CN203477199U - Harmonic speed reducer capable of avoiding interference of gear - Google Patents
Harmonic speed reducer capable of avoiding interference of gear Download PDFInfo
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- CN203477199U CN203477199U CN201320551274.0U CN201320551274U CN203477199U CN 203477199 U CN203477199 U CN 203477199U CN 201320551274 U CN201320551274 U CN 201320551274U CN 203477199 U CN203477199 U CN 203477199U
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Abstract
The utility model discloses a harmonic speed reducer capable of avoiding interference of a gear, wherein rigid inner teeth are arranged on the inner surface of a circular rigid wheel, a wave generator is arranged in the circular rigid wheel, the wave generator consists of an oval-shaped contour rigid cam and a flexible bearing which is embedded on an outer ring of the rigid cam, a flexible wheel is sleeved on an outer ring of the flexible bearing of the wave generator, outer teeth which are matched with the inner teeth of the circular rigid wheel are arranged on the outer surface of the flexible wheel, the flexible wheel and the circular rigid wheel are coaxially arranged, the tooth shapes of the rigid inner teeth of the circular rigid wheel and the outer teeth of the flexible wheel are that opened end parts are of a cone shape on the top surfaces of teeth, and other parts are of a straight line shape. The harmonic speed reducer capable of avoiding interference of the gear is reasonable in structure, low in noise and steady to operate, prevents interference of the gear, and prolongs service life. The harmonic speed reducer capable of avoiding interference of the gear improves efficiency and increases rated torque. The harmonic speed reducer capable of avoiding interference of the gear can be processed by adopting a processing mode of general gears.
Description
Technical field
The utility model relates to a kind of harmonic wave speed reducing machine that is usually used in industrial robot joint place, particularly in engagement process, can avoid the harmonic wave speed reducing machine of interference phenomenon.
Background technique
It is high that harmonic wave speed reducing machine has precision, and volume is little, and the feature that bearing torque is high is widely used in industrial robot field.The ring rigid wheel internal tooth of tradition harmonic wave speed reducing machine and the gear that compliant wheel external tooth all adopts rectilinear form.When compliant wheel is bent to ellipse by wave-generator, two-end part at oval long axis direction, the ring rigid wheel internal tooth of the compliant wheel external tooth of rectilinear form and rectilinear form meshes, because compliant wheel is not complete hollow shape, its bottom exists output flange and compliant wheel to be linked to be an integral body, its top is opening end, and wave-generator is arranged on compliant wheel external tooth position, top.When compliant wheel is not crooked by wave-generator ellipse, compliant wheel external tooth is parallel in the axial direction with ring rigid wheel internal tooth.When compliant wheel is bent to ellipse, originally parallel with ring rigid wheel internal tooth compliant wheel external tooth run-off the straight, be that compliant wheel external tooth and ring rigid wheel internal tooth form are angled, make to interfere phenomenon when this ring rigid wheel and compliant wheel mesh.The compliant wheel ring rigid wheel interfering is when engagement, and compliant wheel and ring rigid wheel can wear and tear, and noise increases, and gear transmission is unstable, and then affects efficiency and the life-span of harmonic wave speed reducing machine.
Meanwhile, if after its profile of tooth being revised according to the amount of bow size of compliant wheel gear, at this gear of processing, can not adopt the straight line processing mode of general straight toothed spur gear, thereby, in Gear Processing mode, be subject to certain limitation.In view of above situation, need to find a kind of harmonic wave speed reducing machine, not only can avoid Tooth Shape Interference, and can adopt general gear machining apparatus to process.
Summary of the invention
It is a kind of rational in infrastructure that the purpose of this utility model is to provide, and not only can avoid Tooth Shape Interference phenomenon, and can adopt the harmonic wave speed reducing machine of the avoidance gear tooth interference that general Gear Processing mode processes.
Technical solution of the present utility model is:
A harmonic wave speed reducing machine of avoiding gear tooth interference, is characterized in that: comprise ring rigid wheel, the internal surface of ring rigid wheel arranges rigidity internal tooth, in ring rigid wheel, wave-generator is set; Described wave-generator is comprised of the flexible bearing that has the rigid cam of cartouche and be embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel, the external tooth that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; The rigidity internal tooth profile of tooth of described ring rigid wheel and the external tooth profile of tooth of compliant wheel are: at the end face of tooth, open end portion is tapered, and other positions are shape linearly.
In the rigidity of ring rigid wheel, the difference of the outer number of teeth of the number of teeth and compliant wheel is 2n tooth, and n is positive integer.
The utility model is rational in infrastructure, and harmonic wave speed reducing machine noise is low, and smooth running has been avoided gear tooth interference, has extended the working life of speed reducer; Harmonic reduction engine efficiency improves, and nominal torque increases; Harmonic wave speed reducing machine can adopt general Gear Processing mode to process.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is an embodiment's of the utility model structural representation.
Fig. 2 is the utility model gear engagement states schematic diagram.
Fig. 3 is traditional harmonic wave speed reducing machine profile of tooth figure.
Fig. 4 is the utility model profile of tooth figure.
Fig. 5, Fig. 6, Fig. 7 are that the utility model compliant wheel is out of shape schematic diagram under wave-generator effect.
Fig. 8 is traditional harmonic wave speed reducing machine gear engagement design sketch.
Fig. 9 is the partial enlarged drawing of Fig. 8.
Figure 10 is the utility model gear engagement design sketch.
Figure 11 is the partial enlarged drawing of Figure 10.
Embodiment
Fig. 1 is the sectional view of harmonic wave speed reducing machine.A harmonic wave speed reducing machine of avoiding gear tooth interference, comprises ring rigid wheel 1, and the internal surface of ring rigid wheel arranges rigidity internal tooth 7, and wave-generator 3 is set in ring rigid wheel; Described wave-generator forms by having the rigid cam 4 of cartouche and the flexible bearing 5 being embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel 2, the external tooth 6 that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; The rigidity internal tooth profile of tooth of described ring rigid wheel and the external tooth profile of tooth of compliant wheel are: at the end face of tooth, opening end 9 parts are tapered 10, and other positions are shape 8 linearly.
Fig. 2 is the schematic diagram of harmonic wave speed reducing machine gear engagement states.Wave-generator 3 bends to ellipse by compliant wheel 2, and the part external tooth in oval long axis direction end positions 6 in compliant wheel 2 is meshed with the part internal tooth 7 of ring rigid wheel 1.Generally, ring rigid wheel 1 is fixed on a fixed body, wave-generator 3 by driven by motor as rotary driving source.Wave-generator 3 rotates, make two gears, engaging position move in a circumferential direction.The number of teeth of two gears is poor is 2n tooth (n is positive integer), due to what number of teeth official post obtained between two gears wave-generator 3 relatively, rotates the significantly relative rotary motion of deceleration of generation.Because ring rigid wheel 1 is fixed, so the parts that are connected with it that rotarily drive of compliant wheel 2 also produce rotation, transmit in this way rotation retarded motion.
Fig. 3 is the profile of tooth figure of traditional harmonic wave speed reducing machine, and its profile of tooth is rectilinear form.Fig. 4 is ring rigid wheel 1, the compliant wheel 2 profile of tooth figure of the utility model harmonic wave speed reducing machine, in opening end 9 part profiles of tooth, is taper profile of tooth 10, and other positions of gear are rectilinear form 8 profiles of tooth.
Fig. 5, Fig. 6, Fig. 7 are that harmonic wave speed reducing machine compliant wheel is out of shape schematic diagram under wave-generator effect.Fig. 5 is compliant wheel 2 while not being out of shape and the profile of ring rigid wheel 1, and because compliant wheel does not deform, the rectilinear form position 8 of ring rigid wheel internal tooth 7 and the rectilinear form position 8 of compliant wheel external tooth 6 are all with axial 12 parallel.Fig. 6 is the two-end part profile of speed reducer compliant wheel 2 long axis direction after distortion under wave-generator 3 effects, distortion due to compliant wheel 2, rectilinear form position 8 run-off the straights of compliant wheel external tooth 6, and form several angle with the rectilinear form position 8 of ring rigid wheel internal tooth 7.Therefore, ring rigid wheel internal tooth 7 and compliant wheel external tooth 6 interfere phenomenon when engagement.At the bottom of ring rigid wheel internal tooth 7 tooth tops and compliant wheel external tooth 6 teeth, formed ring rigid wheel internal tooth and interfered position 13, and at the bottom of compliant wheel external tooth 6 teeth, the cat line on ring rigid wheel internal tooth 7 is the critical line 16 that ring rigid wheel internal tooth interferes; At the bottom of compliant wheel external tooth 6 tooth tops and ring rigid wheel internal tooth 7 teeth, formed compliant wheel external tooth and interfered position 14, and at the bottom of ring rigid wheel internal tooth 7 teeth, the cat line on compliant wheel external tooth 6 is the critical line 15 that compliant wheel external tooth interferes.Fig. 7 is the two-end part profile of speed reducer compliant wheel 2 short-axis direction after distortion under wave-generator 3 effects, and the compliant wheel external tooth 6 in figure and ring rigid wheel internal tooth 7 do not mesh, and 9 positions, top of compliant wheel 2, and its bore inwardly diminishes.
Fig. 8 is traditional harmonic wave speed reducing machine under wave-generator 3 effects, ring rigid wheel internal tooth 7 and compliant wheel external tooth 6 engagement design sketchs, and wherein shade position is respectively ring rigid wheel internal tooth and interferes position 13 and compliant wheel external tooth to interfere position 14.Figure 10 is the utility model harmonic wave speed reducing machine under wave-generator 3 effects, ring rigid wheel internal tooth 7 and compliant wheel external tooth 6 engagement design sketchs, between gear engagement good, do not interfere.
Fig. 9 is Fig. 8 partial enlarged drawing, the interference phenomenon while having reflected traditional harmonic wave speed reducing machine gear engagement, and wherein shade position is respectively ring rigid wheel internal tooth interference position and compliant wheel external tooth interference position.Figure 11 is Figure 10 partial enlarged drawing, has reflected that the gear engagement of the utility model profile of tooth is good, does not interfere.
From profile of tooth of the present utility model, this compliant wheel and ring rigid wheel do not produce interference when engagement, and can adopt general lineal shape cylindrical straight gear processing mode to process.
Claims (2)
1. a harmonic wave speed reducing machine of avoiding gear tooth interference, is characterized in that: comprise ring rigid wheel, the internal surface of ring rigid wheel arranges rigidity internal tooth, in ring rigid wheel, wave-generator is set; Described wave-generator is comprised of the flexible bearing that has the rigid cam of cartouche and be embedded on rigid cam outer ring; On the bearing outer ring of wave-generator, be set with compliant wheel, the external tooth that the setting of compliant wheel outer surface coordinates with ring rigid wheel internal tooth; The firm gear arranged coaxial of compliant wheel and ring; Wave-generator has driven by motor as rotary driving source; The rigidity internal tooth profile of tooth of described ring rigid wheel and the external tooth profile of tooth of compliant wheel are: at the end face of tooth, open end portion is tapered, and other positions are shape linearly.
2. a kind of harmonic wave speed reducing machine of avoiding gear tooth interference according to claim 1, is characterized in that: in the rigidity of ring rigid wheel, the difference of the outer number of teeth of the number of teeth and compliant wheel is 2n tooth, and n is positive integer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551274.0U CN203477199U (en) | 2013-09-06 | 2013-09-06 | Harmonic speed reducer capable of avoiding interference of gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551274.0U CN203477199U (en) | 2013-09-06 | 2013-09-06 | Harmonic speed reducer capable of avoiding interference of gear |
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| Publication Number | Publication Date |
|---|---|
| CN203477199U true CN203477199U (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320551274.0U Withdrawn - After Issue CN203477199U (en) | 2013-09-06 | 2013-09-06 | Harmonic speed reducer capable of avoiding interference of gear |
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| CN (1) | CN203477199U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103438156A (en) * | 2013-09-06 | 2013-12-11 | 上海鑫君传动科技有限公司 | Harmonic reducer avoiding interference of gear |
| CN105431654A (en) * | 2014-07-11 | 2016-03-23 | 谐波传动***有限公司 | Strain wave gear device comprising continuous contact tooth profile formed using circular arc tooth profile |
| CN110380555A (en) * | 2019-07-27 | 2019-10-25 | 朱幕松 | Harmonic reduction iron-core-free brushless permanent magnet motor |
-
2013
- 2013-09-06 CN CN201320551274.0U patent/CN203477199U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103438156A (en) * | 2013-09-06 | 2013-12-11 | 上海鑫君传动科技有限公司 | Harmonic reducer avoiding interference of gear |
| CN103438156B (en) * | 2013-09-06 | 2015-10-28 | 上海鑫君传动科技有限公司 | A kind of harmonic wave speed reducing machine avoiding gear tooth interference |
| CN105431654A (en) * | 2014-07-11 | 2016-03-23 | 谐波传动***有限公司 | Strain wave gear device comprising continuous contact tooth profile formed using circular arc tooth profile |
| CN105431654B (en) * | 2014-07-11 | 2017-09-29 | 谐波传动***有限公司 | With the Wave gear device using continuous contact tooth form formed by arc toothed |
| CN110380555A (en) * | 2019-07-27 | 2019-10-25 | 朱幕松 | Harmonic reduction iron-core-free brushless permanent magnet motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20151028 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20151028 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |