CN112081896A

CN112081896A - Harmonic speed reducer

Info

Publication number: CN112081896A
Application number: CN201910507531.2A
Authority: CN
Inventors: 侯国兴; 王伟
Original assignee: Zhonghe Tiancheng Intelligent Equipment Langfang Co ltd
Current assignee: Zhonghe Tiancheng Intelligent Equipment Langfang Co ltd
Priority date: 2019-06-12
Filing date: 2019-06-12
Publication date: 2020-12-15

Abstract

The application provides a harmonic reducer, which comprises a flexible gear and a rigid gear; the rigid wheel is provided with internal teeth; the flexible gear is positioned on the inner side of the rigid gear and is correspondingly provided with corresponding external teeth; the flexspline includes a first addendum and a first dedendum; the first tooth top and the first tooth root are respectively arc-shaped, and a plane along the common tangential direction is connected between the first tooth top and the first tooth root; the rigid wheel comprises a second tooth top and a second tooth root; the second tooth top is a plane, and transition arcs are respectively arranged at vertex angles at two sides; the second tooth root is arc-shaped; a plane along the common tangential direction is connected between the second tooth crest and the second tooth root. According to the technical scheme provided by the embodiment of the application, the tooth tops are in arc transition, so that tooth profile interference and tooth top interference are avoided in the process of engagement and engagement, engagement and engagement are smoother, and engagement noise is reduced; the tooth root adopts circular arc transition, has avoided stress concentration, has reduced the cracked possibility of tooth root, has improved bearing capacity.

Description

Harmonic speed reducer

Technical Field

The application relates to the technical field of speed reducers, in particular to a harmonic speed reducer.

Background

The harmonic reducer is a mechanical transmission reducer which transmits power and motion by means of elastic deformation generated by a flexible part, and a core part is a flexible gear, a rigid gear and a wave generator, commonly called three parts, and has the advantages of large transmission ratio, high precision, large bearing capacity, small volume, light weight, high transmission efficiency, stable transmission, capability of transmitting motion to a closed space and the like; however, the flexible gear adopts an involute tooth profile, and tooth profile interference and tooth top interference are easy to generate in the process of meshing in and out of the flexible gear and the rigid gear, and noise is generated; the flexible gear is a thin-wall part, the transition fillet of the involute tooth-shaped tooth root is small, stress concentration is easy to cause tooth root fracture, and the bearing capacity is limited.

Disclosure of Invention

In view of the above-mentioned deficiencies or inadequacies in the prior art, it would be desirable to provide a harmonic reducer.

The application provides a harmonic reducer, which comprises a flexible gear and a rigid gear; the rigid wheel is provided with internal teeth; the flexible gear is positioned on the inner side of the rigid gear and is correspondingly provided with corresponding external teeth; the flexspline includes a first addendum and a first dedendum; the first tooth top and the first tooth root are respectively arc-shaped, and a plane along the common tangential direction is connected between the first tooth top and the first tooth root; the rigid wheel comprises a second tooth top and a second tooth root; the second tooth top is a plane, and transition arcs are respectively arranged at vertex angles at two sides; the second tooth root is arc-shaped; a plane along the common tangential direction is connected between the second tooth crest and the second tooth root.

Furthermore, the device also comprises an oval cam; the cam is positioned on the inner side of the flexible gear and is connected with the flexible gear through a flexible bearing.

Furthermore, the flexible gear is in a thin-wall cup shape and comprises a connecting seat positioned at one end; one end of the connecting seat positioned outside is coaxially connected with a crossed roller bearing through a positioning sleeve; the inner ring of the crossed roller bearing is fixedly connected with the connecting seat.

Furthermore, one end of the inner ring of the crossed roller bearing, which is far away from the flexible gear, is provided with a threaded hole for connecting with the outside; and the outer ring of the crossed roller bearing is fixedly connected with the rigid wheel.

Further, the device also comprises a high-speed shaft; one end of the high-speed shaft is coaxially connected with the positioning sleeve through a first bearing; the high-speed shaft is also provided with a cam; the cam is connected with the high-speed shaft in a key mode.

Furthermore, an end cover is arranged at one end of the rigid wheel, which is far away from the crossed roller bearing; the end cover is provided with a corresponding through hole corresponding to the high-speed shaft; the high-speed shaft is positioned outside the end cover through the end cover.

Furthermore, a corresponding second bearing is arranged on the end cover corresponding to the high-speed shaft.

The application has the advantages and positive effects that: the tooth top is in arc transition, so that tooth profile interference and tooth top interference are avoided in the process of engagement and engagement, engagement and engagement are smoother, and engagement noise is reduced; the tooth root is in arc transition, so that stress concentration is avoided, the possibility of tooth root fracture is reduced, and the bearing capacity is improved.

Drawings

Fig. 1 is a schematic structural diagram of a harmonic reducer provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a harmonic reducer provided in an embodiment of the present application, in which a flexible gear and a rigid gear are meshed;

fig. 3 is a schematic diagram of a cam structure of a harmonic reducer according to an embodiment of the present application.

The text labels in the figures are represented as: 100-a flexible gear; 110-a first tooth crest; 120-first tooth root; 130-a connecting seat; 131-a positioning sleeve; 200-a rigid wheel; 210-a second crest; 220-second root; 300-cam; 310-high speed shaft; 311-a first bearing; 400-a compliant bearing; 500-crossed roller bearings; 600-end caps; 610-second bearing.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

Referring to fig. 1 and fig. 2, the present embodiment provides a harmonic reducer, which includes a flexspline 100 and a rigid spline 200; the inner ring of the rigid gear 200 is provided with a circle of internal teeth, the flexible gear 100 is positioned on the inner side of the rigid gear 200 and is correspondingly provided with corresponding external teeth, the flexible gear 100 comprises a first tooth top 110 and a first tooth root 120, the first tooth top 110 and the first tooth root 120 are respectively arc-shaped, and a plane along the common tangential direction is connected between the adjacent first tooth top 110 and the first tooth root 120; the steel wheel 200 comprises a second tooth crest 210 and a second tooth root 220, wherein the second tooth crest 210 is a plane, and transition circular arcs are respectively arranged at vertex angles at two sides; the second tooth root 220 is arc-shaped, and a plane along the common tangential direction is connected between the adjacent second tooth root and the second tooth crest. The tooth top is in arc transition, so that tooth profile interference and tooth top interference are avoided in the process of engagement and engagement, engagement and engagement are smoother, and engagement noise is reduced; the tooth root is in arc transition, so that stress concentration is avoided, the possibility of tooth root fracture is reduced, and the bearing capacity is improved.

Referring further to fig. 3, in a preferred embodiment, the flexible gear further includes an elliptical cam 300, and the cam 300 is located inside the flexible gear 100 and connected to the flexible gear 100 through a flexible bearing 400. The difference a-b between the major semi-axis a of the cam 300 and the minor semi-axis b of the cam 300 is called wave height; the first tooth top 110 of the flexible gear 100 adopts arc transition, so that the wave height can be reduced, the reduction of the wave height can improve the meshing tooth number of the flexible gear and the rigid gear, reduce the tooth root stress and prolong the fatigue life of the flexible gear, thereby increasing the bearing capacity of the reducer. Taking an XSF-80-100 speed reducer as an example, a is 60.86mm before improvement, b is 59.14mm, a-b is 60.86-59.14 is 1.72, a is 60.70mm after improvement, b is 59.30mm, and a-b is 1.4.

In a preferred embodiment, the flexspline 100 is a thin-walled cup-shaped structure, and includes a connecting seat 130 in the shape of a circular ring at one end, a corresponding positioning sleeve 131 is disposed inside the connecting seat 130 corresponding to a central circular hole, and the positioning sleeve 131 penetrates through the central circular hole; the outer part of the connecting base 130 is coaxially connected with a crossed roller bearing 500 through a positioning sleeve 131, and the positioning sleeve 131 and the inner ring of the crossed roller bearing 500 are respectively and fixedly connected with the connecting base 130.

In a preferred embodiment, the end of the inner ring of the crossed roller bearing 500 away from the flexible gear 100 is provided with a threaded hole for connecting with the outside; the outer ring of the cross roller bearing 500 is fixedly connected to the rigid wheel 200.

In a preferred embodiment, the high-speed shaft 310 is further included, one end of the high-speed shaft 310 is coaxially connected with the positioning sleeve 131 through a first bearing 311, the cam 300 is further mounted on the high-speed shaft 310, and the cam 300 is in a key connection with the high-speed shaft 310.

In a preferred embodiment, an end cover 600 is arranged at one end of the rigid wheel 200 far away from the crossed roller bearing 500, a corresponding through hole is arranged on the end cover 600 corresponding to the high-speed shaft 310, and one end of the high-speed shaft 310 far away from the positioning sleeve 131 penetrates through the end cover 600 and is positioned outside the end cover 600.

In a preferred embodiment, a corresponding second bearing 610 is provided on end cap 600 corresponding to high speed shaft 310.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims

1. A harmonic reducer, comprising a flexspline (100) and a rigid spline (200); the rigid wheel (200) is provided with internal teeth; the flexible gear (100) is positioned on the inner side of the rigid gear (200) and is correspondingly provided with corresponding external teeth; the flexspline (100) includes a first addendum (110) and a first dedendum (120); the first tooth top (110) and the first tooth root (120) are respectively arc-shaped, and a plane along the common tangential direction is connected between the first tooth top and the first tooth root; the rigid gear (200) comprises a second addendum (210) and a second dedendum (220); the second tooth top (210) is a plane, and transition arcs are respectively arranged at vertex angles at two sides; the second tooth root (220) is arc-shaped; a plane along the common tangential direction is connected between the second tooth top (210) and the second tooth root (220).

2. Harmonic reducer according to claim 1, characterized in that it further comprises a cam (300) having an elliptical shape; the cam (300) is positioned on the inner side of the flexible gear (100) and is connected with the flexible gear (100) through a flexible bearing (400).

3. Harmonic reducer according to claim 1, characterized in that the flexspline (100) is of the thin-walled cup type, comprising a connection seat (130) at one end; one end of the connecting seat (130) positioned outside is coaxially connected with a crossed roller bearing (500) through a positioning sleeve (131); the inner ring of the crossed roller bearing (500) is fixedly connected with the connecting seat (130).

4. A harmonic reducer according to claim 3, in which the end of the inner race of the crossed roller bearing (500) remote from the flexspline (100) is provided with a threaded hole for connection to the outside; and the outer ring of the crossed roller bearing (500) is fixedly connected with the rigid wheel (200).

5. A harmonic reducer according to claim 3 further comprising a high speed shaft (310); one end of the high-speed shaft (310) is coaxially connected with the positioning sleeve (131) through a first bearing (311); the high-speed shaft (310) is also provided with the cam (300); the cam (300) is in key connection with the high-speed shaft (310).

6. A harmonic reducer according to claim 5 in which the end of the rigid wheel (200) remote from the cross roller bearing (500) is provided with an end cap (600); the end cover (600) is provided with a corresponding through hole corresponding to the high-speed shaft (310); the high speed shaft (310) is located outside the end cover (600) through the end cover (600).

7. Harmonic reducer according to claim 6, characterized in that the end cover (600) is provided with a corresponding second bearing (610) corresponding to the high speed shaft (310).