second external tooth 22 of the flexspline 2, and the internal teeth of the rigid gear two 4 are two teeth more than the second external tooth 22 of the flexspline 2, that is, there is a two-tooth differential meshing between the rigid gear two 4 and the flexspline 2, and the meshing principle of the two is consistent with that of the rigid gear and the flexspline in the single rigid gear harmonic reducer. As shown in fig. 1, the internal teeth of the first rigid gear 3 are engaged with the first external teeth 21 of the flexible gear 2, and have the same number of teeth and are in spline fit. As shown in fig. 3 and 4, the spline fit between the internal teeth of the first rigid gear 3 and the first external teeth 21 may be an involute spline fit or a rectangular spline fit, and the spline fit may be specifically selected according to the volume of the speed reducer, the actual running load, and the like.

As shown in figure 1, the first rigid gear 3 and the flexible gear 2 adopt a spline fit mode to replace a 90-degree bent angle structure of a flexible gear flange in a transmission single rigid gear harmonic speed reducer, and the torque output of the first rigid gear 3 is carried out by meshing with a plurality of splines with the same number of teeth to replace the torque output of a cup-shaped or silk hat-shaped flexible gear flange surface, so that the possibility of failure at the thin-wall position of the flange surface is eliminated, and the shock resistance of the harmonic speed reducer is greatly enhanced. The spline fit of the same tooth number of the first rigid gear 3 and the flexible gear 2 replaces the meshing mode that the rigid gear and the flexible gear are meshed in and out in the conventional double-rigid-gear harmonic speed reducer, so that the fit clearance is greatly reduced, and the backlash precision, the transmission precision and the torsional rigidity of the harmonic speed reducer are improved. In addition, the first rigid gear 3 and the flexible gear 2 are in spline fit with the same teeth, and the second rigid gear 4 and the flexible gear 2 are in differential meshing, so that the double rigid gear harmonic speed reducer is changed from meshing of two pairs of teeth into meshing of only one pair of teeth, noise and vibration caused by processing and assembly errors due to meshing of the same teeth are avoided, the running stability of the double rigid gear harmonic speed reducer is improved, and the difficulty in tooth shape design due to meshing of the same teeth is avoided.

As shown in fig. 1 and 5, in the present embodiment, a section of the wave generator 1 on which the first bearing 5 is mounted is a true circle 11, a section of the wave generator 1 on which the second bearing 6 is mounted is an elliptical cam 12, and the first bearing 5 may be a flexible bearing or a common deep groove ball bearing, and the second bearing 6 is a flexible bearing. Thus, the elliptical cam 12 of the wave generator 1 partially expands the thin-wall flexible bearing II 6 into an elliptical shape, and further expands the second outer teeth 22 on the flexible gear 2 into an elliptical shape, so that the second outer teeth 22 of the flexible gear 2 and the inner teeth of the rigid gear II 4 are subjected to difference tooth number harmonic meshing. The part of the wave generator 1 corresponding to the first external tooth 21 section on the flexible gear 2 is a true circle 11, the bearing I5 is also correspondingly a true circle 11, and the outer diameters of the bearing I5 and the bearing II 6 are consistent in a normal state, so that the sizes of the two ends of the harmonic speed reducer are the same after the harmonic speed reducer is integrally assembled.

As shown in fig. 6, the wave generator 1 is provided with a groove 13 or a rib between the true circle 11 and the elliptical cam 12, and the groove 13 or the rib is used to separate the true circle 11 and the elliptical cam 12 at intervals, so as to facilitate the processing of the wave generator 1 and avoid interference or influence when the true circle 11 and the elliptical cam 12 are processed. In the present embodiment, the true circle 11 and the elliptical cam 12 are selectively spaced by using the groove 13.

As shown in fig. 6, the thin-wall connecting section 23 located between the first outer tooth 21 and the second outer tooth 22 is disposed on the flexspline 2, and the thickness of the thinnest portion of the thin-wall connecting section is within the range of 0.2mm to 1mm, so that the thin-wall connecting section 23 can generate micro deformation when the harmonic reducer operates, on one hand, the thin-wall connecting section 23 can deform along with the second outer tooth 22 of the flexspline 2 in the process of being stretched into an ellipse and continuously deforming periodically, and provide sufficient elastic deformation space for the second outer tooth 22 of the flexspline 2, on the other hand, the thin-wall connecting section 23 can play a role in buffering at the middle portions of the first outer tooth 21 and the second outer tooth 22, and reduce the mutual influence between the first outer tooth 21 and the second outer tooth 22.

In the present embodiment, as shown in fig. 6, the axial spline tooth width of the first external teeth 21 of the flexspline 2 and the axial thickness of the first rigid gear 3 are both smaller than the meshing axial tooth width of the second external teeth 22 and the internal teeth of the second rigid gear 4, but the minimum tooth width and the minimum axial thickness are not smaller than 2mm, and the spline fit clearance between the first external teeth 21 and the internal teeth of the first rigid gear 3 is between 0 and 1 arc minute. Under the prerequisite of guaranteeing spline meshing rigidity between rigid wheel 3 internal tooth and the first external tooth 21 like this, reduce harmonic speed reducer's axial thickness as far as possible, guarantee simultaneously that the spline fit clearance between first external tooth 21 and the rigid wheel 3 internal tooth is as little as possible, or be zero clearance, better than ordinary spline fit precision, reduce the fit clearance, improve harmonic speed reducer's backlash precision and transmission precision.

Example two:

as shown in fig. 6 and 7, the difference between the single-pair-tooth meshing double-rigid-wheel harmonic reducer in the present embodiment and the first embodiment is that, in the present embodiment, the axial thicknesses of the first rigid wheel 3 and the second rigid wheel 4 are the same, and a gap not smaller than 0.5mm is provided therebetween. On the premise of avoiding interference between the first rigid wheel 3 and the second rigid wheel 4, the thickness of the first rigid wheel 3 is increased from the side, close to the second rigid wheel 4, of the first rigid wheel 3, so that the rigidity of the first rigid wheel 3 is improved, and the axial width of the inner teeth of the first rigid wheel 3 can be reduced. In addition, because the axial thickness of the first rigid wheel 3 is increased and the integral rigidity is strengthened, the axial tooth width of the inner teeth of the first rigid wheel 3 can be correspondingly reduced and is smaller than the axial tooth width of the second outer teeth 22 meshed with the second rigid wheel 4 but not smaller than 1mm at least, and the normal meshing and meshing effect of the inner teeth of the first rigid wheel 3 and the first outer teeth 21 are ensured.

Example three:

as shown in fig. 6 and 8, the difference between the single-pair-tooth meshing double-rigid-wheel harmonic reducer in the present embodiment and the first embodiment is that, in the present embodiment, the inner hole of the flexspline 2 is in a tapered structure and has a certain taper, the bearing i 5 can also be a flexible bearing or a common deep groove ball bearing, and the bearing i 6 is a flexible bearing, but the outer diameter of the bearing i 5 is smaller than the outer diameter of the bearing i 6, so that it is ensured that both the bearing i 5 and the bearing i 6 can be matched with the inner hole of the flexspline 2. The pitch circle of the inner teeth of the first rigid gear 3 is smaller than that of the inner teeth of the second rigid gear 4, the inner diameter of the flexible gear 2 corresponding to the position of the first outer teeth 21 is smaller than the outer diameter of the flexible gear 2 corresponding to the position of the second outer teeth 22, and after the flexible gear 2 is sleeved into the bearing second 6, the axis of the second outer teeth 22 and the inner teeth of the second rigid gear 4 form an inclination angle beta, so that the gap between the second outer teeth 22 of the flexible gear 2 and the inner teeth of the second rigid gear 4 close to one side of the outer end face of the second rigid gear is reduced, even the backlash can be eliminated, the backlash precision of the speed reducer is improved, vibration is further reduced, and the running stability of the speed reducer is improved.

The utility model discloses a theory of operation and application method:

any one of the first rigid gear 3 and the second rigid gear 4 serves as a fixed end, the other one serves as an output end, the second outer tooth 22 section of the flexible gear 2 is expanded into an elliptical shape by the elliptical cam 12 of the wave generator 1 through the second bearing 6, and the second outer tooth 22 of the flexible gear 2 and the second rigid gear 4 are subjected to differential tooth number harmonic meshing. The second outer teeth 22 of the flexible gear 2 are in spline fit with the first rigid gear 3 with the same number of teeth, so that the shock resistance of the harmonic speed reducer is greatly enhanced, the fit clearance is greatly reduced by the single-pair tooth meshing fit mode, the backlash precision, the transmission precision and the torsional rigidity of the harmonic speed reducer are improved, and meanwhile, the vibration and the noise are reduced, and the running stability of the harmonic speed reducer is improved.

While the foregoing description shows 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 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. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims (10)

1. The utility model provides a single pair of tooth engaged double rigid wheel harmonic speed reducer machine which characterized in that: the flexible gear comprises a wave generator (1), a flexible gear (2), a first rigid gear (3) and a second rigid gear (4), wherein the flexible gear (2) is arranged outside the wave generator (1), and the first rigid gear (3) and the second rigid gear (4) are arranged outside the flexible gear (2); the outer teeth of the flexible gear (2) comprise first outer teeth (21) and second outer teeth (22), the inner teeth of the first rigid gear (3) are in spline fit with the first outer teeth (21) in the same number of teeth, and the inner teeth of the second rigid gear (4) are in differential meshing with the second outer teeth (22); be equipped with between wave generator (1) and flexbile gear (2) with rigid wheel one (3) the bearing that corresponds (5), correspond with rigid wheel two (4) bearing two (6), just the position of installation bearing one (5) is true circle (11) on wave generator (1), and the position of installation bearing two (6) is oval cam (12).

2. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 1, characterized in that: the flexible gear (2) is provided with a thin-wall connecting section (23) located between the first outer teeth (21) and the second outer teeth (22), and the minimum thickness of the flexible gear (2) at the thin-wall connecting section (23) is 0.2mm-1mm.

3. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 2, characterized in that: the bearing I (5) is a flexible bearing or a deep groove ball bearing, the bearing II (6) is a flexible bearing, and the outer diameters of the bearing I (5) and the bearing II (6) are the same under a normal state.

4. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 3, characterized in that: the axial spline tooth width of the first external teeth (21) and the axial thickness of the first rigid wheel (3) are both smaller than the axial tooth width of the second external teeth (22) meshed with the second rigid wheel (4), and the axial spline tooth width of the first external teeth (21) and the axial thickness of the first rigid wheel (3) are not smaller than 2mm.

5. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 4, characterized in that: and the spline fit clearance between the first external teeth (21) and the first rigid wheel (3) is 0-1 arc minute.

6. A single pair tooth meshed double rigid wheel harmonic reducer according to claim 1 or 2 or 3, characterized in that: the first rigid wheel (3) and the second rigid wheel (4) are the same in axial thickness, and a gap not smaller than 0.5mm is formed between the first rigid wheel and the second rigid wheel.

7. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 6, characterized in that: the axial tooth width of the inner teeth of the first rigid wheel (3) is smaller than the axial tooth width of the second outer teeth (22) meshed with the second rigid wheel (4), and the axial tooth width of the inner teeth of the first rigid wheel (3) is not smaller than 1mm.

8. A single pair tooth meshed double rigid wheel harmonic reducer according to claim 1 or 2, characterized in that: the inner hole of the flexible gear (2) is conical, the first bearing (5) is a flexible bearing or a deep groove ball bearing, the second bearing (6) is a flexible bearing, and the outer diameter of the first bearing (5) is smaller than that of the second bearing (6); the pitch circle of the inner teeth of the first rigid gear (3) is smaller than that of the inner teeth of the second rigid gear (4), and the inner diameter of the flexible gear (2) corresponding to the first outer teeth (21) is smaller than the outer diameter of the flexible gear corresponding to the second outer teeth (22); after the flexible gear (2) is sleeved in the second bearing (6), the tooth axis of the second outer tooth (22) and the inner tooth of the second rigid gear (4) form an inclination angle beta.

9. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 1, characterized in that: and the spline fit of the first rigid wheel (3) and the first external tooth (21) is involute spline fit or rectangular spline fit.

10. The single-pair-tooth meshed double-rigid-wheel harmonic reducer according to claim 1, characterized in that: the wave generator (1) is provided with a groove (13) or a flange which is positioned between the true circle (11) and the elliptical cam (12).

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