CN1480662A - Right angle type harmonic speed reducer - Google Patents
Right angle type harmonic speed reducer Download PDFInfo
- Publication number
- CN1480662A CN1480662A CNA031353223A CN03135322A CN1480662A CN 1480662 A CN1480662 A CN 1480662A CN A031353223 A CNA031353223 A CN A031353223A CN 03135322 A CN03135322 A CN 03135322A CN 1480662 A CN1480662 A CN 1480662A
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- CN
- China
- Prior art keywords
- bevel gear
- wheel
- output shaft
- speed reducer
- cam
- 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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- Retarders (AREA)
Abstract
An orthogonal harmonic speed reducer is composed of casing, input sahft, output shaft, small bevel gear connected to input shaft, big bevel gear engaged with small one and fit with big bevel gear, cam, flexible wheel and rigid wheel connected to casing. Its advantages are compact structure, small size, high speed ratio, precision and load bearing power, and changeable drive direction.
Description
Technical field:
The present invention relates to a kind of mechanical transmission of harmonic gear.
Technical background:
The appearance of Harmonic Gears is considered to mechanically operated important breakthrough.It has simple in structure, and bearing capacity is big, and transmission range extensively reaches characteristics such as efficient height.Be widely used in every field.Seriation, standardization have appearred in the harmonic driving of China.But common harmonic device adopts input, outbound course parallel coaxial mostly, and has only one group of harmonic reduction.Can not satisfy some has specific (special) requirements to motion structure, the direction of transmitting, and can increase the demand of velocity ratio.
Summary of the invention:
The objective of the invention is to: provide a kind of structure more compact, velocity ratio is big, and can change the conventional output and the harmonic drive of input direction, to overcome the deficiencies in the prior art.
The present invention constitutes like this: it is by housing (1), input shaft (2), output shaft (3), bevel pinion (4), bevel gear wheel (5), cam (6), flexbile gear (7), just wheel (8) is formed, input shaft (2) bevel pinion (4) interior with being contained in housing (1) is connected, bevel pinion (4) and bevel gear wheel (5) engagement, bevel gear wheel (5) cooperates with output shaft (3) by bearing (9), and cam (6) cooperates with bevel gear wheel (5), flexbile gear (7) cooperates with cam (7) by flexible bearing (10), just taken turns (8) and flexbile gear (7) engagement, output shaft (3) is connected with just taking turns (8) by bearing pin (11), and just wheel (8) is connected as a single entity with housing (1).
Setting sleeve (12), (13), (14) are housed respectively on output shaft (3).
The present invention compared with prior art has following advantage:
1, adopts large and small bevel gear drive form, make transmission direction obtain changing;
2, cam (harmonic generator) gear direct and first order transmission links, and simplifies the structure;
3, utilize the engagement type output of tooth of ring-shape flexspline structure, axial dimension is reduced, easy to process, saving material, and good rigidly, bearing capacity height;
4, axial dimension has adopted three places can adjust packing ring, makes easy to adjustly, has guaranteed precision.
Description of drawings:
Accompanying drawing 1 is a structural drawing of the present invention;
Accompanying drawing 2 is flexbile gear of the present invention and the mesh schematic representation of just having taken turns.
Embodiment:
Embodiments of the invention: input shaft (2) (motor shaft) bevel pinion (4) interior with being contained in housing (1) is connected by bearing pin, bevel pinion (4) is 90 ° of engagements with bevel gear wheel (5), bevel gear wheel (5) cooperates with output shaft (3) by two bearings (9), cam (6) is fixedlyed connected by bearing pin with bevel gear wheel (5), flexbile gear (7) cooperates with cam (7) by two flexible bearings (10), just wheel (8) meshes with flexbile gear (7), output shaft (3) is connected with just taking turns (8) by bearing pin (11), and just wheel (8) is made of one with housing (1).Setting sleeve (12), (13), (14) are housed respectively on output shaft (3).
When motor shaft rotated, bevel pinion on it (4) and bevel gear wheel (5) engagement realized first order deceleration, and bevel gear wheel (4) drives cam (6) simultaneously and rotates, flexbile gear (7) and the harmonic reduction transmission between wheel (8) just, and velocity ratio is:
i＝Z1/Z2×[Zs/(Zs-ZR)]
Wherein: Z1 is the number of teeth of auger tooth
Z2 is the number of teeth of conelet tooth
Zs is the number of teeth of just taking turns
ZR is the number of teeth of flexbile gear
The only heavy 1.1kg (not containing motor) of package unit, its transmission efficiency is 80%-95% after tested, velocity ratio 75-5X102 is through the input of 100W motor, exportable 100N.m moment.
Parameter, structure and position relation by changing large and small bevel gear can obtain other structural types of the present invention and velocity ratio.
Claims (2)
1, a kind of orthogonal angle type harmonic speed reducer, it is by housing (1), input shaft (2), output shaft (3), bevel pinion (4), bevel gear wheel (5), cam (6), flexbile gear (7), just wheel (8) is formed, and it is characterized in that: input shaft (2) bevel pinion (4) interior with being contained in housing (1) is connected, bevel pinion (4) and bevel gear wheel (5) engagement, bevel gear wheel (5) cooperates with output shaft (3) by bearing (9), cam (6) cooperates with bevel gear wheel (5), and flexbile gear (7) cooperates with cam (7) by flexible bearing (10), just wheel (8) and flexbile gear (7) engagement, output shaft (3) is connected with just taking turns (8) by bearing pin (11), and just wheel (8) is connected as a single entity with housing (1).
2, orthogonal according to claim 1 angle type harmonic speed reducer is characterized in that: setting sleeve (12), (13), (14) are housed respectively on output shaft (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA031353223A CN1480662A (en) | 2003-06-28 | 2003-06-28 | Right angle type harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA031353223A CN1480662A (en) | 2003-06-28 | 2003-06-28 | Right angle type harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1480662A true CN1480662A (en) | 2004-03-10 |
Family
ID=34154579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA031353223A Pending CN1480662A (en) | 2003-06-28 | 2003-06-28 | Right angle type harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1480662A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102242794A (en) * | 2011-05-31 | 2011-11-16 | 国营红峰机械厂 | Oblique angle harmonic decelerator |
| CN102900812A (en) * | 2012-10-19 | 2013-01-30 | 陕西渭河工模具总厂 | Three-stage transmission harmonic speed reducer with limiting mechanism |
| CN103644256A (en) * | 2013-11-21 | 2014-03-19 | 上海宇航***工程研究所 | Grease lubrication antenna active unfolding device |
| CN103758932A (en) * | 2014-01-26 | 2014-04-30 | 浙江来福谐波传动股份有限公司 | Large-reduction-ratio angular harmonic speed reduction device |
| CN106141598A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | The processing method of the high-accuracy Rigid Gear of Harmonic Reducer of robot |
| CN110145586A (en) * | 2019-06-19 | 2019-08-20 | 廊坊市钦纵传动科技有限公司 | Rectangular axis harmonic speed reducer |
| CN110439985A (en) * | 2019-09-09 | 2019-11-12 | 苏州绿的谐波传动科技股份有限公司 | A kind of perpendicular type harmonic speed reducer device with bevel gear |
-
2003
- 2003-06-28 CN CNA031353223A patent/CN1480662A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102242794A (en) * | 2011-05-31 | 2011-11-16 | 国营红峰机械厂 | Oblique angle harmonic decelerator |
| CN102900812A (en) * | 2012-10-19 | 2013-01-30 | 陕西渭河工模具总厂 | Three-stage transmission harmonic speed reducer with limiting mechanism |
| CN103644256A (en) * | 2013-11-21 | 2014-03-19 | 上海宇航***工程研究所 | Grease lubrication antenna active unfolding device |
| CN103644256B (en) * | 2013-11-21 | 2016-03-02 | 上海宇航***工程研究所 | A kind of grease lubrication antenna active unwinding device |
| CN103758932A (en) * | 2014-01-26 | 2014-04-30 | 浙江来福谐波传动股份有限公司 | Large-reduction-ratio angular harmonic speed reduction device |
| CN103758932B (en) * | 2014-01-26 | 2016-05-25 | 浙江来福谐波传动股份有限公司 | Big retarding is than angle harmonic speed changer |
| CN106141598A (en) * | 2016-07-29 | 2016-11-23 | 柳州福能机器人开发有限公司 | The processing method of the high-accuracy Rigid Gear of Harmonic Reducer of robot |
| CN106141598B (en) * | 2016-07-29 | 2018-03-16 | 柳州福能机器人开发有限公司 | The processing method of the high-accuracy Rigid Gear of Harmonic Reducer of robot |
| CN110145586A (en) * | 2019-06-19 | 2019-08-20 | 廊坊市钦纵传动科技有限公司 | Rectangular axis harmonic speed reducer |
| CN110439985A (en) * | 2019-09-09 | 2019-11-12 | 苏州绿的谐波传动科技股份有限公司 | A kind of perpendicular type harmonic speed reducer device with bevel gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |