WO2020087924A1 - 谐波减速总成及波发生器 - Google Patents

谐波减速总成及波发生器 Download PDF

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Publication number
WO2020087924A1
WO2020087924A1 PCT/CN2019/090048 CN2019090048W WO2020087924A1 WO 2020087924 A1 WO2020087924 A1 WO 2020087924A1 CN 2019090048 W CN2019090048 W CN 2019090048W WO 2020087924 A1 WO2020087924 A1 WO 2020087924A1
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Prior art keywords
ring gear
output
wave generator
rotating wheel
fixed ring
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PCT/CN2019/090048
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English (en)
French (fr)
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高克
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高克
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Publication of WO2020087924A1 publication Critical patent/WO2020087924A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions

Definitions

  • the invention relates to a deceleration assembly, in particular to a harmonic deceleration assembly and wave generator.
  • the reducer is a power transmission mechanism, often used as a deceleration transmission device between the prime mover and the working machine.
  • the traditional reducer uses the speed conversion function of the gear to reduce the number of revolutions of the prime mover to the required number of revolutions, and obtain a large torque.
  • the speed reducer in the prior art includes a gear drive, a worm gear drive, etc., but the speed reducer in the prior art has a small transmission ratio and low accuracy.
  • the harmonic reducer is a new type of reducer developed by using the flexible deformation of the flexible element to transfer motion and power as the transmission principle.
  • harmonic transmission is a mechanical transmission composed of three basic components: wave generator, flexible wheel (flexible part) and rigid wheel (rigid part).
  • This transmission is under the action of a wave generator.
  • Harmonic transmission causes the flexible member to elastically deform and interact with the rigid member to achieve the purpose of transmitting motion or power.
  • the wave generator makes one revolution, and the number of cyclic deformations at a certain point on the flexible part is called wave number.
  • the deformation process of the flexible part is a basically symmetrical harmonic, so it is called a harmonic drive.
  • the characteristics of the harmonic drive are the advantages of large transmission ratio, smooth transmission, high transmission precision and small backlash.
  • the wave generator When the wave generator rotates, it will drive the flexible wheel to produce periodic deformation, so that different parts of the flexible wheel periodically mesh with the rigid wheel. After a long period of use, the flexible wheel is prone to twisting and deformation during work, thus The entire component needs to be replaced, resulting in inconvenient maintenance and greater maintenance costs.
  • the wave generator includes a cam and a flexible bearing.
  • the inner ring of the flexible bearing is set on the outer side of the cam.
  • the outer ring of the flexible bearing cooperates with the inner side of the flexible wheel.
  • the cam rotates, it can drive the flexible bearing to rotate and produce periodic deformation.
  • the flexible bearing The periodic deformation of will drive the flexible wheel to produce periodic deformation.
  • the disadvantage is that the flexible bearing is prone to failure and damage due to continuous cyclic deformation during the work process, so the entire flexible bearing needs to be replaced, resulting in inconvenient maintenance and greater maintenance cost.
  • the object of the present invention is to provide a harmonic deceleration assembly and wave generator which are not only compact in structure and low in cost, but also difficult to deform and cause failure.
  • the first technical solution of the present invention is: a harmonic deceleration assembly, including a harmonic deceleration unit, and its innovation lies in:
  • the harmonic reduction unit includes a box body, a fixed ring gear, a flexible wheel, a moving ring gear, and a wave generator.
  • the fixed ring gear is provided in the box body, and the fixed ring gear and the box body are fixedly connected or integrated with each other.
  • the moving ring gear is provided on one side of the fixed ring gear, and the wave generator is installed in the flex wheel and is rotationally connected to the flex wheel, and the flex wheel simultaneously meshes with the fixed ring gear and the moving ring gear.
  • the wave generator includes an elliptical runner, and the runner is provided with a shaft hole, and a plurality of rollers are provided on the outer peripheral wall of the runner and along its axial direction Needle groove, a needle roller is provided in the needle roller groove of the rotating wheel, and the wheel is disposed in the flexible wheel, and the needle roller in the needle roller groove is rotatably connected with the flexible wheel.
  • the runner of the wave generator further includes a transmission shaft integrally or fixedly connected with each other, and the shaft hole is provided on the transmission shaft, and a keyway is provided on the inner wall of the shaft hole.
  • the number of teeth of the flexible gear is less than the number of teeth of the fixed ring gear, and the tooth difference between the two is 1 to 5; the tooth difference between the fixed ring gear and the moving ring gear is 1 to 5 .
  • the box also includes an input flange, an output component and an output flange.
  • the two ends of the box are respectively fixedly connected to the input flange and the output flange, and the input flange is located in the wave generator Outside, the output flange is located outside the moving ring gear, and the output member is fixedly connected to the moving ring gear or integrated with each other.
  • the input flange is provided with an axial stepped hole, the drive shaft is supported in the input flange through the input bearing, the input flange is provided with an input oil seal, and the input oil seal is located on the input bearing Outside.
  • the output member is an output shaft, the output member and the movable ring gear are integrated or fixedly connected to each other, and the output member is rotatably supported in the output flange through the output bearing, the output method There is an output oil seal in the orchid, the output oil seal is located on the outside of the output bearing.
  • a limiting piece is provided between the inner side wall of the input flange and the rotating wheel.
  • the second technical solution of the present invention is: a wave generator whose innovation lies in that it includes a rotating wheel and a transmission shaft that are integrated or fixedly connected to each other, and the outer wall of the rotating wheel and along A plurality of needle roller grooves are provided in the axial direction, and needle rollers are provided in the needle roller grooves of the rotating wheel.
  • the runner is oval or triangular.
  • the positive effect of the present invention is: after adopting the harmonic reduction assembly of the present invention, since the harmonic reduction unit of the present invention includes a box body, a fixed ring gear, a flexible wheel, a moving ring gear and a wave generator, the The fixed ring gear is set in the box body, and the fixed ring gear is fixedly connected to the box body or integrated with each other, the movable ring gear is provided on one side of the fixed ring gear, and the wave generator is installed in the flexible wheel and rotationally connected thereto , The flexible wheel meshes with the fixed ring gear and the moving ring gear at the same time.
  • the two ends of the box are respectively fixedly connected to the box of the motor and the box of the working machine, and the motor shaft is connected with the wave generator to drive
  • the ring gear is drivingly connected to the working machine
  • the wave generator includes a rotating wheel and a transmission shaft that are integrated or fixedly connected to each other, and a plurality of needle roller grooves are provided on the outer peripheral wall of the rotating wheel and along its axial direction.
  • the needle roller groove of the rotating wheel is provided with a needle roller
  • the present invention uses the rotating wheel of the wave generator in the prior art and the flexible bearing as an integral component, that is, it replaces the inner ring sleeve of the flexible bearing in the prior art and is disposed outside the cam
  • the technical method of matching the outer ring of the flexible bearing with the inner side of the flexible wheel Not only the structure is simplified, making the structure more compact, reduces the manufacturing cost price, but not easily deformed and cause failure, greatly extend the service life.
  • FIG. 1 is a schematic structural view of a specific implementation of a harmonic reduction assembly of the present invention
  • Figure 2 is a perspective schematic view of the present invention
  • FIG. 3 is a schematic diagram of the stereo structure of the wave generator of the present invention.
  • FIG. 4 is a schematic diagram of the principle of the harmonic drive of the present invention.
  • a harmonic reduction assembly includes a harmonic reduction unit 2,
  • the harmonic reduction unit 2 includes a box body 21, a fixed ring gear 22, a flexible gear 23, a moving ring gear 24, and a wave generator 25.
  • the fixed ring gear 22 is provided in the box body 21, and the fixed ring gear 22 and The box 21 is fixedly connected or integrated with each other, the movable ring gear 24 is provided on one side of the fixed ring gear 22, the wave generator 25 is installed in the flexible wheel 23 and is rotationally connected thereto, the flexible wheel 23 is simultaneously connected with The fixed ring gear 22 and the movable ring gear 24 mesh.
  • the wave generator 25 includes an elliptical runner 251, and the runner 251 is provided with a shaft hole 255, and the outer peripheral wall of the runner 251 There are a plurality of needle grooves 253 along the axial direction thereof, the needle grooves 253 of the rotating wheel 251 are provided with needle rollers, and the wheel 251 is provided in the flexible wheel 23, and the needle grooves 253 The needle roller is connected with the flexible wheel 23 in rotation.
  • the wave generator 25 of the present invention reduces the bearing seat and other components, not only is the structure simpler, but also more convenient to use, and reduces the manufacturing cost.
  • the rotating wheel 251 of the wave generator 25 further includes a transmission shaft 252 integrally or fixedly connected to each other, and a shaft hole 255 is provided on the transmission shaft 252, the shaft hole The inner wall of 255 is provided with a keyway 256.
  • the motor shaft is matched with the keyway 256 of the shaft hole 255.
  • the motor shaft can also be connected to the shaft hole 255 of the runner 251 through the fixing member Set tightly as one.
  • the number of teeth of the flexible wheel 23 of the present invention is less than that of the fixed ring gear 22, and the difference between the two is 1 to 5 ;
  • the tooth difference between the fixed ring gear 22 and the moving ring gear 24 is 1 to 5.
  • the number of teeth of the flexible wheel 23 according to the present invention is less than the number of teeth of the fixed ring gear 22 and also the number of teeth of the movable ring gear 24.
  • the present invention further includes an input flange 1, an output member 3 and an output flange 4.
  • the two ends of the box 21 are respectively It is fixedly connected to the input flange 1 and the output flange 4, the input flange 1 is located outside the wave generator 25, the output flange 4 is located outside the movable ring gear 24, and the output member 3 is fixed to the movable ring gear 24 Connected or integrated.
  • the input flange 1 is provided with an axial stepped hole 12, and the drive shaft 252 is supported in the input flange 1 through an input bearing 254, and the input flange
  • the input oil seal 11 is provided inside 1, and the input oil seal 11 is located outside the input bearing 254.
  • the output member 3 is an output shaft, the output member 3 and the movable ring gear 24 are integrated or fixedly connected to each other, and the output member 3 passes through the output bearing 26 It is rotatably supported in the output flange 4.
  • the output flange 4 is provided with an output oil seal 41, which is located outside the output bearing 26.
  • the output shaft is rotatably supported in the output flange 4 through two output bearings 26.
  • the structure is not limited to this, and the movable ring gear 24 may be provided with a shaft hole, And the output member is connected to the shaft hole, the shaft hole 255 on the rotating wheel 251 of the wave generator 25 communicates with the shaft hole on the moving ring gear 24, and the shaft hole 255 of the rotating wheel 251 and the shaft of the moving ring gear 24
  • the holes have the same axis.
  • a limiting piece 27 is provided between the inner side wall of the input flange 1 and the runner 251.
  • a wave generator includes a rotating wheel 251 and a transmission shaft 252 which are integral or fixedly connected to each other, and a plurality of needle roller grooves are provided on the outer peripheral wall of the rotating wheel 251 and along its axial direction 253.
  • a needle roller is provided in the needle groove 253 of the rotating wheel 251.
  • the rotating wheel 251 is oval or triangular.
  • the outer circumference of the rotating wheel 251 may be provided with a ball groove, and the ball groove is provided with a ball.
  • the input flange 1 and the output flange 4 at the two ends of the box 21 are fixedly connected to the box of the motor and the box of the working machine, and the motor shaft is connected to the drive shaft 25 of the wave generator 25 (Or the motor shaft is connected to the shaft hole provided in the runner of the wave generator), the output member 3 is connected to the working machine (or the working machine is connected to the shaft hole provided in the moving ring gear 24), wherein
  • the wave generator includes a rotating wheel and a transmission shaft that are integral with each other or fixedly connected, and a plurality of needle roller grooves are provided on the outer peripheral wall of the rotating wheel along the axial direction thereof, and the needle roller grooves of the rotating wheel are provided Rolling pin.
  • the present invention regards the runner of the wave generator and the flexible bearing in the prior art as an integral component, that is, it replaces the inner ring of the flexible bearing in the prior art which is arranged on the outside of the cam and the outer ring of the flexible bearing and the inside of the flexible wheel cooperate
  • the technical solution not only simplifies the structure, makes the structure more compact and reduces the cost of manufacturing, but also is not prone to deformation and failure, which greatly extends the service life.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种谐波减速总成及波发生器（25），所述谐波减速总成包括谐波减速单元（2），所述谐波减速单元（2）包括箱体（21）、定齿圈（22）、柔轮（23）、动齿圈（24）和波发生器（25），所述定齿圈（22）设在箱体（21）内，且定齿圈（22）与箱体（21）固定连接或互为一体，所述动齿圈（24）设在定齿圈（22）的一侧，所述波发生器（25）安装在柔轮（23）内并与其转动连接，所述柔轮（23）同时与定齿圈（22）和动齿圈（24）啮合。其中，波发生器（25）包括互为一体或固定连接的转轮（251）和传动轴（252），所述转轮（251）的外周壁上且沿其轴向方向设有多个滚针槽（253）。所述谐波减速总成不仅结构紧凑、造价成本低，且不易变形及造成失效。

Description

谐波减速总成及波发生器 技术领域
本发明涉及一种减速总成，具体涉及一种谐波减速总成及波发生器。
背景技术
减速机是一种动力传递机构，常用作原动机与工作机之间的减速传动装置。传统减速机利用齿轮的速度转换功能，将原动机的回转数减速至所需要的回转数，并且获得得到较大转矩。已有技术中的的减速机包括齿轮传动、涡轮蜗杆传动等，但是已有技术中的减速机存有传动比小、精度低。随着技术不断发展，谐波减速机是以一种利用柔性元件可控的弹性变形来传递运动和动力为传动原理发展起来的一种新型减速机。
该种新型减速机是利用谐波传动，谐波传动是由波发生器、柔轮(柔性件)和刚轮(刚性件)三个基本构件组成的机械传动。这种传动是在波发生器的作用下，谐波传动使柔性件产生弹性变形并与刚性件相互作用而达到传递运动或动力的目的。在传动中波发生器回转一周，柔性件上某一点循环变形的次数称波数。柔性件的变形过程是一个基本对称的谐波，故称为谐波传动。谐波传动的特点是，传动比大、传动平稳、传动精度高以及回差小等优点，
当波发生器转动时，会带动柔轮产生周期性的变形，使柔轮的不同部位周期性的与刚轮啮合，长时间使用后，柔轮容易因在工作过程中易发生扭曲变形，从而需要更换整个部件，造成维修不便以及维修成本较大。另外，波发生器包含凸轮和柔性轴承，柔性轴承内圈套设在凸轮的外侧，柔性轴承的外圈与柔轮的内侧配合，当凸轮转动时能够带动柔性轴承转动并且产生周期性变形，柔性轴承的周期性变形会带动柔轮产生周期性变形。其不足之处在于，柔性轴承容易因在工作过程中不断的循环变形而失效破坏，从而需要更换整个柔性轴承，造成维修不便以及维修成本较大。
发明内容
本发明的目的是：提供一种不仅结构紧凑、造价成本低，而且不易变形及造成失效的谐波减速总成及波发生器。
为了达到上述目的，本发明的第一个技术方案是：一种谐波减速总成，包括谐波减速单元，其创新点在于：
所述谐波减速单元包括箱体、定齿圈、柔轮、动齿圈和波发生器，所述定齿圈设在箱体内，且定齿圈与箱体固定连接或互为一体，所述动齿圈设在定齿圈的一侧，所述波发生器安装在 柔轮内并与其转动连接，所述柔轮同时与定齿圈和动齿圈啮合。
在上述第一个技术方案中，所述波发生器包括呈椭圆形的转轮，且转轮上设有轴孔，所述转轮的外周壁上且沿其轴向方向设有多个滚针槽，所述转轮的滚针槽内设有滚针，且转轮设在柔轮内，所述滚针槽内的滚针与柔轮转动连接。
在上述第一个技术方案中，所述波发生器的转轮还包括与其互为一体或固定连接的传动轴，且轴孔设在传动轴上，轴孔内的内壁上设有键槽。
在上述第一个技术方案中，所述柔轮的齿数少于定齿圈的齿数，且两者的齿差为1～5；所述定齿圈与动齿圈的齿差为1～5。
在上述第一个技术方案中，还包括输入法兰、输出部件和输出法兰，所述箱体的两端分别与输入法兰和输出法兰固定连接，所述输入法兰位于波发生器的外侧，输出法兰位于动齿圈的外侧，所述输出部件与动齿圈固定连接或互为一体。
在上述第一个技术方案中，所述输入法兰设有轴向台阶孔，传动轴通过输入轴承支撑在输入法兰内，所述输入法兰内设有输入油封，且输入油封位于输入轴承的外侧。
在上述第一个技术方案中，所述输出部件是输出轴，所述输出部件与动齿圈互为一体或固定连接，且输出部件通过输出轴承转动支撑在输出法兰内，所述输出法兰内设有输出油封，输出油封位于输出轴承的外侧。
在上述第一个技术方案中，所述输入法兰的内侧壁与转轮之间设有限位片。
为了达到上述目的，本发明的第二个技术方案是：一种波发生器，其创新点在于：包括互为一体或固定连接的转轮和传动轴，所述转轮的外周壁上且沿其轴向方向设有多个滚针槽，所述转轮的滚针槽内设有滚针。
在上述第二个技术方案中，所述转轮为椭圆形或三角形。
本发明所具有的积极效果是：采用本发明的谐波减速总成后，由于本发明所述谐波减速单元包括箱体、定齿圈、柔轮、动齿圈和波发生器，所述定齿圈设在箱体内，且定齿圈与箱体固定连接或互为一体，所述动齿圈设在定齿圈的一侧，所述波发生器安装在柔轮内并与其转动连接，所述柔轮同时与定齿圈和动齿圈啮合，使用时，箱体的两端分别与电机的箱体和工作机的箱体固定连接，且电机轴与波发生器传动连接，动齿圈与工作机传动连接，其中，波发生器包括互为一体或固定连接的转轮和传动轴，所述转轮的外周壁上且沿其轴向方向设有多个滚针槽，所述转轮的滚针槽内设有滚针，本发明将已有技术中波发生器的转轮与柔性轴承作为一个整体部件，即取代了已有技术中柔性轴承内圈套设在凸轮的外侧以及柔性轴承的外圈与柔轮的内侧配合的技术方案，不仅结构简化了，使得结构更加紧凑、降低了造 价成本，而且不易发生形变及造成失效，大大延长了使用寿命。
附图说明
图1是本发明的一种谐波减速总成具体实施方式的结构示意图；
图2是本发明的立体示意图；
图3是本发明的波发生器的立体结构示意图；
图4是本发明谐波传动的原理示意图。
具体实施方式
以下结合附图以及给出的实施例，对本发明作进一步的说明，但并不局限于此。
实施例1
如图1、2、3、4所示，一种谐波减速总成，包括谐波减速单元2，
所述谐波减速单元2包括箱体21、定齿圈22、柔轮23、动齿圈24和波发生器25，所述定齿圈22设在箱体21内，且定齿圈22与箱体21固定连接或互为一体，所述动齿圈24设在定齿圈22的一侧，所述波发生器25安装在柔轮23内并与其转动连接，所述柔轮23同时与定齿圈22和动齿圈24啮合。
如图1、3所示，为了简化波发生器的结构，所述波发生器25包括呈椭圆形的转轮251，且转轮251上设有轴孔255，所述转轮251的外周壁上且沿其轴向方向设有多个滚针槽253，所述转轮251的滚针槽253内设有滚针，且转轮251设在柔轮23内，所述滚针槽253内的滚针与柔轮23转动连接。本发明波发生器25减少了轴承座等部件，不仅结构更加简单，使用也更加方便，而且降低了造价成本。
如图3所示，为了方便与电机轴连接，所述波发生器25的转轮251还包括与其互为一体或固定连接的传动轴252，且轴孔255设在传动轴252上，轴孔255内的内壁上设有键槽256，使用时，电机轴与轴孔255的键槽256配合，当然，并不局限于此，所述电机轴也可以通过紧定部件与转轮251的轴孔255紧定为一体。
为了防止柔轮23和定齿圈22以及动齿圈24在啮合过程中发生干涉，本发明所述柔轮23的齿数少于定齿圈22的齿数，且两者的齿差为1～5；所述定齿圈22与动齿圈24的齿差为1～5。本发明所述柔轮23的齿数少于定齿圈22的齿数，同时也少于动齿圈24的齿数。
如图1、2所示，为了方便与电机箱体和工作机的箱体固定连接，本发明还包括输入法兰1、输出部件3和输出法兰4，所述箱体21的两端分别与输入法兰1和输出法兰4固定连接，所述输入法兰1位于波发生器25的外侧，输出法兰4位于动齿圈24的外侧，所述输出部件3与动齿圈24固定连接或互为一体。
如图1所示，为了方便电机轴与传动轴252连接，所述输入法兰1设有轴向台阶孔12，传动轴252通过输入轴承254支撑在输入法兰1内，所述输入法兰1内设有输入油封11，且输入油封11位于输入轴承254的外侧。
如图1所示，为了方便与工作机的输出部件连接，所述输出部件3是输出轴，所述输出部件3与动齿圈24互为一体或固定连接，且输出部件3通过输出轴承26转动支撑在输出法兰4内，所述输出法兰4内设有输出油封41，输出油封41位于输出轴承26的外侧。为了确保输出轴传动的稳定性，所述输出轴通过两个输出轴承26转动支撑在输出法兰4内，当然，结构并不局限于此，所述动齿圈24上可设有轴孔，且输出部件与该轴孔连接，所述波发生器25的转轮251上的轴孔255与动齿圈24上的轴孔相通，且转轮251的轴孔255与动齿圈24的轴孔具有同一轴线。
如图1所示，为了限制波发生器25的滚珠槽内的滚针发生轴向移动，所述输入法兰1的内侧壁与转轮251之间设有限位片27。
实施例2
如图3所示，一种波发生器，包括互为一体或固定连接的转轮251和传动轴252，所述转轮251的外周壁上且沿其轴向方向设有多个滚针槽253，所述转轮251的滚针槽253内设有滚针。所述转轮251为椭圆形或三角形。
当然，本发明的波发生器的结构并不局限于此，所述转轮251的外周也可以设有滚珠槽，且滚珠槽内设有滚珠。
本发明使用时，所述箱体21两端的输入法兰1和输出法兰4分别与电机的箱体和工作机的箱体固定连接，且电机轴与波发生器25的传动轴25传动连接(或者电机轴与波发生器的转轮设有的轴孔相连)，输出部件3与工作机传动连接(或者工作机与动齿圈24设有的轴孔相连)，其中，本发明所述波发生器包括互为一体或固定连接的转轮和传动轴，所述转轮的外周壁上且沿其轴向方向设有多个滚针槽，所述转轮的滚针槽内设有滚针。
本发明将已有技术中波发生器的转轮与柔性轴承作为一个整体部件，即取代了已有技术中柔性轴承内圈套设在凸轮的外侧以及柔性轴承的外圈与柔轮的内侧配合的技术方案，不仅结构简化了，使得结构更加紧凑、降低了造价成本，而且不易发生形变及造成失效，大大延长了使用寿命。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (10)

  1. 一种谐波减速总成，包括谐波减速单元(2)，其特征在于：
    所述谐波减速单元(2)包括箱体(21)、定齿圈(22)、柔轮(23)、动齿圈(24)和波发生器(25)，所述定齿圈(22)设在箱体(21)内，且定齿圈(22)与箱体(21)固定连接或互为一体，所述动齿圈(24)设在定齿圈(22)的一侧，所述波发生器(25)安装在柔轮(23)内并与其转动连接，所述柔轮(23)同时与定齿圈(22)和动齿圈(24)啮合。
  2. 根据权利要求1所述的谐波减速总成，其特征在于：所述波发生器(25)包括呈椭圆形的转轮(251)，且转轮(251)上设有轴孔(255)，所述转轮(251)的外周壁上且沿其轴向方向设有多个滚针槽(253)，所述转轮(251)的滚针槽(253)内设有滚针，且转轮(251)设在柔轮(23)内，所述滚针槽(253)内的滚针与柔轮(23)转动连接。
  3. 根据权利要求2所述的谐波减速总成，其特征在于：所述波发生器(25)的转轮(251)还包括与其互为一体或固定连接的传动轴(252)，且轴孔(255)设在传动轴(252)上，轴孔(255)内的内壁上设有键槽(256)。
  4. 根据权利要求1所述的谐波减速总成，其特征在于：所述柔轮(23)的齿数少于定齿圈(22)的齿数，且两者的齿差为1～5；所述定齿圈(22)与动齿圈(24)的齿差为1～5。
  5. 根据权利要求2所述的谐波减速总成，其特征在于：还包括输入法兰(1)、输出部件(3)和输出法兰(4)，所述箱体(21)的两端分别与输入法兰(1)和输出法兰(4)固定连接，所述输入法兰(1)位于波发生器(25)的外侧，输出法兰(4)位于动齿圈(24)的外侧，所述输出部件(3)与动齿圈(24)固定连接或互为一体。
  6. 根据权利要求5所述的谐波减速总成，其特征在于：所述输入法兰(1)设有轴向台阶孔(12)，传动轴(252)通过输入轴承(254)支撑在输入法兰(1)内，所述输入法兰(1)内设有输入油封(11)，且输入油封(11)位于输入轴承(254)的外侧。
  7. 根据权利要求5所述的谐波减速总成，其特征在于：所述输出部件(3)是输出轴，所述输出部件(3)与动齿圈(24)互为一体或固定连接，且输出部件(3)通过输出轴承(26)转动支撑在输出法兰(4)内，所述输出法兰(4)内设有输出油封(41)，输出油封(41)位于输出轴承(26)的外侧。
  8. 根据权利要求5所述的谐波减速总成，其特征在于：所述输入法兰(1)的内侧壁与转轮(251)之间设有限位片(27)。
  9. 一种波发生器，其特征在于：包括互为一体或固定连接的转轮(251)和传动轴(252)，所述转轮(251)的外周壁上且沿其轴向方向设有多个滚针槽(253)，所述转轮(251)的滚针槽(253)内设有滚针。
  10. 根据权利要求9所述的波发生器，其特征在于：所述转轮(251)为椭圆形或三角形。
PCT/CN2019/090048 2018-10-30 2019-06-05 谐波减速总成及波发生器 WO2020087924A1 (zh)

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