CN107676456A - long-life harmonic speed reducer - Google Patents
long-life harmonic speed reducer Download PDFInfo
- Publication number
- CN107676456A CN107676456A CN201710772337.8A CN201710772337A CN107676456A CN 107676456 A CN107676456 A CN 107676456A CN 201710772337 A CN201710772337 A CN 201710772337A CN 107676456 A CN107676456 A CN 107676456A
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- CN
- China
- Prior art keywords
- correction
- wall section
- flank shape
- thinner wall
- speed reducer
- 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.)
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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
-
- 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
- F16H2049/003—Features of the flexsplines therefor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of long-life harmonic speed reducer, it is related to decelerator field, there is provided a kind of harmonic speed reducer that can avoid the interference of tooth positioned at major axis of wave generator position.Long-life harmonic speed reducer includes flexbile gear and wave producer, and being shaped as of wave producer has carried out the approximate ellipsoidal formed after correction of the flank shape to the both ends of the long axis direction of ellipse；Using elliptic focus as end points, make two rays, two a=10 ° of ray angle~20 ° by symmetrical centre of the major axis of ellipse, correction of the flank shape scope is oval surface between two rays；Correction of the flank shape refers to the material for removing the oval surface in the range of correction of the flank shape so that distance, delta ≈ 0.005~0.1mm of the end points of the approximate ellipsoidal formed after correction of the flank shape away from former oval end points；It is smooth curved surface at correction of the flank shape, with being seamlessly transitted at correction of the flank shape at non-correction of the flank shape.The present invention also further can suitably reduce the thickness of the thinner wall section of flexbile gear second.In being designed present invention can apply to harmonic speed reducer, to improve the service life of flexbile gear.
Description
Technical field
The present invention relates to decelerator field, more particularly to a kind of harmonic speed reducer of long-life.
Background technology
Harmonic Gears are a kind of Novel transmissions occurred with the development of space technology in later stage the 1950s
Mode, it is considered to be mechanically operated important breakthrough.It is excellent that it has that bearing capacity is high, simple in construction, gearratio is big, noise is low etc.
Point, Harmonic Gears are applied successfully to Aero-Space, radar system, optical instrument, robot, conventional force both at home and abroad
The field such as device and universal machine.
The main part of harmonic speed reducer has by outer steel wheel, flexbile gear, flexible bearing and the wave producer set gradually in.
The number of teeth of steel wheel is slightly larger than flexbile gear.The length of wave producer is bigger than garden diameter in undeformed flexbile gear, when wave producer loading is soft
Bowlder in wheel, force flexbile gear to produce elastic deformation and be in ellipticity, make at its major axis in the wheel teeth groove of flexbile gear gear teeth insertion steel wheel,
As fully engaged state；And the two-wheeled gear teeth do not contact completely at its short axle, in disengaged condition.By the process for being engaged to disengagement
Between then in nibbling out or engaging-in state.When wave producer rotates, force flexbile gear to be constantly deformed, entering the two-wheeled gear teeth
Row is engaging-in, engages, nibble out, constantly changes respective working condition during disengagement, generates so-called side set motion, so as to
The motion transmission of active wave producer and flexbile gear is realized, realizes and slows down.
The thin-wall construction and the wall thickness everywhere of thin-wall construction that traditional flexbile gear structure design uses are identical, and stress everywhere
It is then different with distortional stress, cause stress general goal fatiguability to damage.Wave producer is for the ease of manufacturing simultaneously, conventional structure
The ellipse of a standard is designed as, this design method can not support teeth portion to engage situation completely, may be set because of tooth form
Meter causes the teeth portion meshing interference of major axis position with mismachining tolerance.
The content of the invention
The technical problem to be solved in the present invention is：A kind of gear teeth that can avoid being located at major axis of wave generator position are provided to do
The harmonic speed reducer related to.
Technical scheme for the use that solves the above problems is：Long-life harmonic speed reducer includes flexbile gear and wave producer, ripple
Being shaped as of generator has carried out the approximate ellipsoidal formed after correction of the flank shape to the both ends of long axis direction of ellipse；With elliptic focus
For end points, make two rays, two a=10 ° of ray angle~20 ° by symmetrical centre of the major axis of ellipse, correction of the flank shape scope is two
Oval surface between bar ray；Correction of the flank shape refers to the material for removing the oval surface in the range of correction of the flank shape so that what is formed after correction of the flank shape is near
Like distance, delta ≈ 0.005~0.1mm of the end points of ellipse away from former oval end points；It is smooth curved surface at correction of the flank shape, non-correction of the flank shape
Place at correction of the flank shape with seamlessly transitting.
It is further：Flexbile gear includes the first thinner wall section and the second thinner wall section；First thinner wall section is shaped as cylindrical shape, and first
Gear ring is provided with thinner wall section；Second thinner wall section is shaped as planar shaped, and the second thinner wall section is vertical with the first thinner wall section, the second thin-walled
Input/output terminal pad is connected with portion；First thinner wall section seamlessly transits with the second thinner wall section, the thickness t1=of the first thinner wall section
0.01~0.0145d, d be the first thinner wall section diameter of bore, thickness t2=t1-0.01~0.03mm of the second thinner wall section.
The beneficial effects of the invention are as follows：(1) suitably reduce the length in major axis of wave generator direction, flexbile gear can be improved because of length
Interference of tooth situation in flexbile gear external tooth caused by shaft size and firm gear, while total number of teeth in engagement is improved, improve the wheel of steel wheel and flexbile gear
The tooth life-span, so as to improve the life-span of harmonic speed reducer.
(2) the appropriate thickness for reducing the second thinner wall section, reduces the influence that the second thinner wall section deforms to the first thinner wall section,
So as to reduce the stress of the first thinner wall section, be advantageous to improve the life-span of flexbile gear, so as to improve the life-span of harmonic speed reducer.Pass through
Ansys analysis results show that this structure design reduces by 50% or so than the stress of the flexbile gear of homogeneous wall thickness, and improvement is obvious.
Brief description of the drawings：
Fig. 1 is harmonic speed reducer structure chart；
Fig. 2 is wave producer structure chart；
Fig. 3 is flexbile gear structure chart；
In figure mark for：Steel wheel 1, flexbile gear 2, the first thinner wall section 2-1, the second thinner wall section 2-2, gear ring 2-3, input/output
Terminal pad 2-4, flexible bearing 3, wave producer 4
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
A kind of harmonic speed reducer that can avoid the interference of tooth positioned at major axis of wave generator position is provided, such as Fig. 1 and Fig. 2
It is shown：Long-life harmonic speed reducer is included by outer steel wheel 1, flexbile gear 2, flexible bearing 3 and the wave producer 4 set gradually in,
Being shaped as of wave producer 4 has carried out the approximate ellipsoidal formed after correction of the flank shape to the both ends of long axis direction of ellipse；With ellipse
Focus is end points, makees two rays, two a=10 ° of ray angle~20 °, correction of the flank shape scope by symmetrical centre of the major axis of ellipse
The oval surface between two rays；Correction of the flank shape refers to the material for removing the oval surface in the range of correction of the flank shape so that is formed after correction of the flank shape
Distance, delta ≈ 0.005~0.1mm of the end points of approximate ellipsoidal away from former oval end points；It is smooth curved surface at correction of the flank shape, not
With being seamlessly transitted at correction of the flank shape at correction of the flank shape.
The appropriate length for reducing the long axis direction of wave producer 4, flexbile gear 2 can be improved because caused by major axis dimension outside flexbile gear 2
Interference of tooth situation in tooth and firm gear 1, while improve total number of teeth in engagement.
Further, as shown in Figure 3：Flexbile gear 2 includes the first thinner wall section 2-1 and the second thinner wall section 2-2；First thinner wall section 2-
1 is shaped as cylindrical shape, and gear ring 2-3 is provided with the first thinner wall section 2-1；Second thinner wall section 2-2 is shaped as planar shaped, the second thin-walled
Portion 2-2 is vertical with the first thinner wall section 2-1, and input/output terminal pad 2-4 is connected with the second thinner wall section 2-2；First thinner wall section 2-
1 seamlessly transits with the second thinner wall section 2-2, and the first thinner wall section 2-1 thickness t1=0.01~0.0145d, d are the first thinner wall section 2-
1 diameter of bore, the second thinner wall section 2-2 thickness t2=t1-0.01~0.03mm.
The appropriate thickness for reducing the second thinner wall section 2-2, reduces the second thinner wall section 2-2 and the first thinner wall section 2-1 is deformed
Influence, so as to reduce the first thinner wall section 2-1 stress.
Claims (2)
1. long-life harmonic speed reducer, including flexbile gear (2) and wave producer (4), it is characterised in that：The shape of wave producer (4)
Both ends for the long axis direction to ellipse have carried out the approximate ellipsoidal formed after correction of the flank shape；Using elliptic focus as end points, with ellipse
Round major axis is that symmetrical centre makees two rays, two a=10 ° of ray angle~20 °, and correction of the flank shape scope is ellipse between two rays
Circular surfaces；Correction of the flank shape refers to the material for removing the oval surface in the range of correction of the flank shape so that the end of the approximate ellipsoidal formed after correction of the flank shape
Distance, delta ≈ 0.005~0.1mm of the point away from former oval end points；It is smooth curved surface at correction of the flank shape, with being put down at correction of the flank shape at non-correction of the flank shape
Slip over and cross.
2. long-life harmonic speed reducer according to claim 1, it is characterised in that：Flexbile gear (2) includes the first thinner wall section (2-
And the second thinner wall section (2-2) 1)；First thinner wall section (2-1) is shaped as cylindrical shape, and gear ring is provided with the first thinner wall section (2-1)
(2-3)；Second thinner wall section (2-2) is shaped as planar shaped, and the second thinner wall section (2-2) is vertical with the first thinner wall section (2-1), and second is thin
Input/output terminal pad (2-4) is connected with wall portion (2-2)；First thinner wall section (2-1) and the second thinner wall section (2-2) are smoothed
Cross, the thickness t1=0.01~0.0145d, d of the first thinner wall section (2-1) are the diameter of bore of the first thinner wall section (2-1), and second is thin
Thickness t2=t1-0.01~0.03mm of wall portion (2-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772337.8A CN107676456A (en) | 2017-08-31 | 2017-08-31 | long-life harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772337.8A CN107676456A (en) | 2017-08-31 | 2017-08-31 | long-life harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107676456A true CN107676456A (en) | 2018-02-09 |
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ID=61135627
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772337.8A Pending CN107676456A (en) | 2017-08-31 | 2017-08-31 | long-life harmonic speed reducer |
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| Country | Link |
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| CN (1) | CN107676456A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020201392A1 (en) | 2020-02-05 | 2021-08-05 | Zf Friedrichshafen Ag | Shape-optimized corrugated washer |
| CN113339477A (en) * | 2021-06-03 | 2021-09-03 | 苏州绿的谐波传动科技股份有限公司 | Optimization method of high-strength flexible gear torsional curved surface, flexible gear and harmonic reducer |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1167147B (en) * | 1958-02-26 | 1964-04-02 | United Shoe Machinery Corp | Tension wave gear |
| SU1147878A1 (en) * | 1983-10-10 | 1985-03-30 | МВТУ им.Н.Э.Баумана | Wave gearing |
| US4934212A (en) * | 1989-03-29 | 1990-06-19 | Quincy Technologies, Inc. | Harmonic drive flexspline manufacture |
| CN102734394A (en) * | 2012-06-21 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible felly |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
| US20150107387A1 (en) * | 2013-10-21 | 2015-04-23 | Hiwin Technologies Corp. | Harmonic Drive Gear Reduction Mechanism |
| CN105276093A (en) * | 2014-06-16 | 2016-01-27 | 上银科技股份有限公司 | Harmonic speed reducer capable of improving occlusion rate |
-
2017
- 2017-08-31 CN CN201710772337.8A patent/CN107676456A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1167147B (en) * | 1958-02-26 | 1964-04-02 | United Shoe Machinery Corp | Tension wave gear |
| SU1147878A1 (en) * | 1983-10-10 | 1985-03-30 | МВТУ им.Н.Э.Баумана | Wave gearing |
| US4934212A (en) * | 1989-03-29 | 1990-06-19 | Quincy Technologies, Inc. | Harmonic drive flexspline manufacture |
| CN102734394A (en) * | 2012-06-21 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with flexible felly |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
| US20150107387A1 (en) * | 2013-10-21 | 2015-04-23 | Hiwin Technologies Corp. | Harmonic Drive Gear Reduction Mechanism |
| CN105276093A (en) * | 2014-06-16 | 2016-01-27 | 上银科技股份有限公司 | Harmonic speed reducer capable of improving occlusion rate |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020201392A1 (en) | 2020-02-05 | 2021-08-05 | Zf Friedrichshafen Ag | Shape-optimized corrugated washer |
| CN113339477A (en) * | 2021-06-03 | 2021-09-03 | 苏州绿的谐波传动科技股份有限公司 | Optimization method of high-strength flexible gear torsional curved surface, flexible gear and harmonic reducer |
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| 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: 20180209 |
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| RJ01 | Rejection of invention patent application after publication |