CN204420011U - A kind of harmonic speed reducer - Google Patents
A kind of harmonic speed reducer Download PDFInfo
- Publication number
- CN204420011U CN204420011U CN201420861640.7U CN201420861640U CN204420011U CN 204420011 U CN204420011 U CN 204420011U CN 201420861640 U CN201420861640 U CN 201420861640U CN 204420011 U CN204420011 U CN 204420011U
- Authority
- CN
- China
- Prior art keywords
- needle roller
- output shaft
- roller groove
- flexbile gear
- machine shaping
- 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.)
- Withdrawn - After Issue
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- Retarders (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The utility model discloses a kind of harmonic speed reducer, comprise firm wheel, flexible output unit is connected with in firm wheel, flexible output unit comprises flexbile gear and output shaft, described flexbile gear and the machine shaping of output shaft one, output shaft and being rotationally connected by cross roller bearing between just take turns, described cross roller bearing is made up of needle roller groove and criss-crossing needle roller, needle roller groove comprise with just take turns one machine shaping outer needle roller groove and with needle roller groove in output shaft integrally machine shaping.The utility model makes outer needle roller groove and just takes turns one machine shaping; Flexbile gear and bearing race and interior needle roller groove and the machine shaping of output shaft one, structure is simple, substantially reduce the accumulation of error that parts processing produces, improve Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, the working life of retarder improves 50%, and cost of production reduces 20-30%.
Description
Technical field
The utility model relates to a kind of retarder, relates to a kind of harmonic speed reducer specifically.
Background technique
harmonic speed reducer is novel high-precision transmission decelerating device, and this retarder moment of torsion is large, velocity ratio is high, lightweight, volume is little is used widely.
Traditional harmonic speed reducer comprises firm wheel, flexbile gear and output shaft is connected with in firm wheel, be fixedly connected with between flexbile gear and output shaft, output shaft and being rotationally connected by cross roller bearing between just having taken turns, wherein cross roller bearing is generally made up of inner ring, outer ring and criss-crossing needle roller.
The inner ring of the cross roller bearing that current harmonic speed reducer uses mostly adopts direct processing place on the excircle of output shaft to be similar to the groove of inner ring structure; And the outer ring of cross roller bearing is confined to working ability and the technique of current process equipment usually, in order to easy to assembly, outer ring is along the circumferential direction cut into two-part by general employing, and then half channel-shaped structure is processed respectively to this two-part internal diameter joint, the combination of these two-part is fixed by the fixed form finally by bolt or bearing pin, make the joint of its internal diameter dock the groove being formed and be similar to outer ring, and then assemble criss-crossing needle roller.
This processing and assembling has following defect: one is because each assembly needs to process respectively, and integrating error are comparatively large, and reduce Product Precision, and waste time and energy, cost is higher; Two when being assemblings, and each assembly needs repeatedly to assemble, and causes assembly error comparatively large, can not ensure concentric degree and the position degree of just wheel and flexbile gear and output shaft, reduce the working life of retarder.
Model utility content
Problem to be solved in the utility model be to provide a kind of structure simple, assembly precision can be improved, reduce cost of production, the harmonic speed reducer in the concentric degree of just wheel and flexbile gear and output shaft and position degree, increase working life can be ensured.
In order to solve the problem, the utility model by the following technical solutions:
A kind of harmonic speed reducer, comprises firm wheel, and be just connected with flexible output unit in wheel, flexible output unit comprises flexbile gear and output shaft, described flexbile gear and the machine shaping of output shaft one.
Below the further optimization of the utility model to such scheme:
Output shaft and being rotationally connected by cross roller bearing between just having taken turns, described cross roller bearing is made up of needle roller groove and criss-crossing needle roller, needle roller groove comprise with just take turns one machine shaping outer needle roller groove and with output shaft one machine shaping in needle roller groove.
Further optimization: flexbile gear and between just having taken turns by internal tooth and external tooth engagement driving; The bearing race with the machine shaping of flexbile gear one is provided with in flexbile gear.
Further optimization: the excircle of described firm wheel is disposed radially the needle roller mounting hole be communicated with needle roller groove, is provided with in described needle roller mounting hole for the plug blocking needle roller mounting hole, prevent criss-crossing needle roller from exiting from needle roller mounting hole.
Further optimization: plug is processed into the structure shape consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
The end face of described firm wheel is provided with vertically the tapered positioning hole that simultaneously can pass just wheel and plug, in tapered positioning hole, is plugged with the taper pin for fixing plug.
The utility model adopts such scheme, makes outer needle roller groove and just takes turns one machine shaping; In flexbile gear and output shaft process step, interior needle roller groove and the machine shaping of output shaft one, structure is simple, reduce assembly error, improve Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, extend the working life of retarder.
The utility model adopts such scheme, makes outer needle roller groove and just takes turns one machine shaping; In flexible output unit process step, flexbile gear and bearing race and interior needle roller groove and the machine shaping of output shaft one, structure is simple, substantially reduce the accumulation of error that parts processing produces, improve Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, the working life of retarder improves 50%, and cost of production reduces 20-30%.
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of harmonic wave accelerator in the utility model embodiment.
In figure: 1-just takes turns; 2-flexbile gear; 3-bearing race; 4-criss-crossing needle roller; 5-seal ring; 6-output shaft; 7-needle roller mounting hole; 8-plug; 9-needle roller groove; 10-taper pin; The tapered positioning hole of 11-; 12-internal tooth; 13-external tooth.
Embodiment
Embodiment, as shown in Figure 1, a kind of harmonic speed reducer, comprises just wheel 1, and be just connected with flexible output unit in wheel 1, flexible output unit comprises flexbile gear 2 and output shaft 6, described flexbile gear 2 and the machine shaping of output shaft 6 one.
Output shaft 6 and being rotationally connected by cross roller bearing between just having taken turns 1, described cross roller bearing is made up of needle roller groove 9 and criss-crossing needle roller 4, needle roller groove 9 comprise with just take turns 1 one machine shaping outer needle roller groove and with output shaft 6 one machine shaping in needle roller groove.
The end of output shaft 6 and being tightly connected by seal ring 5 between just having taken turns 1.
Flexbile gear 2 and pass through internal tooth 12 and external tooth 13 engagement driving between just take turns 1;
The bearing race 3 with the machine shaping of flexbile gear 2 one is provided with, for being in transmission connection with profile of tooth output shaft in flexbile gear 2.
The excircle of described firm wheel 1 being disposed radially the needle roller mounting hole 7 be communicated with needle roller groove 9, being provided with for blocking needle roller mounting hole 7 in described needle roller mounting hole 7, prevent the plug 8 that criss-crossing needle roller 4 exits from needle roller mounting hole 7.
Plug 8 is processed into the structure shape consistent with the interior wall construction of needle roller groove 9 near one end of needle roller groove 9.
The end face of described firm wheel 1 is provided with vertically and simultaneously through the tapered positioning hole 11 of just taking turns 1 and plug 8, the taper pin 10 for fixing plug 8 in tapered positioning hole 11, can be plugged with.
The processing technology of above-mentioned harmonic speed reducer, comprises just wheel process step and flexible output unit process step and installation step; In firm wheel process step, outer needle roller groove takes turns one machine shaping with firm; In flexible output unit axle process step, flexbile gear and bearing race 3 and interior needle roller groove and output shaft 6 integrally machine shaping.
Firm wheel process step comprises:
1), blank is forged and tempering;
2) the internal tooth inner circle of, roughing: processed respectively by lathe: a, just wheel; B, outer needle roller groove; C, needle roller mounting hole; D, tapered positioning hole; The oil sealing position of e, seal ring; The machining allowance of 0.5mm is left after the internal tooth inner circle of firm wheel and outer needle roller slot machining;
3), assembling and positioning: criss-crossing needle roller is encased in outer needle roller groove by needle roller mounting hole, is then inserted into needle roller mounting hole with plug, finally taper pin is inserted in tapered positioning hole and plug is fixed;
4) the internal tooth inner circle of, semi finishing: processed respectively by numerical control machine tool: a, just wheel; B, outer needle roller groove; The oil sealing position of e, seal ring; The machining allowance of 0.01 ~ 0.015mm is left after processing; When processing outer needle roller groove, plug is processed into the structure shape consistent with the interior wall construction of needle roller groove near one end of needle roller groove.
5), modified, quenching; Overall modified HRC28-36 is carried out to just taking turns; Then localized quench hardening HRC58-63 is carried out to needle roller groove location;
6), fine finishing; By grinding machine clamped one time, grind internal tooth, the outer needle roller groove of just wheel, clamped one time
Just can machine, substantially reduce the accumulation of error that parts processing produces.The just interior toothed ring gear of wheel and the concentricity of outer needle roller groove is made to reach 0.3 micron.
Flexible output unit process step comprises:
7), by blank once by roughing and semi finishing, the structure shape of flexbile gear and output shaft is processed;
8), by grinding machine clamped one time, disposablely grind the external tooth of flexbile gear and the interior needle roller groove of output shaft and bearing race 3, clamped one time just can machine, and substantially reduces the accumulation of error that parts processing produces.The interior needle roller groove concentricity of the external tooth of flexbile gear and output shaft is made to reach 0.3 micron.
Installation step is: 9), by plug and taper pin exit respectively, then flexible output unit is encased in just taking turns, again criss-crossing needle roller is encased in outer needle roller groove by needle roller mounting hole, then be inserted into needle roller mounting hole with plug, finally taper pin be inserted in tapered positioning hole and plug is located.
The utility model makes outer needle roller groove and just takes turns one machine shaping; In flexible output unit process step, flexbile gear and bearing race 3 and interior needle roller groove and output shaft 6 integrally machine shaping.Structure is simple, reduces assembly error, improves Product Precision, ensure that concentric degree and the position degree of firm wheel and flexbile gear and output shaft, extend the working life of retarder.
Claims (5)
1. a harmonic speed reducer, comprises firm wheel (1), and be just connected with flexible output unit in wheel (1), flexible output unit comprises flexbile gear (2) and output shaft (6), it is characterized in that: described flexbile gear (2) and the machine shaping of output shaft (6) one;
Output shaft (6) and just having taken turns between (1) is rotationally connected by cross roller bearing, described cross roller bearing is made up of needle roller groove (9) and criss-crossing needle roller (4), and needle roller groove (9) comprises and just takes turns the outer needle roller groove of (1) one machine shaping and the interior needle roller groove with the machine shaping of output shaft (6) one.
2. a kind of harmonic speed reducer according to claim 1, is characterized in that: flexbile gear (2) and just having taken turns between (1) by internal tooth (12) and external tooth (13) engagement driving; The bearing race (3) with the machine shaping of flexbile gear (2) one is provided with in flexbile gear (2).
3. a kind of harmonic speed reducer according to claim 2, is characterized in that:
The excircle of described firm wheel (1) is disposed radially the needle roller mounting hole (7) be communicated with needle roller groove (9), is provided with in described needle roller mounting hole (7) for the plug (8) blocking needle roller mounting hole (7), prevent criss-crossing needle roller (4) from exiting from needle roller mounting hole (7).
4. a kind of harmonic speed reducer according to claim 2, is characterized in that:
Plug (8) is processed into the structure shape consistent with the interior wall construction of needle roller groove (9) near one end of needle roller groove (9).
5. a kind of harmonic speed reducer according to claim 3 or 4, it is characterized in that: the end face of described firm wheel (1) is provided with vertically and simultaneously through the tapered positioning hole (11) of just taking turns (1) and plug (8), the taper pin (10) for fixing plug (8) in tapered positioning hole (11), can be plugged with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420861640.7U CN204420011U (en) | 2014-12-31 | 2014-12-31 | A kind of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420861640.7U CN204420011U (en) | 2014-12-31 | 2014-12-31 | A kind of harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204420011U true CN204420011U (en) | 2015-06-24 |
Family
ID=53470383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420861640.7U Withdrawn - After Issue CN204420011U (en) | 2014-12-31 | 2014-12-31 | A kind of harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204420011U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN105387159A (en) * | 2015-12-14 | 2016-03-09 | 山东帅克机械制造股份有限公司 | Robot harmonic reducer device |
-
2014
- 2014-12-31 CN CN201420861640.7U patent/CN204420011U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN104565282B (en) * | 2014-12-31 | 2017-05-17 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN105387159A (en) * | 2015-12-14 | 2016-03-09 | 山东帅克机械制造股份有限公司 | Robot harmonic reducer device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150624 Effective date of abandoning: 20170517 |
|
| AV01 | Patent right actively abandoned |