CN205534041U - Two -stage harmonic planetary gear reducer - Google Patents
Two -stage harmonic planetary gear reducer Download PDFInfo
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- CN205534041U CN205534041U CN201620360522.7U CN201620360522U CN205534041U CN 205534041 U CN205534041 U CN 205534041U CN 201620360522 U CN201620360522 U CN 201620360522U CN 205534041 U CN205534041 U CN 205534041U
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- gear
- planetary gear
- flexbile
- teeth
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Abstract
The utility model relates to a two -stage harmonic planetary gear reducer, including setting up at the internal wave generator who is used for receiving power of reductor, wave generator is last from interior flexbile gear and the circular spline of outwards cup jointing in proper order, forms first order harmonic gear drive mechanism, flexbile gear coaxial coupling sun gear, reductor body front end sets up the motor interface, and circular spline fixed mounting is on motor interface inner wall, going back integrative being provided with on the internal wall of reductor and encircleing at the outside internal gear of sun gear, be provided with the planet wheelset between sun gear and the internal gear, the planet carrier that all connections are used for output power is taken turns to every planet in the planet wheelset, forms second level planetary gear. The utility model discloses first order harmonic gear drive mechanism can improve the drive ratio of reduction gear, and simultaneously, the utility model discloses compact structure that harmonic drive and planet transmission combined together, small.
Description
[technical field]
This utility model relates to decelerator field, is specifically related to a kind of two-stage harmonic planetary gear reduction unit.
[background technology]
Decelerator is the independent type closed driving device between prime mover and working machine.It is used for reducing rotating speed and increasing moment of torsion, to meet
Job demand.At present, the main Types of domestic reductor have cylinder gear speed reducer, cone gear reducer, worm reducer,
Gear worm decelerator, planetary reducer etc..Planetary reduction gear is big with its gear ratio, transmission efficiency is high, compact conformation etc.
Advantage is widely used in every field.But when required gear ratio is excessive, individually use planet circular system structure to result in reduction box
Volume excessive, limited to its range.And planetary transmission structure is complicated, part is many, volume is big, production cost is high.
[summary of the invention]
The purpose of this utility model is to overcome problems of the prior art, it is provided that a kind of two-stage harmonic planetary gear reduction unit,
While retaining big speed ratio, reduce volume.
In order to achieve the above object, this utility model adopts the following technical scheme that
Including being arranged in reducing gearbox body for receiving the wave producer of power, on wave producer the most successively socket flexbile gear and
Just wheel, forms first order harmonic gear drive mechanism；The coaxially connected sun gear of flexbile gear, reducer shell front end arranges motor interface,
Just wheel is fixedly mounted on motor interface inwall；
Also it is wholely set the internal gear being looped around outside sun gear on reducer shell inwall, is provided with between sun gear and internal gear
Planetary gear set, each planetary gear in planetary gear set is all connected with the planet carrier for exporting power, forms second level Planetary Gear Transmission
Mechanism.
Further, wave producer uses rolling friction type wave producer.
Further, flexbile gear uses cup-shape flexspline.
Further, the flexbile gear number of teeth is 200, and firm tooth number is 202.
Further, second level planetary gear mechanism uses 2K H (A) pattern.
Further, sun gear, internal gear and planetary gear set all use straight spur gear.
Further, the number of teeth of sun gear is 12, and the planetary gear number of teeth in planetary gear set is 30, and the number of teeth of internal gear is 72.
Compared with prior art, this utility model has a following useful technique effect:
First order harmonic gear drive mechanism that this utility model is connected by employing and second level planetary gear mechanism, the first order
Harmonic gear drive mechanism uses just wheel fixing, and wave producer inputs, and the form of flexbile gear output is greatly improved the transmission of decelerator
Ratio.The output of first order harmonic gear drive mechanism is as the input of second level planetary gear mechanism, eventually through second level row
The planet carrier output of star gear drive, the structure that this harmonic drive combines with Gear Planet Transmission, there is compact conformation, volume
The features such as little, lightweight, bearing capacity is big, transmission accuracy is high, sideshake is little, smooth running；Meanwhile, internal tooth in this utility model
Wheel is integrated with reducer shell, reduces the volume of whole decelerator on the premise of keeping big gear ratio.
Further, this utility model, by using rolling friction type wave producer, obtains rolling friction, coefficient of friction in transmission
Little, efficiency is high.
Further, this utility model uses 2K H (A) pattern, the Gear Planet Transmission of this pattern have compact conformation, volume little,
Lightweight, easily manufactured, transmission efficiency high.
Further, this utility model is by using the second level planetary gear mechanism of the specific number of teeth, and Gear Planet Transmission meets fixed biography
Dynamic ratio condition, assembled condition, concentric condition and adjacent tree graph, gear ratio is up to 700.
[accompanying drawing explanation]
Fig. 1 is sectional view of the present utility model.
Fig. 2 is structure diagram of the present utility model.
Fig. 3 is external structure schematic diagram of the present utility model.
Fig. 4 is this utility model Planetary Gear Transmission sectional view.
Wherein: 1-wave producer；2-flexbile gear；3-just takes turns；4-sun gear；5-planetary gear set；6-planet carrier；7-internal gear；8-electricity
Machine interface；9-reducer shell.
[detailed description of the invention]
Below in conjunction with the accompanying drawings this utility model is described in further details.
As shown in Figures 1 to 4, this utility model includes the wave producer 1 being arranged in reducer shell 9, on wave producer 1
Socket flexbile gear 2 and just wheel 3 composition first order harmonic gear drive mechanism the most successively；Also include by sun gear 4, planetary gear
Group 5, planet carrier 6 and the second level planetary gear mechanism of internal gear 7 composition.The coaxially connected sun gear of flexbile gear 24.
Wave producer 1 is connected with motor output shaft, as the input A of decelerator, is used for receiving power；Flexbile gear 2 uses cup-shaped
Flexbile gear；Reducer shell 9 front end arranges motor interface 8, and just wheel 3 is fixedly mounted on motor interface 8 inwall, wave producer 1
Actively, just wheel 3 is fixed, and flexbile gear 2 exports.Flexbile gear 2 outfan is connected with the sun gear 4 of second level planetary gear mechanism,
Input as second level planetary gear mechanism.Internal gear 7 is integrally disposed upon on reducer shell 9 inwall, maintains static,
And internal gear 7 is looped around sun gear 4 outside, planetary gear set 5 is arranged between sun gear 4 and internal gear 7, and planet carrier 6 connects
Each planetary gear in planetary gear set 5, sun gear 4 inputs, and planetary gear set 5, both around central axis, rotates around self axle again,
Planet carrier 6 exports and outfan B as overall decelerator is used for exporting power.
Second level planetary gear mechanism uses 2K H (A) pattern, the Gear Planet Transmission of this pattern have compact conformation, volume little,
Lightweight, easily manufactured, transmission efficiency high.Sun gear 4, internal gear 7 and planetary gear set 5 all use straight tooth column tooth
Wheel.
Work process that this utility model is main and principle: in use, power is incoming by wave producer 1 one end, has just taken turns 3
Fixing, flexbile gear 2 export, and the rotation direction of flexbile gear 2 is contrary with the rotation direction of wave producer 1.First order harmonic gear passes
The output speed of motivation structure is as the input of second level planetary gear mechanism, and sun gear 4 is coaxial with flexbile gear 2, internal gear 7
Fixing, planetary gear set 5 is under the drive of sun gear 4 and internal gear 7, it is achieved that the rotation of the planet carrier 6 being connected with planetary gear set 5
Turn, be finally completed the coaxial output of power.
When just, wheel 3 and internal gear 7 are fixed, and wave producer 1 inputs, and when planet carrier 6 exports, this utility model is single-stage harmonic tooth
Wheel mechanism and the two-stage harmonic planetary gear reduction unit of primary planet pinion mechanisms in series, according to drive mechanism, then can obtain its gear ratio
Relation is
I=i1×i2 (1)
The gear ratio i of first order harmonic gear drive mechanism1Computing formula be:
In formula (2), ZRThe number of teeth for flexbile gear 2；ZGThe number of teeth for just wheel 3；N is wave number.
The gear ratio i of second level planetary gear mechanism2Computing formula is
In formula (3), p is the characterisitic parameter of planetary gears；ZbThe number of teeth for internal gear 7；ZaThe number of teeth for sun gear 4.
In sum, the gear ratio calculation formula of this utility model decelerator is
It is contrary with turning to of the wave producer 1 as input component that negative sign "-" in formula is denoted as turning to of the planet carrier 6 of output,
The i.e. angular velocity w of planet carrier 66Angular velocity w with wave producer 11Turn to contrary.
This utility model specific embodiment is as follows: in first order harmonic drive, and just wheel 3 numbers of teeth are 202, and flexbile gear 2 number of teeth is 200,
Wave producer 1 uses the rolling friction type wave producer actively controlling in formula wave producer, is characterized in the outside at elliptic wheel, set
Equipped with thin-walled antifriction bearings so that it is obtaining rolling friction in transmission, coefficient of friction is little, and efficiency is high.Wave producer 1 inputs, just
Wheel 3 is fixed, and flexbile gear 2 exports.For Planetary Gear Transmission, planetary gear and internal gear 7 in sun gear 4, planetary gear set 5 are equal
Use straight spur gear Gear Planet Transmission.When pressure angle is 20 °, the minimum teeth number not occurring root to cut is 17.Second level planet tooth
In wheel transmission, setting the number of teeth of sun gear 4 as 12, the planetary gear number of teeth in planetary gear set 5 is 30, and the number of teeth of internal gear 7 is
72.Owing to the number of teeth of sun gear is less than 17, need the planetary gear in sun gear 4, planetary gear set 5 and internal gear 7 are conjugated,
Using height change at this, be computed, the modification coefficient choosing sun gear 4 is 0.31, planetary gear and the modification coefficient of internal gear 7
It is-0.31.Gear Planet Transmission meets stable drive ratio condition, assembled condition, concentric condition and adjacent tree graph.Public according to gear ratio calculation
Formula, obtains gear ratio i=700.
If the cogged modulus of the Gear Planet Transmission in this utility model is 1, then in decelerator, largest divisions circular diameter is
72mm.And gear ratio reaches the planetary reduction gear of 700 on the market is that multistage planet transmission combines or uses the big number of teeth mostly
Internal gear, the sun gear of the little number of teeth improves the gear ratio of planetary reduction gear.A kind of existing gear ratio be 700 planet subtract
Speed device, using the mode that three groups of Planetary Gear Transmissions are in series, first order Planetary Gear Transmission gear ratio is 10, the sun gear number of teeth
Being 30, the internal gear number of teeth is 270, and planetary gear number is 6, and the number of teeth is 120.Second level Planetary Gear Transmission gear ratio is also 10,
The sun gear number of teeth is 30, and the internal gear number of teeth is 270, and planetary gear number is 6, and the number of teeth is 120.Third level Planetary Gear Transmission passes
Dynamic ratio is 7, and the sun gear number of teeth is, 20, and the internal gear number of teeth is 120, and planetary gear number is 4, and the number of teeth is 50.All planetary gears
Transmission is satisfied by stable drive ratio condition, concentric condition, assembled condition and adjacent tree graph.If all modules are 1mm, then
The gear largest divisions circular diameter of this planetary reduction gear is 270mm, much larger than this utility model.
Therefore reach the planetary reducer of 700 compared to gear ratio on the market, the volume of decelerator of the present utility model subtracts significantly
Little.
This utility model uses the mode that harmonic drive combines with Gear Planet Transmission, owing to this two-stage harmonic planetary gear reduction unit uses
Having the Harmonic Gears of multiple gear teeth meshing, have the advantages that gear ratio is big, volume is little, Planetary Gear Transmission have employed
2K-H (A) type i.e. NGW type type of belt drive, this style of Gear Planet Transmission has that volume is little, the feature of compact conformation, therefore makes it
Entirety has the feature such as compact conformation, volume is little, lightweight, bearing capacity is big, transmission accuracy is high, sideshake is little, smooth running.
Especially on the premise of ensureing that device volume is little, substantially increase the gear ratio of decelerator.
Claims (7)
1. a two-stage harmonic planetary gear reduction unit, it is characterised in that: it is used for receiving in including being arranged on reducer shell (9)
The wave producer (1) of power, wave producer (1) is socketed flexbile gear (2) the most successively and has just taken turns (3), forming the first order
Harmonic gear drive mechanism；Flexbile gear (2) coaxially connected sun gear (4), reducer shell (9) front end arranges motor interface (8),
Just wheel (3) is fixedly mounted on motor interface (8) inwall；
Also it is wholely set on reducer shell (9) inwall and is looped around the internal gear (7) that sun gear (4) is outside, sun gear (4)
And between internal gear (7), it being provided with planetary gear set (5), each planetary gear in planetary gear set (5) is all connected with for exporting power
Planet carrier (6), form second level planetary gear mechanism.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: wave producer (1) is adopted
Use rolling friction type wave producer.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: flexbile gear (2) uses cup
Shape flexbile gear.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: flexbile gear (2) number of teeth is
200, just wheel (3) number of teeth is 202.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: second level planetary gear
Drive mechanism uses 2K H (A) pattern.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: sun gear (4), interior
Gear (7) and planetary gear set (5) all use straight spur gear.
A kind of two-stage harmonic planetary gear reduction unit the most according to claim 1, it is characterised in that: the tooth of sun gear (4)
Number is 12, and the planetary gear number of teeth in planetary gear set (5) is 30, and the number of teeth of internal gear (7) is 72.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360522.7U CN205534041U (en) | 2016-04-26 | 2016-04-26 | Two -stage harmonic planetary gear reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360522.7U CN205534041U (en) | 2016-04-26 | 2016-04-26 | Two -stage harmonic planetary gear reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205534041U true CN205534041U (en) | 2016-08-31 |
Family
ID=56796601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620360522.7U Expired - Fee Related CN205534041U (en) | 2016-04-26 | 2016-04-26 | Two -stage harmonic planetary gear reducer |
Country Status (1)
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202152A (en) * | 2017-06-01 | 2017-09-26 | 南京理工大学 | A kind of pair of gearratio few teeth difference harmonic gear reducer |
| CN109630649A (en) * | 2018-12-07 | 2019-04-16 | 浙江双环传动机械股份有限公司 | A kind of planetary reducer |
| TWI675161B (en) * | 2018-06-04 | 2019-10-21 | 諧波創新科技股份有限公司 | A speed reducer with inner teeth flexspline |
| CN111237428A (en) * | 2018-11-28 | 2020-06-05 | 纳博特斯克有限公司 | Speed reducer and robot |
| CN111864613A (en) * | 2020-08-29 | 2020-10-30 | 国家电网有限公司 | Portable electric operating tool for high-voltage switch cabinet handcart |
| CN112867576A (en) * | 2018-08-13 | 2021-05-28 | Utv中心公司 | Weld cutting machine and method for cutting a weld |
| CN113339464A (en) * | 2021-06-16 | 2021-09-03 | 苏州兴域机器人装备有限责任公司 | Flexible filtering speed changer of large-transmission-ratio planetary gear |
-
2016
- 2016-04-26 CN CN201620360522.7U patent/CN205534041U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202152A (en) * | 2017-06-01 | 2017-09-26 | 南京理工大学 | A kind of pair of gearratio few teeth difference harmonic gear reducer |
| CN107202152B (en) * | 2017-06-01 | 2019-07-12 | 南京理工大学 | A kind of double transmission ratio few teeth difference-harmonic gear reducers |
| TWI675161B (en) * | 2018-06-04 | 2019-10-21 | 諧波創新科技股份有限公司 | A speed reducer with inner teeth flexspline |
| CN112867576A (en) * | 2018-08-13 | 2021-05-28 | Utv中心公司 | Weld cutting machine and method for cutting a weld |
| CN112867576B (en) * | 2018-08-13 | 2024-03-08 | Utv中心公司 | Weld seam cutting machine and method for cutting weld seam |
| CN112867576B8 (en) * | 2018-08-13 | 2024-04-12 | Utv中心公司 | Weld seam cutting machine and method for cutting weld seam |
| CN111237428A (en) * | 2018-11-28 | 2020-06-05 | 纳博特斯克有限公司 | Speed reducer and robot |
| CN109630649A (en) * | 2018-12-07 | 2019-04-16 | 浙江双环传动机械股份有限公司 | A kind of planetary reducer |
| CN109630649B (en) * | 2018-12-07 | 2024-01-12 | 浙江环动机器人关节科技股份有限公司 | Planetary reduction gear |
| CN111864613A (en) * | 2020-08-29 | 2020-10-30 | 国家电网有限公司 | Portable electric operating tool for high-voltage switch cabinet handcart |
| CN113339464A (en) * | 2021-06-16 | 2021-09-03 | 苏州兴域机器人装备有限责任公司 | Flexible filtering speed changer of large-transmission-ratio planetary gear |
| CN113339464B (en) * | 2021-06-16 | 2024-05-17 | 苏州兴域机器人装备有限责任公司 | Large-transmission-ratio planetary gear flexible filtering speed changer |
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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 |
Granted publication date: 20160831 Termination date: 20170426 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |