CN104791456B - Automatic adjusting gap wave generator for harmonic reducer - Google Patents
Automatic adjusting gap wave generator for harmonic reducer Download PDFInfo
- Publication number
- CN104791456B CN104791456B CN201510199286.5A CN201510199286A CN104791456B CN 104791456 B CN104791456 B CN 104791456B CN 201510199286 A CN201510199286 A CN 201510199286A CN 104791456 B CN104791456 B CN 104791456B
- Authority
- CN
- China
- Prior art keywords
- disc
- connecting disc
- wave generator
- arched
- bosses
- 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.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 36
- 230000000670 limiting effect Effects 0.000 claims description 19
- 230000008093 supporting effect Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000005489 elastic deformation Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The application discloses an automatically regulated clearance wave generator for harmonic reducer, including the connection pad of accessible motor output shaft transmission be equipped with two along its radial symmetry on the quotation of connection pad can with the interior round contact of flexbile gear force flexbile gear elastic deformation's roll portion still be equipped with the end cover that is used for keeping roll portion axial position on the connection pad, roll portion can follow the quotation radial slip of connection pad, be located on the connection pad the inboard of roll portion is equipped with the spring leaf that forces roll portion to paste tight flexbile gear interior round. The automatic adjusting gap wave generator can automatically adjust the external dimension thereof.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to an automatically-adjusted clearance wave generator for a harmonic speed reducer.
Background
Compared with common gear transmission, the harmonic speed reducer has the advantages of small volume, light weight, simple structure, large transmission ratio range, high transmission efficiency, high transmission precision, strong bearing capacity and the like, and is widely applied to the fields of aerospace, industrial robots, machine tool micro-feeding, communication equipment, textile machinery, chemical fiber machinery, differential machinery, medical appliances and the like.
A harmonic reducer is a planetary transmission with small tooth difference and generally comprises a rigid gear, a flexible gear and a wave generator. The outer contour of the wave generator is elliptical and is divided into cam type, roller type or eccentric disc type, a special flexible bearing is usually arranged on the periphery of the cam type wave generator, the diameter of the inner circle of the flexible gear which is not deformed in the length-diameter ratio of the wave generator is large, when the wave generator is arranged in the inner circle of the flexible gear, the flexible gear is forced to elastically deform to be elliptical, so that the external teeth at the long shaft of the flexible gear are in a meshed state with the internal teeth of the rigid gear, and the external teeth at the short shaft of the flexible gear are in a disconnected state with the internal teeth of the rigid gear. The working principle is that when the transmission shaft drives the wave generator to rotate continuously, the flexible gear is forced to deform continuously, so that the teeth of the flexible gear change the original engaged state in a cyclic reciprocating way in the engaged state, the engaged state and the disengaged state, and the staggered tooth movement changes the input high-speed rotation into the output low-speed rotation.
Roller-type wave generators generally include a double roller-type wave generator and a triple roller-type wave generator, but at present, whether the double roller-type wave generator or the triple roller-type wave generator, since the center-to-center distance of the roller is not adjustable, that is, the external dimension of the wave generator is fixed, the following problems often exist: 1. if the specific transmission ratio is required to be met, the manufacturing precision requirement is high, so that the processing technology is complex and the cost is high; 2. when the wave generator is arranged in the flexible gear, the wave generator is inconvenient to install; 3. because the waveform size of the wave generator cannot be automatically adjusted, and the meshing tightness degree between the teeth of the flexible gear and the teeth of the rigid gear is further adjusted, when the teeth of the flexible gear and/or the teeth of the rigid gear are worn, the problem that the transmission is unstable and the transmission energy loss is large exists when the meshing of the teeth is affected.
Disclosure of Invention
The invention provides an automatic adjusting gap wave generator for a harmonic reducer, which can automatically adjust the external dimension of the generator.
The scheme of the invention is as follows: the automatic regulating gap wave generator for harmonic reducer includes one motor output shaft driven connecting disc, two rolling parts capable of contacting with the inner circle of the flexible wheel to force the flexible wheel to deform, one end cover to make the rolling parts shift axially, one spring sheet to force the rolling parts to contact with the inner circle of the flexible wheel, and one elastic sheet to force the rolling parts to contact with the inner circle of the flexible wheel.
The principle and the beneficial effects of the invention are as follows: the rolling part can slide along the radial direction of the disc surface of the connecting disc, and a spring piece which forces the rolling part to be tightly attached to the inner circle of the flexible wheel is arranged on the inner side of the rolling part on the connecting disc, namely the rolling part is non-fixed on the disc surface and can be adjusted along the radial direction of the connecting disc under the action of the spring piece, so that the external dimension of the wave generator can be automatically adjusted, and the wave generator has the following advantages: 1. because the external dimension is adjustable, the requirements on the machining precision are lower during machining, the rolling part is only required to be a common bearing, the machining process is simple, and the cost is low; 2. when the wave generator is arranged in the flexible gear, the two rolling parts can retract through external force to enable the two rolling parts to be equal to the inner diameter of the flexible gear, and then the wave generator is arranged in the inner circle of the flexible gear, so that the installation is labor-saving and convenient; 2. when the flexible gear is used, once the teeth of the flexible gear and/or the rigid gear are worn, the rolling parts can be forced to move outwards along the radial direction of the connecting disc under the action of the spring piece, and the outer contour sizes of the two rolling parts are increased, so that the elastic deformation of the flexible gear is increased, and the flexible gear and the rigid gear are always kept in the four states of being meshed in, meshed out and disconnected.
Further, in order to facilitate the installation of the rolling part and make the structure more compact, two arched bosses are symmetrically arranged on the disc surface of the connecting disc along the radial direction of the disc, the outer arch surfaces of the two arched bosses are on the same cylindrical surface, the inner planes of the two arched bosses extend towards the center of the connecting disc, so that two U-shaped grooves for accommodating the rolling part are formed between the two arched bosses, the rolling part is positioned in the U-shaped grooves, and the outer rolling surfaces of the two rolling parts are protruded out of the outer arch surfaces of the two arched bosses.
Further, the rolling part comprises a supporting shaft which is arranged on the disc surface of the connecting disc and can be adjusted in the radial direction, a bearing and a supporting frame are arranged on the supporting shaft, the supporting frame comprises an axial inner frame, an upper frame and a lower frame in the radial direction, the outer end faces of the upper frame and the lower frame are curved surfaces, and the outer circle of the retainer of the bearing protrudes out of the outer end faces of the upper frame and the lower frame. The supporting shaft and the disc surface are in a non-fixed connection mode so as to meet the adjustable requirement, the supporting effect is achieved on the bearing and the supporting frame, the outer circle of the retainer of the bearing is used for being in contact with the inner circle of the flexible gear to force the flexible gear to elastically deform, and the supporting frame plays a role in protecting the bearing.
Further, a mounting groove is formed in the disc surface of the connecting disc, the spring piece is arranged on the seat body integrated with the spring piece, and the seat body is arranged in the mounting groove. The mounting groove has radial limiting effect on the base body.
Further, in order to enable the rolling part to be adjustable in the radial direction, a limiting groove is further formed in the disc surface of the connecting disc, a limiting block is arranged on the end face of the supporting shaft, and the limiting block is located in the limiting groove and can move along the length direction of the limiting groove.
Further, a threaded hole is formed in the disc surface of the connecting disc, an adjusting screw is connected in the threaded hole in a threaded mode, the tail end face of the adjusting screw abuts against the surface of the base body, the surface, close to the center of the connecting disc, of the inner frame is an inclined surface, and the inclined surface is in contact with the surface of the spring piece. The position of the seat body in the axial direction can be adjusted by screwing in and screwing out the screw, and then the fine adjustment of the whole rolling part is realized by the action of the spring piece and the inclined plane.
Further, a spring mounting seat which is integrally formed with the seat body is also arranged on the seat body, and a spring is arranged between the spring mounting seat and the end cover. The spring is a pressure spring and plays a role in axially compressing and limiting the seat body.
Further, in order to facilitate disassembly and assembly, the end cover and the arched boss are connected by adopting a detachable screw.
Drawings
FIG. 1 is a front view of an embodiment of a self-adjusting gap wave generator for a harmonic reducer of the present invention;
FIG. 2 is a cross-sectional view A-A of the embodiment of FIG. 1;
FIG. 3 is a schematic perspective view of the connection pad of the embodiment of FIG. 2;
FIG. 4 is a schematic perspective view of the spring plate, the base and the spring mount of the embodiment of FIG. 2;
Fig. 5 is a schematic perspective view of the support frame in the embodiment of fig. 2;
Fig. 6 is a schematic perspective view of the embodiment of fig. 2.
Detailed Description
The invention is described in further detail below by way of specific embodiments:
Reference numerals in the drawings of the specification include: the device comprises a connecting disc 1, an arched boss 101, a U-shaped groove 102, a mounting groove 103, a first threaded hole 104, a limit groove 105, a second threaded hole 106, an end cover 2, a supporting shaft 301, a bearing 302, a supporting frame 303, an inclined plane 3031, a seat body 401, a spring piece 402, a spring mounting seat 403, an adjusting screw 5, a spring 6 and a screw 7.
The automatic adjusting gap wave generator for the harmonic reducer shown in the accompanying drawings 1 and 6 comprises a connecting disc 1, wherein the connecting disc 1 can be driven to rotate by an output shaft of a motor, two rolling parts which can be contacted with the inner circle of a flexible gear to force the flexible gear to elastically deform are symmetrically arranged on the disc surface of the connecting disc 1 along the radial direction of the connecting disc, and an end cover 2 for keeping the axial position of the rolling parts is arranged on the connecting disc 1.
As shown in fig. 3, two arch-shaped bosses 101 are symmetrically arranged on the disc surface of the connecting disc 1 along the radial direction of the disc surface, second threaded holes 106 are formed in the two arch-shaped bosses 101, and the end cover 2 is connected with the arch-shaped bosses 101 through screws 7 arranged in the second threaded holes 106. The outer arch surfaces of the two arch bosses 101 are on the same cylindrical surface, the inner planes of the two arch bosses 101 extend towards the center of the connecting disc 1, so that two U-shaped grooves 102 for accommodating rolling parts are formed between the two arch bosses 101, the rolling parts are positioned in the U-shaped grooves 102, and the outer rolling surfaces of the two rolling parts protrude out of the outer arch surfaces of the two arch bosses 101.
The disc surface of the connecting disc 1 is also provided with a mounting groove 103 and a limiting groove 105, the mounting groove 103 is positioned in the opening of the U-shaped groove 102, the limiting groove 105 is an elliptic groove with the length diameter being consistent with the radial direction of the connecting disc 1, and the limiting groove 105 is positioned outside the opening of the U-shaped groove 102.
As shown in fig. 2, the rolling part comprises a supporting shaft 301 which is arranged on the disc surface of the connecting disc 1 and can be radially adjusted, a limiting block is arranged on the end surface of the supporting shaft 301, and the limiting block is positioned in the limiting groove 105 and can move along the length and diameter direction of the limiting groove 105. The support shaft 301 is provided with a bearing 302 and a support 303, the support 303 comprises an axial inner frame, a radial upper frame and a radial lower frame, the outer end faces of the upper frame and the lower frame are curved surfaces, the outer circle of the retainer of the bearing 302 protrudes out of the outer end faces of the upper frame and the lower frame, and as shown in fig. 5, the surface of the inner frame, which is close to the center of the connecting disc 1, is an inclined surface 3031.
As shown in fig. 4, in this embodiment, the seat 401, the spring piece 402 and the spring mount 403 are integrally formed, where the spring piece 402 and the spring mount 403 are both protruded from the seat 401, and the seat 401 is disposed in the mounting groove 103 on the connection disc 1, as shown in fig. 2, the surface of the spring piece 402 contacts with the inclined plane of the inner frame of the support 303 near the center of the connection disc 1, and the spring piece 402 forces the whole rolling part to press against the inner circle of the flexible wheel through the action of the inclined plane. The side of spring piece 402 back to the inner frame is opened there is the first arc of corresponding with spring mount pad 403 to erect the groove, and spring mount pad 403 is opened there is the second arc to erect the groove with the side that spring piece 402 is relative, and first arc erects the groove and the second arc erects the groove and be used for installing spring 6, and spring 6 is located between spring mount pad and the end cover 2, and spring 6 of this embodiment is the pressure spring.
As shown in fig. 3, a first threaded hole 104 is formed in the disc surface of the connecting disc 1, the first threaded hole 104 is located at the mounting groove 103, an adjusting screw 5 is connected in the first threaded hole in a threaded mode, and the tail end face of the adjusting screw 5 abuts against the surface of the seat 401.
The foregoing is merely exemplary embodiments of the present invention, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (4)
1. The automatic adjusting gap wave generator for the harmonic reducer comprises a connecting disc which can be driven by an output shaft of a motor, wherein two rolling parts which can be contacted with the inner circle of a flexspline to force the flexspline to elastically deform are symmetrically arranged on the disc surface of the connecting disc along the radial direction of the connecting disc, and an end cover which enables the rolling parts not to axially displace is also arranged on the connecting disc;
Two arched bosses are symmetrically arranged on the disc surface of the connecting disc along the radial direction of the disc, the outer arch surfaces of the two arched bosses are on the same cylindrical surface, the inner planes of the two arched bosses extend towards the center of the connecting disc, so that two U-shaped grooves for accommodating rolling parts are formed between the two arched bosses, the rolling parts are positioned in the U-shaped grooves, and the outer rolling surfaces of the two rolling parts are protruded out of the outer arch surfaces of the two arched bosses;
The rolling part comprises a supporting shaft which is arranged on the disc surface of the connecting disc and can be radially adjusted, a bearing and a supporting frame are arranged on the supporting shaft, the supporting frame comprises an axial inner frame, a radial upper frame and a radial lower frame, the outer end surfaces of the upper frame and the lower frame are curved surfaces, and the outer circle of the retainer of the bearing protrudes out of the outer end surfaces of the upper frame and the lower frame;
The disc surface of the connecting disc is provided with a mounting groove, the spring piece is arranged on a seat body integrated with the spring piece, and the seat body is arranged in the mounting groove;
the disc surface of the connecting disc is provided with a threaded hole, an adjusting screw is connected in the threaded hole in a threaded way, the tail end surface of the adjusting screw abuts against the surface of the base body, the surface of the inner frame, which is close to the center of the connecting disc, is an inclined surface, and the inclined surface is in contact with the surface of the spring piece.
2. The automatic adjusting gap wave generator for the harmonic reducer according to claim 1, wherein a limiting groove is further formed in the disc surface of the connecting disc, a limiting block is arranged on the end face of the supporting shaft, and the limiting block is located in the limiting groove and can move along the length direction of the limiting groove.
3. The automatically adjusting gap wave generator for a harmonic reducer according to claim 1, wherein a spring mounting seat integrally formed with the seat body is further provided on the seat body, and a spring is provided between the spring mounting seat and the end cover.
4. A self-adjusting gap wave generator for a harmonic reducer according to any of the preceding claims 1-3, characterized in that the end cap is screwed with the arched boss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510199286.5A CN104791456B (en) | 2015-04-24 | 2015-04-24 | Automatic adjusting gap wave generator for harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510199286.5A CN104791456B (en) | 2015-04-24 | 2015-04-24 | Automatic adjusting gap wave generator for harmonic reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104791456A CN104791456A (en) | 2015-07-22 |
| CN104791456B true CN104791456B (en) | 2024-06-07 |
Family
ID=53556504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510199286.5A Active CN104791456B (en) | 2015-04-24 | 2015-04-24 | Automatic adjusting gap wave generator for harmonic reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104791456B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114576333A (en) | 2015-12-18 | 2022-06-03 | 舍弗勒技术股份两合公司 | Elastic gear of harmonic drive mechanism |
| CN107387719A (en) * | 2017-09-05 | 2017-11-24 | 杨庆华 | Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator |
| CN111376316B (en) * | 2020-03-11 | 2021-04-09 | 广东拓斯达科技股份有限公司 | Method for assembling harmonic reducer of robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2658477Y (en) * | 2003-11-14 | 2004-11-24 | 辛洪兵 | Floatnig wave generator for harmonic driven |
| JP2005054981A (en) * | 2004-03-19 | 2005-03-03 | Masahiro Kurita | Harmonic drive reduction gear, motor with reduction gear and driving system |
| CN102705451A (en) * | 2012-05-21 | 2012-10-03 | 深圳职业技术学院 | Method for reducing drive eccentric errors of harmonic gear and automatic aligning wave generator |
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN204647203U (en) * | 2015-04-24 | 2015-09-16 | 重庆洋迪机电有限公司 | For the automatic regulating gap wave-generator of harmonic speed reducer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4798200B2 (en) * | 2008-09-30 | 2011-10-19 | マツダ株式会社 | Automatic transmission and axial clearance adjustment method thereof |
-
2015
- 2015-04-24 CN CN201510199286.5A patent/CN104791456B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2658477Y (en) * | 2003-11-14 | 2004-11-24 | 辛洪兵 | Floatnig wave generator for harmonic driven |
| JP2005054981A (en) * | 2004-03-19 | 2005-03-03 | Masahiro Kurita | Harmonic drive reduction gear, motor with reduction gear and driving system |
| CN102705451A (en) * | 2012-05-21 | 2012-10-03 | 深圳职业技术学院 | Method for reducing drive eccentric errors of harmonic gear and automatic aligning wave generator |
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN204647203U (en) * | 2015-04-24 | 2015-09-16 | 重庆洋迪机电有限公司 | For the automatic regulating gap wave-generator of harmonic speed reducer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104791456A (en) | 2015-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104791456B (en) | Automatic adjusting gap wave generator for harmonic reducer | |
| EP3696438B1 (en) | Motion conversion mechanism and electric brake actuator including motion conversion mechanism | |
| CN105570437B (en) | A kind of low back clearance robot speed reducer | |
| US9709151B2 (en) | Wave generator and strain wave gearing | |
| CN111425580A (en) | Harmonic reducer and driver | |
| CN211259531U (en) | Novel structure harmonic speed reducer ware | |
| CN212155697U (en) | Harmonic reducer and driver | |
| US9677657B2 (en) | Circular wave drive | |
| CN110030358B (en) | Hollow shaft harmonic reducer and mounting method thereof | |
| CN108374877B (en) | Bearing and harmonic integrated ultra-small harmonic reducer | |
| CN100408883C (en) | Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator | |
| CN113631841B (en) | Friction fluctuation speed reducer | |
| CN212331034U (en) | Novel harmonic reducer and driver | |
| CN112984065B (en) | Double-row planetary reducer based on friction transmission | |
| CN204647203U (en) | For the automatic regulating gap wave-generator of harmonic speed reducer | |
| CN110173551B (en) | Speed reducing mechanism with overload protection function | |
| CN208682912U (en) | The rack gear positioning device of electric boosting steering system | |
| CN111590553A (en) | Novel harmonic reducer and driver | |
| JP2016148374A (en) | Telescopic actuator | |
| CN214639990U (en) | Swinging head mechanism of swinging mill | |
| CN110388439A (en) | A kind of harmonic speed reducer and manipulator | |
| CN209146275U (en) | A kind of complementary power takeoff of power transfer between centers deformation | |
| CN210191581U (en) | Worm gear transmission clearance compensation mechanism of power steering system | |
| CN215033743U (en) | Opening device for inner hole of flexible gear | |
| CN109780164A (en) | Secondary seal formula Cylinder Sine end face movable teeth reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20240508 Address after: 210000 Building 1, Juhui garden, 108 Xuanwu Avenue, Xuanwu District, Nanjing, Jiangsu Province Applicant after: Nanjing Zhenchi Information Technology Co.,Ltd. Country or region after: China Address before: 401233 No. 6, Xinmin 1st Road, Xinshi Town, Changshou District, Chongqing Applicant before: CHONGQING YANGDI ELECTROMECHANICAL Co.,Ltd. Country or region before: China |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant |