TWM455101U - Harmonic drive - Google Patents
Harmonic drive Download PDFInfo
- Publication number
- TWM455101U TWM455101U TW102201310U TW102201310U TWM455101U TW M455101 U TWM455101 U TW M455101U TW 102201310 U TW102201310 U TW 102201310U TW 102201310 U TW102201310 U TW 102201310U TW M455101 U TWM455101 U TW M455101U
- Authority
- TW
- Taiwan
- Prior art keywords
- gear
- reduction device
- harmonic
- gears
- harmonic reduction
- Prior art date
Links
Landscapes
- Retarders (AREA)
Abstract
Description
本創作係相關於一種諧波減速裝置，尤指一種剛性強且容易製造之諧波減速裝置。This creation is related to a harmonic reduction device, especially a harmonic reduction device that is rigid and easy to manufacture.
諧波減速器是一種具高減速比之諧波減速裝置。習知之諧波減速器通常包含一剛性齒輪，一撓性齒輪，及一波發生器。波發生器係耦接於一動力源(例如馬達)，而撓性齒輪係耦接於一動力輸出軸以輸出動力。剛性齒輪之嚙合齒數目係相異於撓性齒輪之嚙合齒數目，而波發生器係用以於轉動時頂推撓性齒輪變形，以驅動撓性齒輪之不同位置之嚙合齒和剛性齒輪之相對應嚙合齒嚙合。由於剛性齒輪及撓性齒輪之嚙合齒數目相異，因此，當波發生器持續轉動時會使得撓性齒輪微幅轉動。一般而言，諧波減速器之減速比是剛性齒輪之嚙合齒數目除以剛性齒輪及撓性齒輪之嚙合齒數目之差，當剛性齒輪之嚙合齒數目較多且剛性齒輪及撓性齒輪之嚙合齒數目差異較少時，諧波減速器可得到相當高之減速比。The harmonic reducer is a harmonic reduction device with a high reduction ratio. Conventional harmonic reducers typically include a rigid gear, a flexible gear, and a wave generator. The wave generator is coupled to a power source (such as a motor), and the flexible gear train is coupled to a power output shaft to output power. The number of meshing teeth of the rigid gear is different from the number of meshing teeth of the flexible gear, and the wave generator is used to push the flexure gear to deform when rotating to drive the meshing teeth and the rigid gear at different positions of the flexible gear. The corresponding meshing teeth mesh. Since the number of meshing teeth of the rigid gear and the flexible gear is different, the flexible gear slightly rotates when the wave generator continues to rotate. In general, the reduction ratio of the harmonic reducer is the difference between the number of meshing teeth of the rigid gear divided by the number of meshing teeth of the rigid gear and the flexible gear, and the number of meshing teeth of the rigid gear is large and the rigid gear and the flexible gear are When the difference in the number of meshing teeth is small, the harmonic reducer can obtain a relatively high reduction ratio.
然而，習知諧波減速器之撓性齒輪因材料較軟而容易損壞，且撓性齒輪之製程複雜而不易加工。再者，習知諧波減速器之剛性齒輪及撓性齒輪之嚙合齒數目只能相差2的倍數，因此習知諧波減速器之減速比較不具彈性。However, the flexible gear of the conventional harmonic reducer is easily damaged due to the soft material, and the manufacturing process of the flexible gear is complicated and difficult to process. Furthermore, the number of meshing teeth of the rigid gear and the flexible gear of the conventional harmonic reducer can only differ by a factor of two, so the deceleration of the conventional harmonic reducer is relatively inelastic.
本創作之目的即在提供一種諧波減速裝置，包含一殼體，一 第一齒輪，一第二齒輪，及一驅動單元。該第一齒輪具有一第一數目之嚙合齒。該第二齒輪係固定於該殼體上，該第二齒輪具有一第二數目之嚙合齒，且該第二數目相異於該第一數目。該驅動單元係用以於轉動時驅動該第一齒輪轉動，該驅動單元包含一承載座，及複數個第三齒輪，以可轉動之方式固定於該承載座上。每一第三齒輪係和該第一齒輪及該第二齒輪嚙合。The purpose of this creation is to provide a harmonic reduction device comprising a housing, a a first gear, a second gear, and a drive unit. The first gear has a first number of meshing teeth. The second gear train is fixed to the housing, the second gear has a second number of meshing teeth, and the second number is different from the first number. The driving unit is configured to drive the rotation of the first gear when rotating, the driving unit comprises a carrier, and a plurality of third gears are rotatably fixed to the carrier. Each of the third gear trains meshes with the first gear and the second gear.
相較於習知諧波減速器，本創作之諧波減速裝置係利用剛性齒輪來達到高減速比，因此本創作諧波減速裝置具備剛性強且較不易損壞之優點。另外，剛性齒輪之製程較簡單，因此本創作之諧波減速裝置容易加工製造，且良率較高。再者，本創作諧波減速器之第一齒輪及第二齒輪之嚙合齒相差之數目可為奇數或偶數，因此本創作諧波減速器之減速比較具彈性。Compared with the conventional harmonic reducer, the harmonic deceleration device of the present invention uses a rigid gear to achieve a high reduction ratio. Therefore, the harmonic reduction device of the present invention has the advantages of strong rigidity and less damage. In addition, the process of the rigid gear is relatively simple, so the harmonic reduction device of the present invention is easy to manufacture and has a high yield. Furthermore, the number of the meshing teeth of the first gear and the second gear of the harmonic reducer of the present invention may be odd or even, so the deceleration of the harmonic reducer of the present invention is relatively flexible.
100,200‧‧‧諧波減速裝置100,200‧‧‧ harmonic reduction gear
110,210‧‧‧殼體110,210‧‧‧shell
120,220‧‧‧第一齒輪120,220‧‧‧First gear
130,230‧‧‧第二齒輪130,230‧‧‧second gear
140,240‧‧‧驅動單元140,240‧‧‧ drive unit
142,242‧‧‧承載座142, 242‧‧‧ bearing seat
144,244‧‧‧第三齒輪144,244‧‧‧third gear
第1圖為本創作諧波減速裝置之第一實施例的爆炸圖。Fig. 1 is an exploded view of the first embodiment of the inventive harmonic reduction device.
第2圖為第1圖諧波減速裝置之內部結構示意圖。Fig. 2 is a schematic view showing the internal structure of the harmonic reduction device of Fig. 1.
第3圖為本創作諧波減速裝置之第二實施例的爆炸圖。Fig. 3 is an exploded view of the second embodiment of the creation harmonic reduction device.
第4圖為第3圖諧波減速裝置之內部結構示意圖。Fig. 4 is a schematic view showing the internal structure of the harmonic reduction device of Fig. 3.
請同時參考第1圖及第2圖。第1圖為本創作諧波減速裝置之第一實施例的爆炸圖。第2圖為第1圖諧波減速裝置之內部結構示意圖。如圖所示，本創作諧波減速裝置100包含一殼體110，一第一齒輪120，一第二齒輪130，及一驅動單元140。第一齒輪120具有一第一數目之嚙合齒。第二齒輪130係固定於殼體110上，且第二齒輪130具有一第二數目之嚙合齒。第二數目係相異於第一數目。驅動單元140係包含一承載座142及複數個第三齒輪144。第三齒輪144係以可轉動之方式固定於承載座142上，且每一第三齒輪144係和第一齒輪120及第二齒輪130同時嚙合。Please refer to both Figure 1 and Figure 2. Fig. 1 is an exploded view of the first embodiment of the inventive harmonic reduction device. Fig. 2 is a schematic view showing the internal structure of the harmonic reduction device of Fig. 1. As shown, the present harmonic reduction device 100 includes a housing 110, a first gear 120, a second gear 130, and a drive unit 140. The first gear 120 has a first number of meshing teeth. The second gear 130 is fixed to the housing 110, and the second gear 130 has a second number of meshing teeth. The second number is different from the first number. The driving unit 140 includes a carrier 142 and a plurality of third gears 144. The third gear 144 is rotatably fixed to the carrier 142, and each of the third gears 144 is simultaneously meshed with the first gear 120 and the second gear 130.
於本實施例中，第一齒輪120及第二齒輪130係為內齒輪，而第三齒輪144係為外齒輪。第一齒輪120及第二齒輪130之分度圓直徑係為相同，且第一齒輪120及第二齒輪130係具有相同之中心線。第三齒輪144之分度圓直徑皆小於第一齒輪120之分度圓直徑及第二齒輪130之分度圓直徑。第一齒輪120、第二齒輪130及第三齒輪144皆係剛性齒輪。承載座142可耦接於一動力源(例如馬達)，而第一齒輪120可耦接於一動力輸出軸以輸出動力。In the embodiment, the first gear 120 and the second gear 130 are internal gears, and the third gear 144 is an external gear. The pitch circle diameters of the first gear 120 and the second gear 130 are the same, and the first gear 120 and the second gear 130 have the same center line. The index circle diameter of the third gear 144 is smaller than the pitch circle diameter of the first gear 120 and the index circle diameter of the second gear 130. The first gear 120, the second gear 130, and the third gear 144 are both rigid gears. The carrier 142 can be coupled to a power source (eg, a motor), and the first gear 120 can be coupled to a power output shaft to output power.
依據上述本實施例之配置，當動力源驅動承載座142轉動時會改變第三齒輪144和第一及第二齒輪120、130之嚙合位置，進而驅動第一齒輪120轉動一動力輸出軸用以輸出動力。舉例來說，第一數目和第二數目相差4，因此第三齒輪144每間隔90度圓周角可和第一齒輪120及第二齒輪130同時嚙合。當承載座142轉動時，第三齒輪144會繞著第一齒輪120及第二齒輪130之內側轉動，進而改變第三齒輪144和第一及第二齒輪120、130之嚙合位置。當承載座142轉一圈時，由於第二齒輪130係固定於殼體110上而不轉動，且第一齒輪120和第二齒輪130相差4個嚙合齒，第一齒輪120會相對第二齒輪130轉動4個嚙合齒之圓周角。因此諧波減速裝置100之減速比是第一齒輪120之嚙合齒數目除以第一齒輪120及第二齒輪130之嚙合齒數目之差，當第一齒輪120之嚙合齒數目較多且第一齒輪120及第二齒輪130之嚙合齒數目差異較少時，本創作諧波減速裝置100可得到相當高之減速比。According to the configuration of the embodiment, when the power source driving carrier 142 rotates, the meshing position of the third gear 144 and the first and second gears 120, 130 is changed, thereby driving the first gear 120 to rotate a power output shaft for Output power. For example, the first number and the second number differ by 4, so the third gear 144 can simultaneously mesh with the first gear 120 and the second gear 130 every 90 degree circumferential angle. When the carrier 142 is rotated, the third gear 144 rotates around the inner sides of the first gear 120 and the second gear 130, thereby changing the meshing position of the third gear 144 and the first and second gears 120, 130. When the carrier 142 rotates one turn, since the second gear 130 is fixed on the housing 110 without rotating, and the first gear 120 and the second gear 130 are different from each other by 4 meshing teeth, the first gear 120 is opposite to the second gear. 130 rotates the circumferential angle of the four meshing teeth. Therefore, the reduction ratio of the harmonic reduction device 100 is the difference between the number of meshing teeth of the first gear 120 divided by the number of meshing teeth of the first gear 120 and the second gear 130. When the number of meshing teeth of the first gear 120 is large and the first When the difference in the number of meshing teeth between the gear 120 and the second gear 130 is small, the present harmonic reduction device 100 can obtain a relatively high reduction ratio.
請同時參考第3圖及第4圖。第3圖為本創作諧波減速裝置之第二實施例的爆炸圖。第4圖為第3圖諧波減速裝置之內部結構示意圖。如圖所示，本創作諧波減速裝置200包含一殼體210，一第一齒輪220，一第二齒輪230，及一驅動單元240。第一齒輪220具有一第一數目之嚙合齒。第二齒輪230係固定於殼體210上，且第二齒輪230具有一第二數目之嚙合齒。第二數目係相異於第一數目。驅動單元240包含一承載座242及複數個第三齒輪244。第三齒輪244係以可轉動之方式固定於承載座242上，且每一第三齒輪244係和第一齒輪220及第二齒輪230同時嚙合。Please also refer to Figures 3 and 4. Fig. 3 is an exploded view of the second embodiment of the creation harmonic reduction device. Fig. 4 is a schematic view showing the internal structure of the harmonic reduction device of Fig. 3. As shown, the present harmonic reduction device 200 includes a housing 210, a first gear 220, a second gear 230, and a drive unit 240. The first gear 220 has a first number of meshing teeth. The second gear 230 is fixed to the housing 210, and the second gear 230 has a second number of meshing teeth. The second number is different from the first number. The driving unit 240 includes a carrier 242 and a plurality of third gears 244. The third gear 244 is rotatably fixed to the carrier 242, and each of the third gears 244 is simultaneously meshed with the first gear 220 and the second gear 230.
相異於第一實施例，本創作第二實施例之第一齒輪220及第 二齒輪230係為外齒輪。另外，相似地，第三齒輪230係外齒輪。第一齒輪220及第二齒輪230之分度圓直徑相同，且第一齒輪220及第二齒輪230具有相同之中心線。第一齒輪220、第二齒輪230及第三齒輪240皆係剛性齒輪。承載座242可耦接於一動力源(例如馬達)，而第一齒輪220可耦接於一動力輸出軸以輸出動力。Different from the first embodiment, the first gear 220 and the second embodiment of the second embodiment of the present invention The second gear 230 is an external gear. In addition, similarly, the third gear 230 is an external gear. The first gear 220 and the second gear 230 have the same graduation circle diameter, and the first gear 220 and the second gear 230 have the same center line. The first gear 220, the second gear 230, and the third gear 240 are all rigid gears. The carrier 242 can be coupled to a power source (eg, a motor), and the first gear 220 can be coupled to a power output shaft to output power.
依據上述配置，當動力源驅動承載座242轉動時會改變第三齒輪244和第一及第二齒輪220、230之嚙合位置，進而驅動第一齒輪220轉動一動力輸出軸用以輸出動力。舉例來說，在上述實施例中，第一數目和第二數目相差4，因此第三齒輪244每間隔90度圓周角可和第一齒輪220及第二齒輪230同時嚙合。當承載座242轉動時，第三齒輪244會繞著第一齒輪220及第二齒輪230之外側轉動，進而改變第三齒輪244和第一及第二齒輪220、230之嚙合位置。當承載座242轉一圈時，由於第二齒輪230係固定於殼體210上而不轉動，且第一齒輪220和第二齒輪230相差4個嚙合齒，第一齒輪220會相對第二齒輪230轉動4個嚙合齒之圓周角。因此，諧波減速裝置200之減速比亦是第一齒輪220之嚙合齒數目除以第一齒輪220及第二齒輪230之嚙合齒數目之差，當第一齒輪220之嚙合齒數目較多且第一齒輪220及第二齒輪230之嚙合齒數目差異較少時，本創作諧波減速裝置200可得到相當高之減速比。According to the above configuration, when the power source driving carrier 242 rotates, the meshing position of the third gear 244 and the first and second gears 220, 230 is changed, thereby driving the first gear 220 to rotate a power output shaft for outputting power. For example, in the above embodiment, the first number and the second number differ by 4, so that the third gear 244 can simultaneously mesh with the first gear 220 and the second gear 230 every 90 degree circumferential angle. When the carrier 242 is rotated, the third gear 244 rotates around the outer sides of the first gear 220 and the second gear 230, thereby changing the meshing position of the third gear 244 and the first and second gears 220, 230. When the carrier 242 rotates one turn, since the second gear 230 is fixed on the housing 210 without rotating, and the first gear 220 and the second gear 230 are different from each other by 4 meshing teeth, the first gear 220 is opposite to the second gear. 230 rotates the circumferential angle of the four meshing teeth. Therefore, the reduction ratio of the harmonic reduction device 200 is also the difference between the number of meshing teeth of the first gear 220 divided by the number of meshing teeth of the first gear 220 and the second gear 230, and the number of meshing teeth of the first gear 220 is large and When the difference in the number of meshing teeth of the first gear 220 and the second gear 230 is small, the present harmonic reduction device 200 can obtain a relatively high reduction ratio.
在本創作實施例中，第一數目和第二數目最小可相差2，且第一數目和第二數目相差之數目可為奇數或偶數。第三齒輪之數目係相同於或小於第一數目和第二數目相差之數目，且第三齒輪係間隔相同之圓周角。舉例來說，當第一數目和第二數目相差3時，本創作諧波減速裝置可利用三個第三齒輪來驅動第一齒輪轉動，且第三齒輪每間隔120度圓周角可和第一齒輪及第二齒輪同時嚙合。In the present creative embodiment, the first number and the second number may differ by a minimum of two, and the number of the first number and the second number may be odd or even. The number of third gears is the same or smaller than the number of first and second numbers, and the third gear train is spaced apart by the same circumferential angle. For example, when the first number and the second number differ by 3, the present harmonic deceleration device can utilize three third gears to drive the first gear rotation, and the third gear can be first and every 120 degrees circumferential angle The gear and the second gear mesh simultaneously.
相較於習知諧波減速器，本創作諧波減速裝置係利用剛性齒輪來達到高減速比，因此本創作諧波減速裝置較堅固而不易損壞。另外，剛性齒輪之製程較簡單，因此本創作諧波減速裝置容易加工製造，且良率較高。再者，本創作諧波減速器之第一齒輪及第二齒輪之嚙合齒相差之數目可為奇數或偶數，因此本創作諧波減速器之減速比較具彈性。Compared with the conventional harmonic reducer, the present harmonic reduction device uses a rigid gear to achieve a high reduction ratio, so the harmonic reduction device of the present invention is relatively strong and not easily damaged. In addition, the process of the rigid gear is relatively simple, so the harmonic reduction device of the present invention is easy to manufacture and has a high yield. Furthermore, the number of the meshing teeth of the first gear and the second gear of the harmonic reducer of the present invention may be odd or even, so the deceleration of the harmonic reducer of the present invention is relatively flexible.
以上所述僅為本創作之較佳實施例，凡依本創作申請專利範圍所做之均等變化與修飾，皆應屬本創作之涵蓋範圍。The above descriptions are only preferred embodiments of the present invention, and all changes and modifications made by the scope of the patent application of the present invention should be covered by the present invention.
100‧‧‧諧波減速裝置100‧‧‧ harmonic deceleration device
110‧‧‧殼體110‧‧‧shell
120‧‧‧第一齒輪120‧‧‧First gear
130‧‧‧第二齒輪130‧‧‧second gear
140‧‧‧驅動單元140‧‧‧Drive unit
142‧‧‧承載座142‧‧‧ bearing seat
144‧‧‧第三齒輪144‧‧‧ Third gear
Claims (8)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102201310U TWM455101U (en) | 2013-01-21 | 2013-01-21 | Harmonic drive |
| CN 201320206077 CN203257987U (en) | 2013-01-21 | 2013-04-22 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102201310U TWM455101U (en) | 2013-01-21 | 2013-01-21 | Harmonic drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TWM455101U true TWM455101U (en) | 2013-06-11 |
Family
ID=49031115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102201310U TWM455101U (en) | 2013-01-21 | 2013-01-21 | Harmonic drive |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN203257987U (en) |
| TW (1) | TWM455101U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI570340B (en) * | 2015-06-23 | 2017-02-11 | 諧波創新科技股份有限公司 | Advanced planetary reducer |
| TWI675161B (en) * | 2018-06-04 | 2019-10-21 | 諧波創新科技股份有限公司 | A speed reducer with inner teeth flexspline |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201430239A (en) * | 2013-01-21 | 2014-08-01 | Harmonic Innovation Technology Co Ltd | Harmonic drive |
-
2013
- 2013-01-21 TW TW102201310U patent/TWM455101U/en not_active IP Right Cessation
- 2013-04-22 CN CN 201320206077 patent/CN203257987U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI570340B (en) * | 2015-06-23 | 2017-02-11 | 諧波創新科技股份有限公司 | Advanced planetary reducer |
| TWI675161B (en) * | 2018-06-04 | 2019-10-21 | 諧波創新科技股份有限公司 | A speed reducer with inner teeth flexspline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN203257987U (en) | 2013-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101614265B (en) | Composite wave gear drive | |
| TWI481788B (en) | Two-stage cycloidal speed reducer with high reduction ratio | |
| JPWO2015001974A1 (en) | Wave gear device | |
| JP2011237026A (en) | Planetary gear speed reducer | |
| JPWO2015004693A1 (en) | Wave generator and wave gear device | |
| JPWO2012029756A1 (en) | Multistage reducer | |
| CN103939532A (en) | Harmonic speed reducer | |
| TWM455101U (en) | Harmonic drive | |
| JP2012112524A5 (en) | ||
| TW201430240A (en) | Harmonic drive | |
| JPWO2015045008A1 (en) | Wave gear device | |
| CN202707948U (en) | Harmonic reducer with fixed gear wheel | |
| TW201430239A (en) | Harmonic drive | |
| JP2014173708A (en) | Planetary gear device | |
| JP2013002601A (en) | Transmission of epicyclic gear train including speed reduction ratio of worm gear reduction mechanism | |
| US20140323264A1 (en) | Harmonic drive | |
| CN203257991U (en) | Harmonic wave speed reducer | |
| JP6411743B2 (en) | Differential reducer | |
| JPH02245543A (en) | Change gear | |
| WO2019200899A1 (en) | Novel planetary gear reducer | |
| TWM455102U (en) | Harmonic drive embeded with external rotation type motor | |
| TWM457102U (en) | Harmonic drive | |
| KR101779103B1 (en) | Planetary gear train | |
| JP2009197993A (en) | Reduction gear | |
| CN202768775U (en) | Flexspline structure of harmonic speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MK4K | Expiration of patent term of a granted utility model |