CN108374876B - Harmonic speed reducer with self-lubricating device - Google Patents
Harmonic speed reducer with self-lubricating device Download PDFInfo
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- CN108374876B CN108374876B CN201710054561.3A CN201710054561A CN108374876B CN 108374876 B CN108374876 B CN 108374876B CN 201710054561 A CN201710054561 A CN 201710054561A CN 108374876 B CN108374876 B CN 108374876B
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- self
- bearing
- lubricating
- hole
- lubricating device
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
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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
- F16H57/04—Features relating to lubrication or cooling or heating
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
Abstract
The invention discloses a harmonic speed reducer with a self-lubricating device, comprising: a body, which is provided with a containing hole, and the containing hole is provided with an annular internal gear; the flexible external gear is arranged in the containing hole and is provided with an external gear corresponding to the internal gear, the internal gear and the external gear are partially engaged, and the flexible external gear is provided with a mounting hole; the wave generator is arranged in the mounting hole and comprises a cam and a bearing, the inner ring of the bearing is sleeved on the cam, the outer ring of the bearing is in contact with the inner edge surface of the mounting hole, and a plurality of rolling bodies are arranged between the inner ring and the outer ring; the self-lubricating device is arranged on one side of the bearing and comprises a base and an oil-containing material, wherein the oil-containing material is arranged on the base and is contacted with the rolling body, so that the self-lubricating device has a self-lubricating function.
Description
Technical Field
The invention relates to the technical field of harmonic speed reducers, in particular to a harmonic speed reducer with a self-lubricating device.
Background
In the design process of the robot arm mechanism, the weight limit of the motor and the output requirement of the preset torque are considered. Therefore, a motor with lower power and low torque but high rotation speed output is selected, and a harmonic gear reducer with a proper reduction ratio is matched to increase the output torque so as to meet the output requirement. The harmonic gear structure mainly comprises a wave generator, a flexible external gear and a rigid internal gear. Wherein the wave generator is composed of an elliptical cam embedded into a deep groove ball thin bearing. The flexible external gear is a thin-shell cup-shaped elastic body, and the surface of the cup opening is provided with the external gear. The number of teeth of the rigid inner gear is two more than that of the outer gear. In operation, the rigid internal gear is fixed and the elliptical cam is rotated by a high speed shaft input. The deep groove ball thin bearing is fixed on the cam, and when the elliptical cam rotates, an outer ring of the bearing is forced to generate elastic deformation, so that the flexible outer gear is linked to generate elastic deformation to be partially engaged with the rigid inner gear. At this time, the flexible external gear starts to move relative to the rigid internal gear, and the number of teeth of the flexible external gear is very small different from that of the rigid internal gear, so that the flexible external gear can output a corresponding torsion force at a low rotation speed.
In the process of running the harmonic gear, the flexible external gear of the outer ring of the bearing is elastically deformed to achieve meshing of multiple teeth, so that the effect of speed reduction is achieved. In operation, the friction heat energy generated by the bearing outer ring and the bearing inner steel ball under the drive of the elliptical cam is quite high, especially when the input rotating speed is up to more than 3000 RPM; the harmonic gear reducer is installed in a closed state after the equipment, and the parts are difficult to lubricate by using an external lubricating machine, so that the harmonic gear is often damaged or fails due to insufficient lubrication. The above-described problems therefore tend to limit the rotational speed of the input shaft, and also limit the conditions under which the harmonic gear can be used.
Disclosure of Invention
The invention aims to provide a harmonic speed reducer with a self-lubricating device and a self-lubricating function.
Based on the above, the present invention mainly adopts the following technical means to achieve the above object.
A harmonic reducer with a self-lubricating device comprises: a body, which is provided with a containing hole, and the containing hole is provided with an annular internal gear; the flexible external gear is arranged in the containing hole and is provided with an external gear corresponding to the internal gear, the internal gear and the external gear are partially engaged, and the flexible external gear is provided with a mounting hole; the wave generator is arranged in the mounting hole and comprises a cam and a bearing, the inner ring of the bearing is sleeved on the cam, the outer ring of the bearing is in contact with the inner edge surface of the mounting hole, and a plurality of rolling bodies are arranged between the inner ring and the outer ring; the self-lubricating device is arranged on one side of the bearing and comprises a base, an oil-containing material and at least one lubricating piece, wherein the oil-containing material is arranged on the base and is in contact with the lubricating piece.
Preferably, the base is provided with a groove and at least one through hole, the groove is communicated with the through hole, the oil-containing material is arranged in the groove, the lubricating piece is arranged in the through hole, one end of the lubricating piece is contacted with the oil-containing material, and the other end of the lubricating piece is contacted with the rolling body or the inner ring of the bearing.
Preferably, the cam is provided with a plurality of fixing holes, the base is provided with a plurality of fixing columns opposite to the fixing holes, and the fixing holes are mutually clamped with the fixing columns to fix the base on the side surface of the bearing.
Preferably, the harmonic speed reducer with the self-lubricating device further comprises an outer cover, and the outer cover is arranged on the outer side of the self-lubricating device in a covering mode.
The harmonic speed reducer with the self-lubricating device is arranged in the redundant space of the harmonic speed reducer by virtue of the design of the self-lubricating device, and the lubricating oil is contacted with the rolling body by virtue of the oil-containing material (lubricating piece), so that the lubricating oil can be transmitted to the bearing and peripheral parts (flexible external gear and body) to fully lubricate the parts, and the self-lubricating device has the self-lubricating function.
Drawings
Fig. 1 is a first system diagram of a harmonic reducer with a self-lubricating device according to the present invention.
Fig. 2 is a second system diagram of the harmonic reducer with the self-lubricating device according to the present invention.
Fig. 3 is a combination diagram of a harmonic reducer having a self-lubricating device according to the present invention.
Fig. 4 is a first cross-sectional view of a harmonic reducer having a self-lubricating device according to the present invention.
Fig. 5 is a second sectional view of the harmonic reducer having the self-lubricating device according to the present invention.
[ notation ] to show
1 body 11 containing hole
111 internal gear 2 bearing
21 outer ring 23 rolling element
24 inner ring A cam
A1 fixed hole B flexible external gear
B1 mounting hole B2 external gear
3 base 31 groove
32 through hole 33 fixing column
4 oil-containing material 5 lubricating member
6, covering the outer cover.
Detailed Description
Referring to fig. 1 to 5, a preferred embodiment of the present invention is shown, in which the present invention is a harmonic reducer with a self-lubricating device, including: a body 1, which is provided with a containing hole 11, wherein the containing hole 11 is provided with an annular internal gear 111; a circular flexible external gear B provided in the accommodation hole 11, the circular flexible external gear B having an external gear B2 opposite to the internal gear 111, the internal gear 111 partially meshing with the external gear B2, the circular flexible external gear B having a mounting hole B1; the wave generator is arranged in the mounting hole B1 and comprises a cam A and a bearing 2, the inner ring 24 of the bearing 2 is sleeved on the cam A, the outer ring 21 of the bearing 2 is in contact with the inner edge surface of the mounting hole B1, and a plurality of rolling bodies 23 are arranged between the inner ring 24 and the outer ring 21; a self-lubricating device, which is arranged at one side of the bearing 2, the cam A is provided with a plurality of fixing holes A1, a base 3 is provided with a plurality of fixing columns 33 corresponding to the fixing holes A1, and the fixing holes A1 and the fixing columns 33 are mutually clamped so as to fix the base 3 on the side surface of the bearing 2; the self-lubricating device comprises the base 3 and an oil-containing material 4, the oil-containing material 4 is arranged on the base 3, the base 3 is provided with a groove 31 and a plurality of through holes 32, the groove 31 is communicated with the through hole 32, the oil-containing material 4 is arranged in the groove 31, the self-lubricating device also comprises a plurality of lubricating pieces 5 which are respectively arranged in the through hole 32, the lubricating member 5 has one end contacting the oil-containing material 4 and the other end contacting the rolling element 23 and also contacting the inner ring 24, the lubricating member 5 of this embodiment may be a wool felt, the oil-containing material 4 may be a wool felt, grease or solid oil block which adsorbs oil, if the oil-containing material 4 is a felt, the lubricating member 5 can be integrally formed with the oil-containing material 4, if the oil-containing material 4 is grease or solid oil block, the lubricating piece 5 is required to be arranged so as to absorb the oil of the grease or solid oil block and then coat the oil on the rolling body 23; an outer cover 6 is covered on the outer side of the self-lubricating device.
The harmonic speed reducer with the self-lubricating device is arranged in the redundant space of the harmonic speed reducer by virtue of the design of the self-lubricating device, and the lubricating oil can be transferred to the bearing 2 and peripheral parts (the flexible external gear B and the body 1) by virtue of the contact of the oil-containing material 4 (the lubricating piece 5) and the rolling body 23, so that the parts are fully lubricated, and the self-lubricating device has the self-lubricating function.
The foregoing description of the embodiments is provided to illustrate and not to limit the invention, and variations in the values and substitutions of equivalent elements are intended to fall within the scope of the invention.
Claims (3)
1. A harmonic speed reducer with a self-lubricating device, comprising:
a body, which is provided with a containing hole, and the containing hole is provided with an annular internal gear;
the flexible external gear is arranged in the containing hole and is provided with an external gear corresponding to the internal gear, the internal gear and the external gear are partially engaged, and the flexible external gear is provided with a mounting hole;
the wave generator is arranged in the mounting hole and comprises a cam and a bearing, the inner ring of the bearing is sleeved on the cam, the outer ring of the bearing is in contact with the inner edge surface of the mounting hole, and a plurality of rolling bodies are arranged between the inner ring and the outer ring;
the self-lubricating device is arranged on one side of the bearing and comprises a base, an oil-containing material and at least one lubricating piece, the oil-containing material is arranged on the base and is in contact with the lubricating piece, the base is provided with a groove and at least one through hole, the groove is communicated with the through hole, the oil-containing material is arranged in the groove, the lubricating piece is arranged in the through hole, one end of the lubricating piece is in contact with the oil-containing material, and the other end of the lubricating piece is in contact with the rolling body or the inner ring of the bearing.
2. The harmonic reducer with a self-lubricating device according to claim 1, characterized in that: the cam is provided with a plurality of fixing holes, the base is provided with a plurality of fixing columns opposite to the fixing holes, and the fixing holes are mutually clamped with the fixing columns to fix the base on the side face of the bearing.
3. The harmonic reducer with a self-lubricating device according to claim 1, characterized in that: also comprises an outer cover which is covered on the outer side of the self-lubricating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054561.3A CN108374876B (en) | 2017-01-24 | 2017-01-24 | Harmonic speed reducer with self-lubricating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054561.3A CN108374876B (en) | 2017-01-24 | 2017-01-24 | Harmonic speed reducer with self-lubricating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108374876A CN108374876A (en) | 2018-08-07 |
| CN108374876B true CN108374876B (en) | 2021-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710054561.3A Active CN108374876B (en) | 2017-01-24 | 2017-01-24 | Harmonic speed reducer with self-lubricating device |
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| CN (1) | CN108374876B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2071653U (en) * | 1990-07-11 | 1991-02-20 | 杨正中 | High-speed spinning spindle using elastic bearing |
| JP2007255607A (en) * | 2006-03-23 | 2007-10-04 | Mitsubishi Electric Corp | Wave motion gear device |
| US8726865B2 (en) * | 2011-06-08 | 2014-05-20 | Delphi Technologies, Inc. | Harmonic drive camshaft phaser using oil for lubrication |
| WO2013179353A1 (en) * | 2012-05-31 | 2013-12-05 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device and flexible external gear |
| CN105864365B (en) * | 2016-06-16 | 2018-09-07 | 南通慧幸智能科技有限公司 | Self-lubricated harmonic speed reducer |
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2017
- 2017-01-24 CN CN201710054561.3A patent/CN108374876B/en active Active
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| CN108374876A (en) | 2018-08-07 |
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