CN2658477Y

CN2658477Y - Floatnig wave generator for harmonic driven

Info

Publication number: CN2658477Y
Application number: CN 200320103345
Authority: CN
Inventors: 辛洪兵
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-11-14
Filing date: 2003-11-14
Publication date: 2004-11-24
Anticipated expiration: 2013-11-14

Abstract

The utility model provides a floating wave generator used for the harmonic wave transmission and is composed of a roller bracket. A long shaft of the wave generator is respectively equipped with a bearing I contacted with a flexible gear and a bearing II contacted with channels at two sides of the roller brackets. The bearing I together with the bearing II are equipped on a support shaft. Two sides of the support shaft are provided with conical surfaces. The conical surfaces are supported on two conical surfaces of two conical discs positioned at two sides of the roller bracket. Two sides of the two conical discs are provided with pressure springs. One spring is supported on the roller bracket and the other spring is fixed through a nut at an outer side. The roller bracket is mechanically connected with an input shaft. The conical discs are connected with a principal shaft through bearings. The utility model has the advantages that the floating wave generator can automatically adjust the dimensions at the deformation portion of the flexible gear, thus enabling that the flexible gear is closely contacted with the rigid gear; the floating wave generator having a continuous operation and harmonic transmission is suitable for the change of the ambient conditions, such as external loads, engagement of the flexible gear and the rigid gear or perimeter changes of the operating location and so on.

Description

A kind of floating type wave-generator that is used for harmonic driving

Technical field

The utility model relates to a kind of wave-generator, particularly a kind of floating type wave-generator that is used for the harmonic driving continuous operation.

Background technique

Technology of Harmonic Wave Transmission is the development along with space science, aerospace flight technology in twentieth century mid-term, a kind of novel drive technology that occurs on the basis of elastic thin shell theory.It has the kinematic accuracy height, velocity ratio is big, in light weight, volume is little, bearing capacity is big, and can be under the operating mode of confined space and working medium radiation advantage such as proper functioning, be successfully applied in the fields such as space technology, instrument and apparatus, robot, printing machinery and medical apparatus.Harmonic drive is made up of members such as wave-generator, flexbile gear and firm wheels usually, is commonly called as " three-major-items ".Its kinology can be summarized as follows.

The harmonic driving with built-in wave-generator as shown in Figure 1, under the effect of wave-generator 1, cross section is that resiliently deformable takes place circular elastic thin-wall member flexbile gear 2.In the major axis of wave generator direction, the outer wall of flexbile gear 2 is pressed on the inwall of cross section for circular firm wheel 3.When wave-generator 1 rotation, flexbile gear 2 along then just the inwall of wheel 3 roll.If be nonslipping rolling, then flexbile gear 2 turns over the angles that determined by its girth difference mutually with firm wheel 3.Suppose that the radius before flexbile gear 2 outer walls are not out of shape is r, the radius of just having taken turns 3 inwalls is R, and its girth difference is 2 π (R-r)=2 π w ₀Wave-generator 1 is whenever goed around, and the corner that two-wheeled turns over relatively is: when firm wheel 3 fixedly the time, flexbile gear 2 turns over φ=2 π w along the sense of rotation of wave-generator 1 ₀The angle of/r; When flexbile gear 2 fixedly the time, just taken turns 3 opposite directions and turned over φ=-2 π w along wave-generator 1 rotation ₀The angle of/R.In these cases, 2 velocity ratio is from wave-generator 1 to flexbile gear

i

_{12}^{3} = r / w_{0} = r / (R - r),

Velocity ratio from wave-generator 1 to firm wheel 3 is

i_{13}^{2} = - R / w_{0} = - R / (R - r) .

In common friction driving, velocity ratio equals two friction wheel diameter ratios, and in the harmonic wave friction driving, velocity ratio is the ratio of follower radius to the difference of two-wheeled radius.If flexbile gear 2 is shaped on the gear teeth respectively with the just surface of contact of wheel 3, then above-mentioned ratio should be for the ratio of the number of teeth with number of teeth difference, and the harmonic wave friction driving promptly develops into Harmonic Gears.For the harmonic wave friction driving of steel flexbile gear, its single staged transmission ratio scope is about 30-1000, and for the Harmonic Gears of steel flexbile gear, its single staged transmission ratio is about 30-38.

At present, in harmonic driving, what be most widely used is the double wave harmonic gear transmission, and its generator form has cammingly, disc type, two roller types, four roller types and planetary etc.For three ripple Harmonic Gears, its generator form mainly contains three-roller type, planetary, disc type or disk cam formula three wave-generator (Xin Hongbings, disc type three wave-generators, Chinese patent: ZL 02205522.3) and equidistant curve (F.ReuleauxTriangle) formula three wave-generators etc.The characteristics of these several wave-generators are: the major axis dimension of generator remains unchanged at work, existing adjustable planetary wave generator (Shen Yunwen, Ye Qingtai. the theory of Harmonic Gears and design [M]. Beijing: China Machine Press, 985:196,198) characteristics are: the major axis dimension of generator remains unchanged at work, and the adjusting of major axis must be carried out when not working.Therefore, being necessary to provide a kind of makes flexbile gear and just takes turns the floating type wave-generator that closely contacts in harmonic driving.

Summary of the invention

The purpose of this utility model provides a kind of floating type wave-generator that is used for harmonic driving, this wave-generator in the course of the work, because the variation of the ambient conditionss such as change of external load, flexbile gear and engagement of just having taken turns or working position girth, can accomplish to force in the wave-generator size of the part of deformation of flexible wheel to change, flexbile gear is closely contacted with firm wheel, performance is good, and it is simple in structure.

For achieving the above object the present invention by the following technical solutions:

A kind of floating type wave-generator that is used for harmonic driving, it comprises rolling wheel support, rolling wheel support be equipped with respectively on the major axis of wave generator bearing I that contacts with flexbile gear and with rolling wheel support on the contacted bearing I I of side grooves, bearing I and bearing I I together are assemblied on the back shaft, there is conical surface at the two ends of back shaft, conical surface is supported on the conical surface of two awl dishes that are positioned at the rolling wheel support both sides, there is pressure spring two awl dish both sides, a spring withstands on the support, another spring outside has a nut to fix, and described rolling wheel support and input shaft are with mechanical connection.Be connected with bearing between described awl dish and the main shaft.

Described rolling wheel support and input shaft are with mechanical connection, and the mode of this mechanical connection is interference fit or profile cooperation or key, spline etc.

Outer side joint one check device of described nut.Check device can be compression spring, pin etc.

Advantage of the present utility model: floating type wave-generator can be adjusted the size that forces the deformation of flexible wheel part automatically, and flexbile gear is closely contacted with firm wheel.Be applicable to because the variation of the ambient conditionss such as change of external load, flexbile gear and engagement of just having taken turns or working position girth, all right compensation wave generator installation shaft, flexbile gear are installed axis, just wheel is installed the off-centre of axis etc., makes the harmonic drive stable working reliable.For the harmonic wave friction driving, flexbile gear is closely contacted with firm wheel, realize transmission; For Harmonic Gears, can make flexbile gear and the no sideshake engagement of gear teeth realization of wheel just.

Description of drawings

Below in conjunction with drawings and embodiments the utility model is described in further detail.

Fig. 1 is the harmonic driving sketch;

Fig. 2 is floating type internal wave generator sketch;

Fig. 3 is the floating type wave-generator structural drawing that generator rolling wheel support both sides have the pressure cone dish;

Fig. 4 is the harmonic drive with floating type wave-generator;

Be easy to make external wave generator and floating type end face harmonic generator according to same method.

Embodiment

Fig. 4 is the harmonic drive sketch with floating type wave-generator of the present invention's proposition.

The critical piece name is called among the figure: input shaft 7, rolling wheel support 8, back shaft 9, bearing I I 10, bearing I 11, flexbile gear 12, awl dish 13, key 14, pressure spring 15, nut 16, check device 17.Wherein rolling wheel support 8, back shaft 9, bearing I I10, bearing I 11, awl dish 13, pressure spring 15 etc. constitute floating type wave-generator.Pressure spring 15, awl dish 13 and nut 16 etc. constitute pressurization device.

Be equipped with respectively on the rolling wheel support 8 bearing I 11 that contacts with flexbile gear 12 and with rolling wheel support 8 on side grooves 19 contacted bearing I I 10, bearing I and bearing I I together are assemblied on the back shaft 9.There is conical surface 20 at the two ends of back shaft 9, and conical surface 20 is supported on two awl dishes 13.Constituted pressurization device by pressure spring 15, awl dish 13 and nut 16 etc.Check device 17 prevents that nut 16 is loosening in the work.In the structure of designed this floating type wave-generator, the center hole of rolling wheel support 8 has keyway, and it rotates with input shaft 7, so the rotating speed of wave-generator is consistent with the rotating speed of input shaft 7.For fear of movement interference, the awl dish 13 of both sides is supported on two bearings, and like this, under the frictional force action on the conical surface 20, awl dish 13 can be around input shaft 7 rotations.

Motion or power are by input shaft 7 inputs, and two awl dishes 13 are pressed to flexbile gear 12 by the bearing 11 that two conical surfaces 20 will be assemblied on the back shaft 9 under the effect of pressure at both sides spring 15, and then flexbile gear is pressed to the firm wheel bore area that is positioned at its outside.Rolling wheel support 8 drive back shafts 9 and bearing I 11, bearing I I 10 are with input shaft 7 rotations.

According to this method, the multiple type of belt drive such as airtight harmonic driving that can also design the external wave harmonic driving with floating type wave-generator, end face harmonic transmission and have floating type wave-generator with floating type wave-generator.

Fig. 3 is the wave-generator structure that generator rolling wheel support 8 both sides have pressure cone dish 13.

Rolling wheel support 8 be equipped with respectively on the major axis of wave generator bearing I 11 that contacts with flexbile gear 12 and with rolling wheel support 8 on side grooves 19 contacted bearing I I 10, bearing 11 together is assemblied on the back shaft 9 with bearing 10.There is conical surface 20 at the two ends of back shaft 9, and conical surface 20 is supported on the conical surface of two awl dishes 13 that are positioned at rolling wheel support 8 both sides.Two awl dishes 13 are pressed to flexbile gear 12 by the bearing 11 that two conical surfaces 20 will be assemblied on the back shaft 9 under the effect of pressure at both sides spring 15, and then flexbile gear is pressed to the firm wheel internal surface that is positioned at its outside.18 of grooves on the outer shroud of bearing 11 and the rolling wheel support 8 must leave enough gaps, only contact with the internal surface of flexbile gear 12 with the outer shroud that guarantees bearing 11.In entire work process, pressure spring 15 is tightly pressed to firm wheel internal surface by the bearing 11 on awl dish 13 and the back shaft 9 with flexbile gear 12, guarantees normally carrying out of transmission.In the structure of this floating type wave-generator, the center hole of rolling wheel support 8 has keyway, and it rotates with input shaft 7.Rolling wheel support 8 drives back shafts 9 and bearing I 11, bearing I I 10 with input shaft 7 rotations, and for fear of interference, two of both sides are supported on awl dish 13 on the bearing under the drive of 9 upper conical 20 of back shafts, around input shaft 7 rotations.

Among Fig. 2,6 for the conventional wave generator makes the working portion of deformation of flexible wheel, and 4 is other structure of wave-generator,

5 are the pressurization device that floats.

Claims

1, a kind of floating type wave-generator that is used for harmonic driving, it is characterized in that: it comprises rolling wheel support, rolling wheel support be equipped with respectively on the major axis of wave generator bearing I that contacts with flexbile gear and with rolling wheel support on the contacted bearing I I of side grooves, bearing I and bearing I I together are assemblied on the back shaft, there is conical surface at the two ends of back shaft, conical surface is supported on the conical surface of two awl dishes that are positioned at the rolling wheel support both sides, there is pressure spring two awl dish both sides, a spring withstands on the support, another spring outside has a nut to fix, described rolling wheel support and axle are connected with bearing between described awl dish and the main shaft with mechanical connection.

2, a kind of floating type wave-generator that is used for harmonic driving according to claim 1, it is characterized in that: described rolling wheel support center hole has a keyway, with key rolling wheel support is connected with input shaft.

3, the floating type wave-generator that is used for harmonic driving according to claim 1 and 2 is characterized in that: outer side joint one check device of described nut.