CN107387725A - Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component - Google Patents
Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component Download PDFInfo
- Publication number
- CN107387725A CN107387725A CN201710679691.6A CN201710679691A CN107387725A CN 107387725 A CN107387725 A CN 107387725A CN 201710679691 A CN201710679691 A CN 201710679691A CN 107387725 A CN107387725 A CN 107387725A
- Authority
- CN
- China
- Prior art keywords
- gear
- flexible gear
- external tooth
- flexible
- stage
- 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
Links
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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
-
- 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
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/206—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members characterised by the driving or driven member being composed of two or more gear wheels
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of flexible gear and its component, using the decelerator and speed reducing ratio algorithm of the component, including speed reducer housing, driving bearing and output bearing, flexible gear body, one fixed rigid gear and a rotating stiff gear, flexible gear body uses tubular structure, the two row gear teeth are provided with the flexible gear body exterior of tubular structure, the two row gear teeth outside the tubular structure on form the tubular flexible gear structure with two-stage external tooth, one-level external tooth in two-stage external tooth is meshed with fixed rigid gear internal tooth, another grade of external tooth is meshed with rotating stiff gear internal tooth.PressSpeed reducing ratio is calculated, the tubulose interior conduit of tubular flexible gear is provided with drive bearing and wave producer, and drive bearing is arranged on opening position between the inwall of wave producer periphery and tubular flexible gear.Retardation efficiency is improved, short by torsional deformation length, control angular error is small, and useful life longevity is high.
Description
Technical field
The present invention relates to a kind of decelerator, subtracts more particularly, to a kind of rotary speed deceleration needs for being used in motor
The gear and its component of fast device, decelerator and speed reducing ratio algorithm using the component.
Background technology
Rotary speed deceleration control generally to motor needs to use decelerator to realize speed reducing ratio control, and leads to
Often the deceleration control to motor carries out deceleration transmission control using harmonic wave drive speed reducer, and existing harmonic speed reducer is to pass through
Realize to obtain with certain elastic deformation it is high reduce ratio, there is speed reducing ratio is high, bounce-back less, positional precision and running accuracy
High, high torque (HT) passes on the advantages that ability.Also be widely used in because of the advantages of such robot, Digit Control Machine Tool, medicine equipment,
In many sophisticated product industries such as universe ship.Existing harmonic wave drive speed reducer be usually on the outside of the oval cam on load ball
The wavegenerator of bearing, on the outer periphery the thin wall profile elastomer flexible gear with geared surface, in inner circumferential band geared surface and just
3 basic building blocks such as rigid gear of body ring-shaped form flexible gear structure.Existing flexible gear structure is thin-wall gear knot
Structure, so decelerator is distinct with existing decelerator in induction elastic deformation in power transmission composition, namely by flexible
The elastic deformation of gear engages with rigid gear, and the number of teeth difference correlation on speed reducing ratio algorithm with flexible gear and rigid gear joins.
Assuming that the number of teeth of generally rigid gear is N number of, when the number of teeth of flexible gear is n, speed reducing ratio algorithm is pressed
Algorithm carry out；Harmonic wave drive speed reducer running with the above-mentioned belt transect speed reducing ratio of algorithm one is as follows：The rotation of input shaft makes
Wavegenerator is rotated, and flexible gear is the ball bearing by wavegenerator periphery, the elliptical shape of wavegenerator and
Become elastic deformation, the gear inosculation with rigid gear.At this moment the gear of flexible gear and rigid gear is oval long axle portion
Divide engagement, remaining part disengages.The rotation of cam causes the part of engagement sequentially to change, and disengagement section also sequentially changes.Ripple
Dynamic generator is rotated a circle, and the number of teeth difference opposite direction of the rigid gear of its flexible gear, which is rotated, to be made to cause to slow down.It is such humorous
Ripple gearing speed-reducer is had many good qualities on construction, flute profile easy section for obtaining bigger speed reducing ratio when being fine processing.Tooth
It is necessary key element to smoothly run elastic force, harmonic wave drive speed reducer is can be by one when taking turns identical do relative motion
Gear combination bounce-back is reduced to minimum.And reason makes rotation precision also very high above.
Although harmonic wave drive speed reducer has above-mentioned a variety of excellent characteristics, but existing harmonic wave drive speed reducer still has
The problem of be：Because the flexible gear of existing harmonic wave drive speed reducer is to carry thin wall profile structure, so deceleration can not be shortened
The ensemble length of device.In order to shorten the elastic deformation of the length of decelerator increase flexible gear, thus reduce harmonic drive reduction
The retardation efficiency of device.And undue repeated deformation causes the life-span dramatic decrease of thin-wall gear.Make on harmonic wave drive speed reducer
Flexible gear is because another problem occurs in thin-wall gear again, and the reason such as moment of inertia is caused more than anticipation on output shaft
During rotary load, the direction of rotation of flexible gear and cause torsional deformation occur control angle on error.
The content of the invention
The present invention is low there is retardation efficiency for the existing harmonic wave drive speed reducer of solution, thin-wall gear short life, easily occurs
Torsional deformation, the one kind for controlling the present situations such as angular error is big, useful life longevity is low and providing can improve retardation efficiency, be become by distortion
Shape length is short, and control angular error is small, the high flexible gear of useful life longevity and its component, using the component decelerator and subtract
Speed compares algorithm.
The present invention is that concrete technical scheme is used by solving above-mentioned technical problem：A kind of flexible gear, including flexibility
Gear, it is characterised in that：Flexible gear body uses tubular structure, is opened in the flexible gear body exterior of tubular structure
Have a two row gear teeth, the two row gear teeth outside the tubular structure on form the tubular flexible gear structure with two-stage external tooth.It is not easy to send out
Raw torsional deformation, steady quality more volume controlled, conventional thin-wall gear can be changed to prevent deformation uses from tilting shape flute profile tooth
The special tooth of wheel, gear elasticity step-down, transmission efficiency, two-stage gear transmission structure reduce gear overall deformation possibility,
Improve service life of gear and use reliability.
Preferably, described two-stage external tooth is toothing outside the size two-stage with ladder classification, two-stage external tooth has
The different numbers of gears.The structure setting flexibility of two-stage external tooth is improved, reduces gear elastic deformation.
Preferably, described two-stage external tooth is to have different with identical tip diameter size, two-stage external tooth
The number of gears.The structure setting simple and flexible of two-stage external tooth is improved, reduces gear elastic deformation energy.
Preferably, opening position is provided with the outer groove that is located by connecting between two-stage external tooth.Improve flexible gear and fixed rigidity
Assembling positioning validity between gear and rotating stiff gear, improves energy transmission effective stability.
Preferably, described two-stage external tooth is straight tooth structure.Improve gear flute profile constructional simplicity, gear flute profile knot
The simpler stabilization of structure, flute profile processing cost are low.
Another goal of the invention of the present invention is to provide a kind of flexible gear component, it is characterised in that：It is solid including one
Determine rigid gear, a rotating stiff gear and the tubular flexible gear with the outer toothing of one of above-mentioned technical proposal two-stage,
One-level external tooth in two-stage external tooth is meshed with fixed rigid gear internal tooth, and another grade of external tooth is mutually nibbled with rotating stiff gear internal tooth
Close.Torsional deformation is not susceptible to, gear tooth type structures are simpler, steady quality more volume controlled, can change conventional thin-walled tooth
Take turns for prevent deformation use tilt shape flute profile gear special tooth, fixation rigid gear and rotating stiff gear respectively with it is soft
Property the flexible gear component that is engaged of gear gear elastic deformation energy can be made to obtain reduction largely, energy transmission effect
Rate is high, elastic deformation a direction is only occurred, improves the durable stability slowed down and used.
Preferably, described rotating stiff gear is connected with rotating output shaft, the closing of rotating stiff gear one end, closing
End extends centrally out and is connected with rotating output shaft, and rotating output shaft and rotating stiff gear are formed in one the rotating stiff of formula
Gear structure.Improve energy rotation output transfer efficiency.
Preferably, tubular flexible gear is located by connecting outside, groove is provided with locating ring.Improve the peace of flexible gear component
Locating effect and reliability are filled, improves the installation positioning stablity validity between rotating stiff gear and flexible gear.
Preferably, described fixation rigid gear outside wall surface is provided with several outer fixing grooves, several outer fixing grooves
It is arranged in fixed rigid gear outside wall surface along the distribution parallel with longitudinal center line in fixed rigid gear outside wall surface, and
Outer fixing groove extension passes fixed rigid gear two ends.Improve the installation fixing-stable validity of fixed rigid gear.
Another goal of the invention of the present patent application is to provide a kind of decelerator, including speed reducer housing, driving bearing
With output bearing, it is characterised in that：Also include the fixed rigid gear of one of above-mentioned technical proposal and rotating stiff gear, Yi Jishang
Tubular flexible gear of one of the technical scheme with the outer toothing of two-stage is stated, the tubulose interior conduit of tubular flexible gear is provided with transmission
Bearing and wave producer, drive bearing are arranged on opening position between the inwall of wave producer periphery and tubular flexible gear.Improve
Deceleration energy efficiency, short by torsional deformation length, control angular error is small, and useful life longevity is high.
Preferably, described wave producer has the ripple generating surface of elliptical shape.Transmission stability is improved, improves transmission
Bearing capacity, transmission return difference is small, is not susceptible to torsional deformation.
Preferably, described wave producer is provided with the drive shaft of driving motor revolving force, drive shaft and wave producer
It is integrated machine-shaping structure.Driving transmission stability is improved, improves Transmission bearing.
Another goal of the invention of the present patent application is the speed reducing ratio algorithm for providing a kind of decelerator, it is characterised in that：Subtract
Speed is calculated than algorithm by following formula
Wherein：M is the first gear number of one of above-mentioned technical proposal rotating stiff gear, and N is one of above-mentioned technical proposal
The second gear number of fixed rigid gear；M is the tubulose of the outer toothing of one of rotating stiff gear and above-mentioned technical proposal two-stage
The first order meshing gear number that first order flexible gear in flexible gear is meshed, n are fixed rigid gear and above-mentioned technology
The second level meshing gear number that second level flexible gear in the tubular flexible gear of the outer toothing of one of scheme two-stage is meshed.
Higher speed reducing ratio can be obtained, the decelerator for more shortening entire length than conventional reducer shaft direction can be obtained.
Preferably, first gear number M range of numbers of teeth is 20~1000, second gear number N range of numbers of teeth for 20~
1000, the first order meshing gear number m range of numbers of teeth are 20~1000, second level meshing gear number n range of numbers of teeth for 20~
1000；The module of flexible gear component is 0.2~2.According to actual conditions, improve using selection flexibility.
The beneficial effects of the invention are as follows：Torsional deformation is not susceptible to, gear tooth type structures are simpler, and steady quality more holds
Amount control, conventional thin-wall gear can be changed to prevent deformation from using the special tooth of inclination shape flute profile gear, gear elasticity becomes
It is low, transmission efficiency.The present invention uses the flexible gear of pile tube shape, forms short harmonic wave drive speed reducer in axial direction, has
Effect changes existing thin-wall gear shape in the presence of being limited by shaft length direction, and control angular error is big, because elastic deformation causes energy
Lose the defects of larger problem.The present invention, which can obtain existing 2 harmonic wave drive speed reducers and be connected in series just getable height, to be subtracted
Fast ratio, the decelerator of the length also shorter than the direction of principal axis of a harmonic wave drive speed reducer are realized.The present invention is to use pile tube shape
Flexible gear, elastic deformation energy at this moment is reduced to minimization, and triggering can improve energy and pass on efficiency when slowing down.The present invention
It is the flexible gear using pile tube shape, elastic deformation is that a direction only occur, it is possible to increase the useful life longevity effect of decelerator
Fruit.The present invention is to realize that flexible gear is very short by the length of torsional deformation, therefore is external torque and causes the angle of rotary shaft
Degree changes extremely few harmonic wave drive speed reducer.
Brief description of the drawings：
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structural representation of the present patent application flexible gear.
Fig. 2 is Fig. 1 positive structure diagram.
Fig. 3 is another structural representation of the present patent application flexible gear.
Fig. 4 is another structural representation of the present patent application flexible gear.
Fig. 5 is the structural representation of the present patent application flexible gear component.
Fig. 6 is the explosion type structural representation of the present patent application decelerator.
Fig. 7 is the cross section structure diagram of the present patent application decelerator.
The broken section mplifying structure schematic diagram of Fig. 8 the present patent application decelerators.
Fig. 9 is that the knot that rigid gear arranges the phenomenon that is meshed with flexible gear first order gear is fixed in patent application decelerator
Structure sectional view.
Figure 10 is that rotating stiff gear arranges the phenomenon that is meshed with flexible gear second level gear in patent application decelerator
Structure sectional view.
Embodiment
Embodiment 1：
In embodiment shown in Fig. 1, Fig. 2, a kind of flexible gear, including the body of flexible gear 10, the body of flexible gear 10
Using tubular structure, tubular structure has tubulose interior conduit 14, and two are provided with the body exterior of flexible gear 10 of tubular structure
The row gear teeth, the two row gear teeth outside the tubular structure on form the tubular flexible gear structure with two-stage external tooth.In tubulose inner tube
The raised spacing lip 15 of oriented insides of pipes extension, spacing lip 15 and tubulose interior conduit are connected at the pipe ends mouth in road 14
14 inwalls are collectively forming the limit installation to forming the drive bearing 40 (see Fig. 6, Fig. 7, Fig. 8) of elastically deformable in decelerator
Groove, two-stage external tooth are toothing outside the size two-stage with ladder classification, and two-stage external tooth has the different numbers of gears.Outside two-stage
Opening position is provided with the outer groove 13 that is located by connecting between tooth.The tip diameter size of second level external tooth 11 in two-stage external tooth is less than first
The level tip diameter size of external tooth 12, two-stage external tooth is straight tooth structure.Wherein second level external tooth 11 is used for forming flexible tooth
Fixation rigid gear 30 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth in wheel assembly is meshed, and first order external tooth is used for and flexible tooth
Rotating stiff gear 20 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth in wheel assembly is meshed.Second level external tooth in two-stage external tooth
11 and the axial length of first order external tooth 12 can flexibly be selected to set according to actual conditions, the axial direction of two-stage external tooth can be used long
The axial length for spending identical size or second level external tooth 11 is more than the axial length of first order external tooth 12, or the
The axial length of two level external tooth 11 is less than the axial length of first order external tooth 12, improves actual use need satisfaction, and design uses
More flexible various, product structure adaptability is stronger.
Embodiment 2：
In embodiment shown in Fig. 3, two-stage external tooth is toothing outside the size two-stage with ladder classification, and two-stage external tooth has
There is the different numbers of gears.The tip diameter size of second level external tooth 11 wherein in two-stage external tooth is more than the tooth top of first order external tooth 12
Circular diameter size, two-stage external tooth are straight tooth structure.Wherein second level external tooth 11 is used for forming consolidating in flexible gear component
Determine rigid gear 30 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth to be meshed, first order external tooth 12 be used for in flexible gear component
Rotating stiff gear 20 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth is meshed.Other are identical with embodiment 1.
Embodiment 3：
In embodiment shown in Fig. 4, two-stage external tooth is to have difference with identical tip diameter size, two-stage external tooth
The number of gears.The tip diameter size of second level external tooth 11 wherein in two-stage external tooth is equal to the tip diameter of first order external tooth 12
Size, two-stage external tooth are straight tooth structure.Wherein second level external tooth 11 is used for forming the fixed rigidity in flexible gear component
Gear 30 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth is meshed, and first order external tooth 12 is used for firm with the rotation in flexible gear component
Property gear 20 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth is meshed.Other are identical with embodiment 1.
Embodiment 4：
In embodiment shown in Fig. 1, Fig. 2, Fig. 5, Fig. 6, Fig. 9, a kind of flexible gear component, including a fixed rigid teeth
Take turns 30, rotating stiff gears 20 and there is the tubular flexible gear of the outer toothing of one of above-described embodiment two-stage, outside two-stage
One-level external tooth in tooth is meshed with the fixed internal tooth of rigid gear 30, and another grade of external tooth is mutually nibbled with the internal tooth of rotating stiff gear 20
Close.Wherein second level external tooth 11 is with forming in the fixation rigid gear 30 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) in flexible gear component
Tooth is meshed, first order external tooth 12 and rotating stiff gear 20 (see Fig. 5, Fig. 6, Fig. 7, Fig. 8) internal tooth in flexible gear component
It is meshed.Rotating stiff gear 20 is connected with rotating output shaft 21, and the one end of rotating stiff gear 20 is closed, and blind end center is outside
Extension is connected with rotating output shaft 21, and rotating output shaft 21 and rotating stiff gear 20 are formed in one the rotating stiff gear of formula
Structure.It is located by connecting outside on groove in tubular flexible gear and locating ring is installed.The rotating stiff gear of rotating stiff gear 20
Internal tooth 22 is meshed with first order external tooth 12, and several outer fixing grooves 31 are provided with the fixed outside wall surface of rigid gear 30, several
Outer fixing groove 31 is arranged on fixed rigid gear in fixed rigid gear outside wall surface along the distribution parallel with longitudinal center line
In outside wall surface, and the extension of outer fixing groove 31 passes fixed rigid gear two ends.The fixation rigid gear of fixed rigid gear 30
Internal tooth 32 is meshed with second level external tooth 11, and other are identical with embodiment 1, embodiment 2 or embodiment 3.
Embodiment 5：
In embodiment shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, a kind of decelerator, including speed reducer housing, driving
Bearing and output bearing, in addition to the fixed rigid gear 30 of one of above-described embodiment and rotating stiff gear 20, and above-mentioned reality
Tubular flexible gear of one of the example with the outer toothing of two-stage is applied, the tubulose interior conduit 14 of tubular flexible gear is provided with power transmission shaft
40 and wave producer 50 are held, drive bearing 40 is arranged on the meta of the inwall of the flexible gear 10 of the periphery of wave producer 50 and tubulose
Put place.Speed reducer housing includes the first speed reducer housing 60 and the second speed reducer housing 70, the first speed reducer housing 60 and second
Speed reducer housing 70 is threadably mounted at each other by the phase of screw connection structure 63 and forms speed reducer housing together, and speed reducer housing will
The installation of flexible gear component is positioned in shell and retains drive shaft and output shaft in speed reducer housing two ends and external member
It is connected, wave producer 50 has the ripple generating surface 53 of elliptical shape (see Fig. 9, Figure 10).Transmission is connected with wave producer 50
The drive shaft 51 (see Fig. 6, Fig. 7, Fig. 8) of motor torque, drive shaft 51 are integrated machine-shaping structure with wave producer 53.Drive
Driving baffle ring 52 or baffle plate are installed on moving axis 51, bearing support portion 61, bearings are connected with the first speed reducer housing 60
Driving bearing locating groove is provided with portion 61, positioning snap ring 62 is installed on driving bearing locating groove, on bearing support portion 61
Two driving bearings 80 are installed, two driving bearings 80 carry out positioning peace by the positioning snap ring 62 on bearing support portion 61
Dress.Two output bearings 90 are set with rotating output shaft 21, two output bearings 90 are arranged in the second speed reducer housing 70
Portion, rotating output shaft 21 stretches out is provided with mounting-positioning holes 71 in the outer end of the second speed reducer housing 70, the second speed reducer housing 70,
Positioning is installed for the use to whole decelerator.Other are identical with embodiment 4.
Embodiment 6：
In embodiment shown in Fig. 5, Fig. 6, Fig. 9, Figure 10, a kind of speed reducing ratio algorithm of decelerator, speed reducing ratio algorithm is pressed
Formula is stated to be calculated：
Wherein：M is the first gear number of one of above-described embodiment rotating stiff gear, and N is that one of above-described embodiment is fixed
The second gear number of rigid gear；It is soft with the tubulose of the toothing outside of two-stage one of described in above-described embodiment that m is rotating stiff gear
Property gear in the first order meshing gear number that is meshed of first order flexible gear, n is fixed rigid gear and above-described embodiment
The second level meshing gear number that second level flexible gear in the tubular flexible gear of the outer toothing of one of described two-stage is meshed.
First gear number M range of numbers of teeth is 20~1000, and second gear number N range of numbers of teeth is 20~1000, first order engaging tooth
The range of numbers of teeth for taking turns number m is 20~1000, and second level meshing gear number n range of numbers of teeth is 20~1000；Flexible gear component
Module be 0.2~2.Further to may be selected, first gear number M range of numbers of teeth is 35~500, second gear number N
Range of numbers of teeth be 35~500, first order meshing gear number m range of numbers of teeth is 35~500, second level meshing gear number n's
Range of numbers of teeth is 35~500, and the module of flexible gear component is 0.3~1.5.Other are identical with embodiment 5.
Such as the value in above-mentioned algorithm：When M=60, m=58, N=58, n=56, the final speed reducing ratio that is calculated
For：
The digital negative value being calculated represents its final direction of rotation and run as the opposite direction output shaft of input shaft, if
Acquisition positive direction Rotation Design, the choosing value in above-mentioned algorithm is set into position N>M cans.
And generally conventional harmonic speed reducer be can be obtained under similarity condition 30 speed reducing ratio, spur gear (Spurgear),
Navigation gear (Planetarygear) is that one section of practical speed reducing ratio is 1:3 or so, thus it is above-mentioned according to the present patent application algorithm
Exploitation obtains -870 speed reducing ratio, and if this practical speed reducing ratio 3 is slowed down, then need the deceleration by 6-7 sections
Stage can just obtain the slowing effect of the present patent application 870, thus can using the present patent application decelerator and speed reducing ratio algorithm
Higher speed reducing ratio is obtained, the decelerator for more shortening entire length than conventional reducer shaft direction can be obtained.
Fig. 9 is that fixed rigid gear 30 with the phenomenon that the first order external tooth 11 of flexible gear 10 engages is to do schematization, this
The position for being the central part that rigid gear is fixed in representative graph 7 and Fig. 8 is the end view drawing cut to the right angle orientation of drive shaft 51.
On Fig. 9 drive shaft be dextrorotation circle (+360 °) when, the oval deformed shaft of flexible gear is to circle,
At this moment it is fewer than the number of gears and the number of gears of this flexible gear engaged of fixed rigid gear 30, therefore flexible gear is to lower casing
Counterclockwise only rotate
Figure 10 is that rotating stiff gear 20 with the phenomenon that the second level external tooth 12 of flexible gear engages is to do schematization, and this is
The position of the central part of rotating stiff gear 20 is to cut off sectional drawing to the right angle orientation of drive shaft 51 in representative graph 7 and Fig. 8.Figure 10 is
When driving axial circles clockwise (+360 °), the oval deformed shaft of flexible gear is to circle, at this moment than rotating stiff tooth
The number of gears of wheel and the number of gears of this flexible gear engaged are few, therefore are clockwise for flexible gear, rotating stiff gear
Direction only turnsFlexible gear is rotated counterclockwise for housing on first order external tooth, therefore is rotated firm
The anglec of rotation of the property number of gears isThe speed reducing ratio of gear is that G is：G=(the rotations of input shaft
The anglec of rotation of corner/output shaft)
With above-mentioned the same speed reducing ratio, the rotation being finally decelerated is occurred on output shaft.
Above content and structure describes the general principle, principal character and advantages of the present invention of product of the present invention, one's own profession
The technical staff of industry should be recognized that.Merely illustrating the principles of the invention described in examples detailed above and specification, this is not being departed from
On the premise of spirit and scope, various changes and modifications of the present invention are possible, and these changes and improvements belong to requirement and protected
Within the scope of the invention of shield.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (14)
1. a kind of flexible gear, including flexible gear body, it is characterised in that：Flexible gear body uses tubular structure, in pipe
Be provided with the two row gear teeth in the flexible gear body exterior of shape structure, the two row gear teeth outside the tubular structure on formed and have outside two-stage
The tubular flexible gear structure of tooth.
2. according to the flexible gear described in claim 1, it is characterised in that：Described two-stage external tooth is with the big of ladder classification
The outer toothing of small two-stage, two-stage external tooth have the different numbers of gears.
3. according to the flexible gear described in claim 1, it is characterised in that：Described two-stage external tooth is with identical outside circle
Diameter dimension, two-stage external tooth have the different numbers of gears.
4. according to the flexible gear described in claim 1, it is characterised in that：Opening position is provided with outer positioning and connected between two-stage external tooth
Access slot.
5. according to the flexible gear described in claim 1 or 2 or 3 or 4, it is characterised in that：Described two-stage external tooth is straight-tooth
Structure.
A kind of 6. flexible gear component, it is characterised in that：Including a fixed rigid gear, a rotating stiff gear and have
The tubular flexible gear of the outer toothing of two-stage one of described in Claims 1 to 5, one-level external tooth and fixed rigidity in two-stage external tooth
Gear internal tooth is meshed, and another grade of external tooth is meshed with rotating stiff gear internal tooth.
7. according to the flexible gear component described in claim 6, it is characterised in that：Described rotating stiff gear is connected with rotation
Output shaft, the closing of rotating stiff gear one end, blind end, which extends centrally out, is connected with rotating output shaft, rotating output shaft and rotation
Turn rigid gear to be formed in one the rotating stiff gear structure of formula.
8. according to the flexible gear component described in claim 6, it is characterised in that：The described tubular flexible gear company of positioning outside
Access slot is provided with locating ring.
9. according to the flexible gear component described in claim 6, it is characterised in that：Set in described fixation rigid gear outside wall surface
There are several outer fixing grooves, several outer fixing grooves are in fixed rigid gear outside wall surface along point parallel with longitudinal center line
Cloth is arranged in fixed rigid gear outside wall surface, and the extension of outer fixing groove passes fixed rigid gear two ends.
10. a kind of decelerator, including speed reducer housing, driving bearing and output bearing, it is characterised in that：Also include claim
6~9 one of described fixed rigid gears and rotating stiff gear, and there is two-stage external tooth knot one of described in Claims 1 to 5
The tubular flexible gear of structure, the tubulose interior conduit of tubular flexible gear are provided with drive bearing and wave producer, and drive bearing is set
The opening position between the inwall of wave producer periphery and tubular flexible gear.
11. according to the decelerator described in claim 10, it is characterised in that：The ripple that described wave producer has elliptical shape is sent out
Dough.
12. according to the decelerator described in claim 10, it is characterised in that：Described wave producer rotates provided with driving motor
The drive shaft of power, drive shaft are integrated machine-shaping structure with wave producer.
A kind of 13. speed reducing ratio algorithm of decelerator, it is characterised in that：Speed reducing ratio algorithm is calculated by following formula
<mrow>
<mi>G</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>M</mi>
<mi>N</mi>
</mrow>
<mrow>
<mo>(</mo>
<mi>M</mi>
<mi>n</mi>
<mo>-</mo>
<mi>m</mi>
<mi>N</mi>
<mo>)</mo>
</mrow>
</mfrac>
</mrow>
Wherein：M is the first gear number of one of the described rotating stiff gear of claim 6~9, and N is described in claim 6~9
One of fixed rigid gear second gear number；M is two-stage external tooth knot one of described in rotating stiff gear and Claims 1 to 5
The first order meshing gear number that first order flexible gear in the tubular flexible gear of structure is meshed, n be fixed rigid gear with
Second level flexible gear one of described in Claims 1 to 5 in the tubular flexible gear of the outer toothing of two-stage be meshed second
Level meshing gear number.
14. according to the speed reducing ratio algorithm described in claim 13, it is characterised in that：First gear number M range of numbers of teeth be 20~
1000, second gear number N range of numbers of teeth are 20~1000, and first order meshing gear number m range of numbers of teeth is 20~1000, the
Two level meshing gear number n range of numbers of teeth is 20~1000；The module of flexible gear component is 0.2~2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679691.6A CN107387725A (en) | 2017-08-10 | 2017-08-10 | Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679691.6A CN107387725A (en) | 2017-08-10 | 2017-08-10 | Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107387725A true CN107387725A (en) | 2017-11-24 |
Family
ID=60355364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710679691.6A Pending CN107387725A (en) | 2017-08-10 | 2017-08-10 | Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107387725A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915570A (en) * | 2017-12-13 | 2019-06-21 | 本田技研工业株式会社 | Distributing means for power supply |
| CN111033089A (en) * | 2018-06-22 | 2020-04-17 | 单保祥 | Stress wave driver and speed reducer |
| CN111623103A (en) * | 2019-06-07 | 2020-09-04 | 北京京西重工有限公司 | Strain wave gear device and vehicle lifting system comprising strain wave gear device |
| WO2020217562A1 (en) * | 2019-04-26 | 2020-10-29 | 株式会社ミクニ | Strain wave gear unit, gear transmission device, and valve timing changing device |
| CN117425787A (en) * | 2021-09-16 | 2024-01-19 | 新光减速机股份有限公司 | Harmonic gear device |
| US12000470B2 (en) | 2019-06-07 | 2024-06-04 | Beijingwest Industries Co., Ltd | Compact belted strain wave gear apparatus and a vehicle lifting system including the compact belted strain wave gear apparatus |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59113343A (en) * | 1982-12-20 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
| CN2290729Y (en) * | 1996-05-28 | 1998-09-09 | 中国人民解放军国防科工委后勤部应用技术研究所 | Complex stage harmonic gear mechanism |
| CN202431846U (en) * | 2011-11-25 | 2012-09-12 | 比亚迪股份有限公司 | Variable-transmission-ratio transmission device and automotive steering system with same |
| CN106536976A (en) * | 2014-07-23 | 2017-03-22 | 谐波传动***有限公司 | Dual-type wave gear device |
| CN207064607U (en) * | 2017-08-10 | 2018-03-02 | 金明必 | Flexible gear and its component, the decelerator using the component |
-
2017
- 2017-08-10 CN CN201710679691.6A patent/CN107387725A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59113343A (en) * | 1982-12-20 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
| CN2290729Y (en) * | 1996-05-28 | 1998-09-09 | 中国人民解放军国防科工委后勤部应用技术研究所 | Complex stage harmonic gear mechanism |
| CN202431846U (en) * | 2011-11-25 | 2012-09-12 | 比亚迪股份有限公司 | Variable-transmission-ratio transmission device and automotive steering system with same |
| CN106536976A (en) * | 2014-07-23 | 2017-03-22 | 谐波传动***有限公司 | Dual-type wave gear device |
| CN207064607U (en) * | 2017-08-10 | 2018-03-02 | 金明必 | Flexible gear and its component, the decelerator using the component |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915570B (en) * | 2017-12-13 | 2021-01-22 | 本田技研工业株式会社 | Power distribution device |
| CN109915570A (en) * | 2017-12-13 | 2019-06-21 | 本田技研工业株式会社 | Distributing means for power supply |
| CN111033089A (en) * | 2018-06-22 | 2020-04-17 | 单保祥 | Stress wave driver and speed reducer |
| CN113330230A (en) * | 2019-04-26 | 2021-08-31 | 株式会社三国 | Wave gear unit, gear transmission device, and valve timing changing device |
| JP2020180665A (en) * | 2019-04-26 | 2020-11-05 | 株式会社ミクニ | Wave gear unit, gear change gear, and valve timing conversion device |
| WO2020217562A1 (en) * | 2019-04-26 | 2020-10-29 | 株式会社ミクニ | Strain wave gear unit, gear transmission device, and valve timing changing device |
| CN113330230B (en) * | 2019-04-26 | 2023-07-21 | 株式会社三国 | Wave gear unit, gear speed change device, and valve timing change device |
| US11761525B2 (en) | 2019-04-26 | 2023-09-19 | Mikuni Corporation | Strain wave gear unit, gear transmission device, and valve timing changing device |
| JP7353789B2 (en) | 2019-04-26 | 2023-10-02 | 株式会社ミクニ | Wave gear unit, gear transmission and valve timing change device |
| CN111623103A (en) * | 2019-06-07 | 2020-09-04 | 北京京西重工有限公司 | Strain wave gear device and vehicle lifting system comprising strain wave gear device |
| CN111623103B (en) * | 2019-06-07 | 2021-10-01 | 北京京西重工有限公司 | Strain wave gear device and vehicle lifting system comprising strain wave gear device |
| US11384825B2 (en) | 2019-06-07 | 2022-07-12 | Beijingwest Industries Co., Ltd. | Compact belted strain wave gear apparatus and a vehicle lifting system including the compact belted strain wave gear apparatus |
| US12000470B2 (en) | 2019-06-07 | 2024-06-04 | Beijingwest Industries Co., Ltd | Compact belted strain wave gear apparatus and a vehicle lifting system including the compact belted strain wave gear apparatus |
| CN117425787A (en) * | 2021-09-16 | 2024-01-19 | 新光减速机股份有限公司 | Harmonic gear device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107387725A (en) | Flexible gear and its component, decelerator and speed reducing ratio algorithm using the component | |
| US5242336A (en) | Planet gear apparatus | |
| CN107588177A (en) | A kind of cycloidal-pin wheel harmonic drive | |
| US8789437B2 (en) | Eccentrically cycloidal engagement of toothed profiles having curved teeth | |
| US8986158B2 (en) | Reduction gearing with a high reduction ratio | |
| EP0286760A1 (en) | Cycloidal equidistant curved gear transmission mechanism and its device | |
| US20060148608A1 (en) | Internal teeth oscillating inner gearing planetary gear system | |
| CN205534041U (en) | Two -stage harmonic planetary gear reducer | |
| US8070640B2 (en) | Fluctuating gear ratio limited slip differential | |
| WO1992012360A1 (en) | Planetary gear speed changer | |
| CN110307299A (en) | Planetary harmonic combined speed reducer | |
| CN107795662A (en) | For the firm gear of harmonic speed reducer, harmonic speed reducer and robot | |
| JPS60143263A (en) | Rotary reversible indexing mechanism | |
| CN207064607U (en) | Flexible gear and its component, the decelerator using the component | |
| CN112797145B (en) | Large speed ratio differential speed reducer | |
| KR101690151B1 (en) | Speed reducer with helical conjugate dual cycloid tooth profile | |
| CN207261609U (en) | A kind of cycloidal-pin wheel harmonic drive | |
| US3424021A (en) | Intermittent motion mechanism employing non-circular gears | |
| CN108006164B (en) | Planetary-gear speed reducer and electromechanical integration equipment with the planetary-gear speed reducer | |
| CN108425997A (en) | Improved planetary reduction gear | |
| US11396926B2 (en) | Toroidal gearbox for slewing mechanisms | |
| CN108775383A (en) | A kind of adjustable precise planet-gear speed reducer | |
| CN104154185A (en) | Built-in planetary transmission high-rigidity small-tooth-difference gear transmission device | |
| CN208686917U (en) | Novel flexible offset-type gear robot retarder | |
| CN115217909A (en) | Large-reduction-ratio speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |
|
| RJ01 | Rejection of invention patent application after publication |