CN203098757U - Harmonic drive speed reducer - Google Patents
Harmonic drive speed reducer Download PDFInfo
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- CN203098757U CN203098757U CN 201320082848 CN201320082848U CN203098757U CN 203098757 U CN203098757 U CN 203098757U CN 201320082848 CN201320082848 CN 201320082848 CN 201320082848 U CN201320082848 U CN 201320082848U CN 203098757 U CN203098757 U CN 203098757U
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- flexible
- speed reducer
- cup
- roller
- driving speed
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Abstract
The utility model relates to a harmonic drive speed reducer. The harmonic drive speed reducer comprises an internal gear ring, a flexible tooth cup, a flexible sliding set, and a cam set, wherein inner ring teeth are arranged on the inner ring surface of the internal gear ring, the flexible tooth cup is arranged in the internal gear ring in penetrating mode, outer ring teeth which are meshed with the inner ring teeth are arranged on the periphery of a cup opening, the flexible sliding set comprises a flexible ring and a plurality of rollers, the flexible ring is arranged in the flexible tooth cup, one outer ring surface of the flexible ring abuts against the inner portion of the cup opening of the flexible tooth cup, one inner ring surface of the flexible ring is provided with a first roller groove, the rollers are clamped in the first roller groove, the cam set is arranged in the flexible sliding set, the cam set is provided with a cam surface, a second roller groove is formed in the cam surface, and the rollers are clamped in the second roller groove and rotate in the second roller groove simultaneously. Due to the fact that the cam surface directly acts on the flexible sliding set, the harmonic drive speed reducer has the advantages of improving flexibility, reducing cost and the like.
Description
Technical field
The relevant a kind of harmonic driving speed reducer of the utility model refers to a kind of harmonic driving speed reducer that adopts harmonic gear to slow down especially.
Background technique
The deceleration principle of known harmonic drive (harmonic drive transmission), shown in No. the 2906143rd, U. S. Patent, in the flexible gear of being located at a cup-shaped or ring-type by an oval-shaped cam set, make cam after being subjected to the driving force running, cam wheel face major axis to two ends flexible gear can be supported, make the flexible gear and the internal spline (pliable teeth cup) of a Circular Rigid of mate arrangement produce a tight gapless engagement, poor by the number of teeth designed between flexible gear and internal spline, produce a gearing down effectiveness.In order to make cam can drive flexible gear glidingly, known way is at the sheathed flexible bearing of camming surface, flexible bearing includes ring in the outer ring,, is arranged on roller and flexible roller retainer between the inside and outside ring, because the reason of inside and outside ring coil structures is arranged, its flexual effect is limited easily, causes transmission sliding along reaching the motor power (output) increase; And the certain pliability in order to be able to be cam-driven has certain rigid again can support flexible gear, the essential special rolling-mill section that adopts costliness, thereby manufacture cost can not reduce.So known harmonic drive structure is still waited to improve.
The model utility content
In view of this, the purpose of this utility model is to provide a kind of harmonic driving speed reducer, to reach preferable pliability, reduce cost and to promote purposes such as precision.
For achieving the above object, the utility model provides a kind of harmonic driving speed reducer, comprises:
One internal tooth torus, the one inner ring surface is provided with inner circular tooth;
One pliable teeth cup, it is set in this internal tooth torus, and the periphery of one rim of a cup is provided with the outer shroud tooth that is engaged on this inner circular tooth;
One flexible Slide Group, it comprises a flexible loop and a plurality of roller, and this flexible loop is arranged in this pliable teeth cup, and the one outer ring surface is resisted against in the rim of a cup of this pliable teeth cup, and the one inner ring surface is provided with one first roller groove; A plurality of rollers are fastened in this first roller groove and roll; And
One is arranged on the cam set in this flexible Slide Group, and this cam set has a camming surface, and this camming surface is provided with one second roller groove, and a plurality of rollers are fastened on simultaneously in this second roller groove and roll.
Preferably, wherein this flexible loop one side of bar lamellar body of serving as reasons always processes this first roller groove and is curled into and circularly constitutes.
Preferably, wherein this roller be ball, roller or needle roller one of them.
Preferably, wherein more comprise a roller retainer, this roller retainer is embedded in this flexible loop, and this roller is arranged in the roller retainer.
Preferably, wherein more comprise one and mend the crack assembly, it is surrounded on the elastomer of this flexible loop outer ring, and this benefit crack assembly is supported between this flexible loop and this pliable teeth cup.
Preferably, wherein this benefit crack assembly is an annular sheet metal, and this annular sheet metal is provided with a plurality of spring section that are resisted against in this pliable teeth cup rim of a cup, and the dual-side of this annular sheet metal is provided with the side stopper that coats these flexible loop both sides.
Preferably, wherein this benefit crack assembly is an annular plastics shell fragment, and the dual-side of this annular plastics shell fragment is provided with the side stopper that coats these flexible loop both sides.
Harmonic driving speed reducer provided by the utility model can make the pliable teeth cup have better pliability by the roller trench design of flexible Slide Group and cam set, guarantees that the harmonic driving speed reducer can correctly turn round; And, directly act on roller by cam set, can save ring in, also can make this flexible loop needn't adopt noble special rolling-mill section just to have preferable pliability, thereby can significantly reduce cost; In addition, by mending the design of crack assembly, can eliminate the clearance of inner circular tooth with the outer shroud tooth of pliable teeth cup of internal tooth torus, the precision of lifting harmonic driving speed reducer.
Description of drawings
Fig. 1 is the exploded perspective schematic representation of the utility model harmonic driving speed reducer;
Fig. 2 is the part combination schematic representation of the utility model harmonic driving speed reducer;
Fig. 3 is the combination generalized section of the utility model harmonic driving speed reducer;
Fig. 4 is the combination schematic perspective view of the utility model cam set;
Fig. 5 is the exploded perspective schematic representation of the flexible Slide Group of the utility model;
Fig. 6 mends the schematic perspective view of crack assembly for the utility model;
Fig. 7 mends crack another embodiment's of assembly exploded perspective schematic representation for the utility model.
The critical piece title:
1-internal tooth torus; The 11-inner circular tooth;
2-pliable teeth cup; The 21-rim of a cup; 22-outer shroud tooth;
The flexible Slide Group of 3-; The 31-flexible loop; The 311-outer ring surface; The 312-inner ring surface; The 313-first roller groove; The 32-roller; 33-roller retainer;
The 4-cam set; The 41-cam body; The 411-camming surface; The 412-second roller groove;
5-mends the crack assembly; The 51-annular sheet metal; The 52-spring section; 53-side stopper; 54-annular plastics shell fragment; 55-side stopper.
Embodiment
Relevant detailed description of the present utility model and technology contents will be in conjunction with the accompanying drawings, yet the following drawings and embodiment are as illustrative purposes only, are not to be used to limit the utility model.
Consult Fig. 1, Fig. 2 and shown in Figure 3, harmonic driving speed reducer of the present utility model, its preferred embodiment comprises: an internal tooth torus 1, the one inner ring surface is provided with inner circular tooth 11.One pliable teeth cup 2 or ring gear, it is set in the flexible goblet in the internal tooth torus 1, and the periphery of one rim of a cup 21 is provided with the outer shroud tooth 22 that is engaged on inner circular tooth 11, and its outer shroud tooth 22 is decided according to actual demand with the gear ratio of inner circular tooth 11.One flexible Slide Group 3, as shown in Figure 5, it comprises a flexible loop 31 and a plurality of roller 32, this flexible loop 31 processes for the pliability steel, rim of a cup 21 inboards that it is arranged on pliable teeth cup 2 make one outer ring surface 311 directly or indirectly be resisted against rim of a cup 21 inner side surfaces of pliable teeth cup 2, and corresponding to the outer shroud tooth 22 of outer side surface, one inner ring surface 312 is provided with one first roller groove 313, and the shape of roller groove 313 is decided according to the kind of roller 32; A plurality of rollers 32 can be ball, roller or needle roller one of them, make in its first roller groove 313 that is fastened on flexible loop 31 and roll.Reach a cam set 4 that is arranged in this flexible Slide Group 3, as shown in Figure 4, this cam set 4 has an oval-shaped cam body 41, the outer ring of cam body 41 forms a camming surface 411, and be provided with one second roller groove 412 at camming surface 411, the shape of the second roller groove 412 is decided according to the kind of roller 32, above-mentioned a plurality of roller 32 is fastened in the second roller groove 412 simultaneously rolls.Whereby, promptly form harmonic driving speed reducer of the present utility model.
As shown in Figure 5, the flexible loop 31 of this flexible Slide Group 3 of the utility model processes this first roller groove 313 by the one side of bar lamellar body (steel) always and is curled into and is circularly constituted, make flexible loop 31 have preferable pliability by this method for making and structure, and obtain to make things convenient for the effect of manufacturing.These flexible Slide Group 3 preferred embodiments more comprise a roller retainer 33, and roller retainer 33 is made of flexible materials such as plastics, and it is embedded in the flexible loop 31, with so that roller 32 be arranged in the roller retainer 33.
In addition, as shown in Figure 1 to Figure 3, be the clearance of the inner circular tooth of eliminating the internal tooth torus and the outer shroud tooth of pliable teeth cup (because of abrasion, processing or the error of assembling), the utility model preferred embodiment more comprises one and mends crack assembly 5, mend the elastomer that crack assembly 5 is surrounded on flexible loop 31 outer rings, benefit crack assembly 5 is supported between flexible loop 31 and the pliable teeth cup 2.As Fig. 1 and shown in Figure 6, this benefit crack assembly 5 can be an annular sheet metal 51, this annular sheet metal 51 dashes and is provided with a plurality of spring section 52 that are resisted against pliable teeth cup 2 rims of a cup 21 inboards, and the both sides spring of this annular sheet metal 51 is provided with the side stopper 53 that is coated on flexible loop 31 both sides, prevents to mend crack assembly 5 by side stopper 53 and axially comes off.As shown in Figure 7, this benefit crack assembly 5 also can be an annular plastics shell fragment 54 and constitutes, the dual-side of this annular plastics shell fragment 54 is provided with the side stopper 55 that is coated on flexible loop 31 both sides, can prevent to mend crack assembly 5 equally and axially come off, and also can be supported between flexible loop 31 and the pliable teeth cup 2.
Harmonic driving speed reducer of the present utility model can make pliable teeth cup 2 have better pliability by the second roller groove, 412 designs of flexible Slide Group 3 and cam set 4, guarantees that the harmonic driving speed reducer can correctly turn round.In detail, the utility model directly acts on roller 32 by the second roller groove 412 of cam set 4, can save ring in of known flexible bearing, make flexible Slide Group 3 (flexible loop 31) structure itself have preferable pliability, also can make flexible loop 31 needn't adopt noble special rolling-mill section, can significantly reduce manufacture cost simultaneously.In addition, the utility model is also by mending the design of crack assembly 5, the clearance between the inner circular tooth 11 that can eliminate internal tooth torus 1 and the outer shroud tooth 22 of pliable teeth cup 2, the precision of lifting harmonic driving speed reducer.
The above; it only is preferred embodiment of the present utility model; be not therefore to limit protection domain of the present utility model, equivalence variation, modification and the displacement of being done according to the utility model patent spirit etc. all should belong in the protection domain of the utility model patent such as.
Claims (7)
1. a harmonic driving speed reducer is characterized in that, comprises:
One internal tooth torus, the one inner ring surface is provided with inner circular tooth;
One pliable teeth cup, it is set in this internal tooth torus, and the periphery of one rim of a cup is provided with the outer shroud tooth that is engaged on this inner circular tooth;
One flexible Slide Group, it comprises a flexible loop and a plurality of roller, and this flexible loop is arranged in this pliable teeth cup, and the one outer ring surface is resisted against in the rim of a cup of this pliable teeth cup, and the one inner ring surface is provided with one first roller groove; A plurality of rollers are fastened in this first roller groove and roll; And
One is arranged on the cam set in this flexible Slide Group, and this cam set has a camming surface, and this camming surface is provided with one second roller groove, and a plurality of rollers are fastened on simultaneously in this second roller groove and roll.
2. harmonic driving speed reducer as claimed in claim 1 is characterized in that, this flexible loop one side of bar lamellar body of serving as reasons always processes this first roller groove and is curled into and circularly constitutes.
3. harmonic driving speed reducer as claimed in claim 2 is characterized in that, this roller be ball, roller or needle roller one of them.
4. harmonic driving speed reducer as claimed in claim 3 is characterized in that, more comprises a roller retainer.
5. harmonic driving speed reducer as claimed in claim 1 is characterized in that, more comprises one and mends the crack assembly, and it is surrounded on the elastomer of this flexible loop outer ring, and this benefit crack assembly is supported between this flexible loop and this pliable teeth cup.
6. harmonic driving speed reducer as claimed in claim 5, it is characterized in that, this benefit crack assembly is an annular sheet metal, and this annular sheet metal is provided with a plurality of spring section that are resisted against in this pliable teeth cup rim of a cup, and the dual-side of this annular sheet metal is provided with the side stopper that coats these flexible loop both sides.
7. harmonic driving speed reducer as claimed in claim 5 is characterized in that, this benefit crack assembly is an annular plastics shell fragment, and the dual-side of this annular plastics shell fragment is provided with the side stopper that coats these flexible loop both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320082848 CN203098757U (en) | 2013-02-22 | 2013-02-22 | Harmonic drive speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320082848 CN203098757U (en) | 2013-02-22 | 2013-02-22 | Harmonic drive speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203098757U true CN203098757U (en) | 2013-07-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320082848 Expired - Fee Related CN203098757U (en) | 2013-02-22 | 2013-02-22 | Harmonic drive speed reducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN203098757U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN106337913A (en) * | 2015-07-07 | 2017-01-18 | 健腾精密机电股份有限公司 | Fluctuation reducer with self-locking function and composite type decelerator for fluctuation reducer |
| JP2019143745A (en) * | 2018-02-22 | 2019-08-29 | 日本電産シンポ株式会社 | Flexible outer tooth gear and wave gear device having the same |
| CN110259890A (en) * | 2019-05-12 | 2019-09-20 | 天津大学 | A kind of axial direction shock wave movable teeth reducer |
-
2013
- 2013-02-22 CN CN 201320082848 patent/CN203098757U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103603932A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Real-time anti-backlash variable-radius corrugated-toothed reducer |
| CN103603932B (en) * | 2013-11-26 | 2016-03-02 | 燕山大学 | One disappears gap diameter reducing type ripple tooth retarder in real time |
| CN106337913A (en) * | 2015-07-07 | 2017-01-18 | 健腾精密机电股份有限公司 | Fluctuation reducer with self-locking function and composite type decelerator for fluctuation reducer |
| JP2019143745A (en) * | 2018-02-22 | 2019-08-29 | 日本電産シンポ株式会社 | Flexible outer tooth gear and wave gear device having the same |
| JP7168187B2 (en) | 2018-02-22 | 2022-11-09 | 日本電産シンポ株式会社 | Flexible external gear and strain wave gearing having the same |
| CN110259890A (en) * | 2019-05-12 | 2019-09-20 | 天津大学 | A kind of axial direction shock wave movable teeth reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20200222 |