CN103671727A - Precision harmonic reducer - Google Patents
Precision harmonic reducer Download PDFInfo
- Publication number
- CN103671727A CN103671727A CN201310617449.8A CN201310617449A CN103671727A CN 103671727 A CN103671727 A CN 103671727A CN 201310617449 A CN201310617449 A CN 201310617449A CN 103671727 A CN103671727 A CN 103671727A
- Authority
- CN
- China
- Prior art keywords
- gear
- speed reducer
- internal gear
- harmonic speed
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/032—Gearboxes; Mounting gearing therein characterised by the materials used
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02091—Measures for reducing weight of gearbox
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02095—Measures for reducing number of parts or components
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a precision harmonic reducer comprising a housing. A wave generator, an inner gear, an outer gear and an output shaft are disposed inside the housing. The inner gear is composed of a thin-walled gear capable of deforming elastically. The precision harmonic reducer is characterized in that the wave generator is sleeved with a rolling bearing which mutually presses against the inner wall of the inner gear; the inner gear and the output shaft are in an integrated structure; when the wave generator rotates, teeth of the inner gear and teeth of the outer gear on the housing are in the cycle of four statues, including engaging-in, meshing, engaging-out, and separating. The precision harmonic reducer is simple in structure, small in size, light in weight, and high in bearing capacity; meanwhile, during application, the precision harmonic reducer is high in moving precision, capable of operating stably, free of shock, low in noise and high in transmission efficiency; compared to the other transmission machines under the same speed, the precision harmonic reducer has higher efficiency.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer, be the accurate harmonic speed reducer that a kind of volume is little, quality is light with being specifically related to.
Background technique
The drive part of the state-of-the-art emulated robot of developing in the world at present, what it all adopted at shank, arm, finger, trunk place is harmonic speed reducer.And the restriction of the form structure of robot finger joint, the space that its inside can be installed and used for retarder is greatly limited, and we can be widely used by the miniature harmonic speed reducer of development.I take charge of design harmonic speed reducer its aspect total volume and weight, with respect to original harmonic speed reducer, all declining to a great extent, it is applied to moon rover, man-made satellite, guided missile, rocket, space manipulator etc. quality and volumetric spaces size is had in the project of requirement significant.
Summary of the invention
Technical problem for above-mentioned existence, the object of the invention is: proposed the accurate harmonic speed reducer that a kind of volume is little, quality is light.
Technical solution of the present invention is achieved in that a kind of accurate harmonic speed reducer, comprises shell, is provided with wave-generator, internal gear, external gear and output shaft in described shell, and described internal gear consists of the thin-wall gear that can produce resiliently deformable; On described wave-generator, be set with rolling bearing, and the inwall of described rolling bearing and internal gear presses mutually; Between described internal gear and output shaft, be arranged to integral structure, and when wave-generator rotates, the tooth on its internal gear and be fixed on engagement between the tooth of external gear on shell successively engaging-in, mesh, nibble out and throw off these four kinds of states in carry out circulation change.
Further, between described output shaft and shell, be provided with 4 angular contact ball bearings.
Further, the shell of this harmonic speed reducer is made by the material of aluminum alloy.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
Accurate harmonic speed reducer described in the present invention program is simple in structure, and volume is little, lightweight, but bearing capacity is large; It is in the process of using simultaneously, and kinematic accuracy is high, and steadily, without impacting, noise is little in motion, and transmission efficiency is high; And on the basis of identical speed ratio, it is compared with other gearings, the harmonic driving of this harmonic speed reducer is because moving element quantity is few, so efficiency is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Accompanying drawing 1 is the sectional view of accurate harmonic speed reducer structural representation of the present invention;
Wherein: 1, shell; 2, wave-generator; 3, internal gear; 4, external gear; 5, output shaft; 6, rolling bearing; 7,4 angular contact ball bearings.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described.
In the practical application of robot, the harmonic speed reducer of normal ratio can not meet the requirement of the installing space of robot deceleration link conventionally, practical experience shows to use miniature harmonic speed reducer under the constant prerequisite of the performance that keeps harmonic speed reducer, compare the more compact structure of normal harmonic speed reducer, volume is less, and quality is lighter.
A kind of accurate harmonic speed reducer as shown in Figure 1, comprises shell 1, is provided with wave-generator 2, internal gear 3, external gear 4 and output shaft 5 in described shell 1, and described internal gear 3 consists of the thin-wall gear that can produce resiliently deformable; On described wave-generator 2, be set with rolling bearing 6, and described rolling bearing 6 presses mutually with the inwall of internal gear 3; Between described internal gear 3 and output shaft 5, be arranged to integral structure, and when wave-generator 2 rotates, the tooth on its internal gear 3 and be fixed on engagement between the tooth of external gear 4 on shell 1 successively engaging-in, mesh, nibble out and throw off these four kinds of states in carry out circulation change.
Accurate harmonic speed reducer of the present invention is in the process of using, and its power is inputted by wave-generator 2, with output shaft 5 outputs that internal gear 3 is wholely set, the direction of rotation of the output of its wave-generator 2 and output shaft 5.It is in the concrete process of using, wave-generator 2 is encased in after internal gear 3, its rolling bearing being set with 6 extruding internal gears 3, force the section of internal gear 3 to become ellipse by original circle, near tooth internal gear 3 its major axis two ends of this structure and the tooth of external gear 4 mesh completely, near tooth minor axis two ends is thrown off completely with external gear A, the transition state of the tooth of other sections on internal gear 3 girths in engagement or disengaging.When wave-generator 2 rotates continuously, the distortion of internal gear 3 constantly changes, internal gear 3 and the engagement of external gear 4 are also constantly changed, specifically by engaging-in, mesh, nibble out, throw off, engaging-in again ... go on so again and again, thereby realize internal gear 3 phase external gear wheels 4 along the rightabout slow circumvolve of wave-generator 2, to reach the transmission of output shaft 5.
The present invention is arranged to integral structure internal gear 3 and output shaft 5, so not only simple in structure, the screw thread (not shown) that facilitates client end to install also can be set on output shaft 5, make this accurate harmonic speed reducer overall structure compacter, and reduced the inevitable cumulative error producing when assembling internal gear 3 and output shaft 5.This accurate harmonic speed reducer is simple in structure, volume is little, lightweight, but bearing capacity is large, this accurate harmonic speed reducer number of teeth of engagement between internal gear 3 and external gear 4 in transmission, the number of teeth of bearing during for its bearing load, when internal gear 3 can be worked with external gear 4 in design like this, meshed gears number increases, to improve the bearing capacity of this accurate harmonic speed reducer; It is in the process of using simultaneously, and kinematic accuracy is high, and steadily, without impacting, noise is little in motion, and transmission efficiency is high; And on the basis of identical speed ratio, it is compared with other gearings, the harmonic driving of this harmonic speed reducer is because moving element quantity is few, so efficiency is high.
As a further improvement on the present invention, between described output shaft 5 and shell 1, be provided with 4 angular contact ball bearings 7.Select 4 angular contact ball bearings 7, it can allow the rotating speed of wave-generator 2 very high, and it is very steady to get into smooth, easy for installation again, can under higher rotation speed, bear very large load.
The shell 1 of this accurate harmonic speed reducer can be arranged to aluminum alloy material, and such harmonic speed reducer, not affecting under its normal prerequisite of using, can greatly alleviate the weight of harmonic speed reducer, and then reach the object of loss of weight.
Above-described embodiment is only explanation technical conceive of the present invention and feature; its object is to allow person skilled in the art can understand content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences that Spirit Essence is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (3)
1. an accurate harmonic speed reducer, comprises shell, is provided with wave-generator, internal gear, external gear and output shaft in described shell, and described internal gear consists of the thin-wall gear that can produce resiliently deformable; It is characterized in that: on described wave-generator, be set with rolling bearing, and the inwall of described rolling bearing and internal gear presses mutually; Between described internal gear and output shaft, be arranged to integral structure, and when wave-generator rotates, the tooth on its internal gear and be fixed on engagement between the tooth of external gear on shell successively engaging-in, mesh, nibble out and throw off these four kinds of states in carry out circulation change.
2. accurate harmonic speed reducer according to claim 1, is characterized in that: between described output shaft and shell, be provided with 4 angular contact ball bearings.
3. accurate harmonic speed reducer according to claim 1, is characterized in that: the shell of this harmonic speed reducer is made by the material of aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310617449.8A CN103671727A (en) | 2013-11-28 | 2013-11-28 | Precision harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310617449.8A CN103671727A (en) | 2013-11-28 | 2013-11-28 | Precision harmonic reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103671727A true CN103671727A (en) | 2014-03-26 |
Family
ID=50310187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310617449.8A Pending CN103671727A (en) | 2013-11-28 | 2013-11-28 | Precision harmonic reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103671727A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003097654A (en) * | 2001-09-26 | 2003-04-03 | Yuichi Kiryu | Flexible gear of harmonic drive reduction unit |
| CN102094959A (en) * | 2011-03-11 | 2011-06-15 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and joint structure of robot |
| CN102734393A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with input shaft |
| CN102777546A (en) * | 2012-07-27 | 2012-11-14 | 哈尔滨工业大学 | Short tube flexible gear harmonic reducer of rigid wheel tooth dip angle and transmission rigidity testing device thereof |
| CN203656058U (en) * | 2013-11-28 | 2014-06-18 | 苏州绿的谐波传动科技有限公司 | Precise type harmonic reducer |
-
2013
- 2013-11-28 CN CN201310617449.8A patent/CN103671727A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003097654A (en) * | 2001-09-26 | 2003-04-03 | Yuichi Kiryu | Flexible gear of harmonic drive reduction unit |
| CN102094959A (en) * | 2011-03-11 | 2011-06-15 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and joint structure of robot |
| CN102734393A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with input shaft |
| CN102777546A (en) * | 2012-07-27 | 2012-11-14 | 哈尔滨工业大学 | Short tube flexible gear harmonic reducer of rigid wheel tooth dip angle and transmission rigidity testing device thereof |
| CN203656058U (en) * | 2013-11-28 | 2014-06-18 | 苏州绿的谐波传动科技有限公司 | Precise type harmonic reducer |
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Application publication date: 20140326 |