CN205806388U - Cycloidal pin teeth harmonic speed reducer - Google Patents
Cycloidal pin teeth harmonic speed reducer Download PDFInfo
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- CN205806388U CN205806388U CN201620764976.0U CN201620764976U CN205806388U CN 205806388 U CN205806388 U CN 205806388U CN 201620764976 U CN201620764976 U CN 201620764976U CN 205806388 U CN205806388 U CN 205806388U
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- gear
- flexible
- speed reducer
- harmonic speed
- teeth
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Abstract
Cycloidal pin teeth harmonic speed reducer, including rigid gear, is provided with flexible gear, is provided with flexible bearing in flexible gear in rigid gear, be provided with cam in flexible bearing, and flexible bearing constitutes harmonic oscillator with cam；The gear teeth meshing mode of rigid gear and flexible gear is cycloidal pin teeth engagement.The precision holding capacity of this utility model cycloidal pin teeth harmonic speed reducer and transmission efficiency are high, and service life is long.
Description
Technical field
This utility model relates to decelerator, is specifically related to a kind of cycloidal pin teeth harmonic speed reducer.
Background technology
Harmonic speed reducer is also known as harmonic wave speed reducing machine or claims harmonic wave drive speed reducer, is to utilize planetary gear principle to grow up
A kind of Novel reducer.With reference to Fig. 1,2, harmonic speed reducer is mainly by rigid gear 1', flexible gear 2', wave producer three
Basic building block forms, and wave producer is made up of cam 3' and flexible bearing 4', and making flexible gear 2' produce by wave producer can
Control elastic deformation, and engage the gear drive of transmitting movement and power with rigid gear 1'.
With reference to Fig. 3, rigid gear 1' and the flexible gear 2' wheel between cog gear motion of existing harmonic speed reducer, for sliding, is taken turns
The field of conjugate action of tooth forms sliding friction, and sliding frictional wear is big, reduces precision holding capacity, the transmission efficiency of decelerator and makes
Use the life-span.
Simultaneously as harmonic speed reducer is the radial circulation elastic deformation by flexible gear 2' make the flexible gear gear teeth with
The rigid gear gear teeth alternately engage the purpose realizing transmitting movement and power, and existing harmonic speed reducer rigid gear successively
The gear teeth meshing degree of depth of 1' and flexible gear 2' is deep, causes the elastic deformation amount of flexible gear 2' and flexible bearing 4' big, in order to
Reducing the resistance of deformation of flexible gear 2' elastic deformation, harmonic speed reducer flexible gear 2' is usually thin-walled tubular structure, this knot
Although structure reduces resistance of deformation, reduce the torsional rigidity of flexible gear 2' transmission moment, have impact on harmonic speed reducer
Transmission accuracy；And the elastic deformation of flexible gear 2' and flexible bearing 4' makes flexible gear 2', flexible bearing 4' the most anti-
Reproducing raw diametric(al) flexural deformation, this flexural deformation makes harmonic speed reducer flexible gear 2' and flexible bearing 4' fatigue rupture,
The service life affecting flexible gear 2' and flexible bearing 4', (generally, flexible gear 2' and flexible bearing 4' was harmonic wave
The most flimsy part of decelerator)；Thus affect the service life of harmonic speed reducer.
Utility model content
Technical problem to be solved in the utility model is, overcomes the deficiency of above-mentioned background technology, it is provided that a kind of precision is protected
Hold ability and transmission efficiency high, service life length cycloidal pin teeth harmonic speed reducer.
This utility model solves its technical problem and employed technical scheme comprise that, a kind of cycloidal pin teeth harmonic speed reducer, including
Rigid gear, is provided with flexible gear, is provided with flexible bearing, is provided with in flexible bearing in described flexible gear in described rigid gear
Cam, flexible bearing constitutes harmonic oscillator with cam；The gear teeth meshing mode of described rigid gear and flexible gear is cycloid
Pin tooth engages.
Further, the gear teeth of described rigid gear are the needle roller gear teeth, and the gear teeth of described flexible gear are cycloidal gear teeth.
Further, described cam includes that cam body, the outer circumferential edges of described cam body are provided with elastic compensating device.
Further, described elastic compensating device is the arc block having arcuate elongated slot hole in the middle part of in the of, the inner arc of arc block
Middle face links into an integrated entity with cam body, all has the first seam between intrados left part and right part and the cam body of arc block
Groove, all has the second slot between both sides and the cam body of arc block, and the first slot and second slot of homonymy are interconnected,
The extrados of arc block is higher than the extrados of cam body.
Compared with prior art, advantage of the present utility model is as follows: (1) effectively reduce rigid gear of harmonic speed reducer with
During flexible gear gear teeth meshing, the abrasion of transmitting movement (or power) wheel between cog, improves harmonic speed reducer precision holding capacity and biography
Efficiency of movement；(2) flexible gear and flexible bearing are reduced because of the produced fatigue load of deformation, raising flexible gear and flexible bearing
Service life, improve harmonic speed reducer service life；(3)
The selection space of flexible gear wall thickness is big, can strengthen flexible gear transmission power by increasing the wall thickness of flexible gear
The torsional rigidity of square, thus strengthen anti-twisting property, improve harmonic speed reducer transmission accuracy.
Accompanying drawing explanation
Fig. 1 is the end view of existing harmonic speed reducer.
Fig. 2 is the axial cross-sectional view of existing harmonic speed reducer.
Fig. 3 is rigid gear and flexible gear tooth profiles and the partial enlarged drawing A of engagement of existing harmonic speed reducer.
Fig. 4 is the end view of this utility model embodiment 1.
Fig. 5 is the axial cross-sectional view of embodiment illustrated in fig. 4.
Fig. 6 is rigid gear and the flexible gear tooth profiles of embodiment illustrated in fig. 4 and the local of engagement is sent out and schemed greatly B.
Fig. 7 is rigid gear and the flexible gear tooth profiles of embodiment illustrated in fig. 4 and the local of non-engagement is sent out and schemed greatly C.
Fig. 8 is the end view of the rigid gear of embodiment illustrated in fig. 4.
Fig. 9 is the partial enlarged drawing D of the tooth profiles of rigid gear shown in Fig. 8.
Figure 10 is the end view of the flexible gear of embodiment illustrated in fig. 4.
Figure 11 is the partial enlarged drawing E of the tooth profiles of flexible gear shown in Figure 10.
Figure 12 is the end view of this utility model embodiment 2.
Figure 13 is the structural representation of the cam of embodiment illustrated in fig. 12.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is described in further detail by specific embodiment.
Embodiment 1
With reference to Fig. 4-11, the present embodiment includes rigid gear 1, is provided with flexible gear 2, in flexible gear 2 in rigid gear 1
Being provided with flexible bearing 4, be provided with cam 3 in flexible bearing 4, flexible bearing 4 and cam 3 constitute harmonic oscillator；Rigid gear 1 He
The gear teeth meshing mode of flexible gear 2 is cycloidal pin teeth engagement, rigid gear 1 and the wheel between cog gear motion master of flexible gear 2
Will be for rolling, the gear teeth of rigid gear 1 are the needle roller gear teeth, and the gear teeth of flexible gear 2 are cycloidal gear teeth.
Embodiment 2
Under same transmission accuracy, the Gear Processing essence of the Gear Processing ratio of precision harmonic speed reducer of planet-cycloid reducer
Degree requires higher, and processing and manufacturing difficulty is bigger；The gear tooth size of big speed ratio harmonic speed reducer is than other kinds of deceleration
Device (including planet-cycloid reducer) gear tooth size is small, and under same transmission accuracy, processing and manufacturing difficulty is bigger；
The flexible gear 2 of harmonic speed reducer is non-rigid bodies, and the cycloid gear of planet-cycloid reducer is rigid body, relative to rigid body
Cycloid gear for, non-rigid bodies flexible gear 2 adds and is easily deformed man-hour, and processing and manufacturing difficulty is bigger.And in existing skill
Under the conditions of art, harmonic speed reducer uses the mode of cycloidal pin teeth engagement, and machining accuracy is difficult to reach necessary requirement, if machining accuracy
Not reaching necessary requirement, then easily produce interference between the gear teeth engaged, the stationarity affecting transmission is even killed；For avoiding shadow
Ring the stationarity of transmission or kill phenomenon, needing to leave gap between driving wheel tooth, but leave gap and can affect again transmission accuracy.
The present embodiment can solve the problems referred to above further.
With reference to Figure 12,13, the present embodiment differs only in embodiment 1: be additionally provided with elastic compensating device 5, and cam 3 wraps
Including cam body, elastic compensating device 5 is located at the outer circumferential edges of cam body.
Elastic compensating device 5 is the arc block having arcuate elongated slot hole 6 in the middle part of in the of, with convex in the middle part of the intrados of arc block
Wheel body links into an integrated entity, and all has the first slot 7, arc block between intrados left part and right part and the cam body of arc block
Both sides and cam body between all have the second slot 8, the first slot 7 of homonymy and the second slot 8 are interconnected, arc block
Extrados higher than the extrados of cam body.Elastic compensating device 5 can effectively eliminate the gap between driving wheel tooth, and can make
The gear teeth do not interfere when transmission is engaged.
Cycloidal pin teeth engagement and elastic compensating device 5 are combined, at the bar not reducing transmission accuracy by the present embodiment
Under part, effectively avoid the parts microstoning difficult problem needed for high accuracy Cycloidal pin-wheel drive, reduce and manufacture difficulty of processing, fall
Low manufacturing cost, passes with flexible gear 2 gear teeth with the rigid gear 1 that economic manufacturing process realizes on high accuracy harmonic speed reducer
Dynamic become cycloidal pin teeth and roll engagement from slidably engaging.
The cycloidal pin teeth of planet-cycloid reducer is engaged and is applied on harmonic speed reducer by this utility model, is subtracted by former harmonic wave
The kind of drive of speed device is changed into the roll friction transmission of cycloidal-pin wheel by sliding friction transmission, and the field of conjugate action of the gear teeth forms rolling and rubs
Wiping, rolling friction abrasion is little, it is possible to significantly improve harmonic speed reducer precision holding capacity, transmission efficiency and service life.
Meanwhile, cycloidal pin teeth engagement can reduce the gear teeth meshing degree of depth between rigid gear 1 and flexible gear 2, reduces harmonic wave
Speed reducer flexibility gear 2 and the elastic deformation amount of flexible bearing 4, reduction harmonic speed reducer flexible gear, flexible bearing 4 are born
Fatigue load, improve flexible gear 2, the fatigue life of flexible bearing 4, namely improve harmonic speed reducer fatigue life.
As described in the background art, existing harmonic speed reducer rigid gear 1 and the gear teeth meshing degree of depth of flexible gear 2
Deeply, cause the elastic deformation amount of flexible gear 2 and flexible bearing 4 big, resist to reduce the deformation of flexible gear 2 elastic deformation
Power, harmonic speed reducer flexible gear is usually thin-walled tubular structure, although this structure reduces resistance of deformation, reduces flexibility
Gear 2 transmits the torsional rigidity of moment, have impact on the transmission accuracy of harmonic speed reducer.It practice, in order to make flexible gear 2 elastic
Deformation resistance of deformation and meet requirement fatigue life, existing harmonic speed reducer can only reduce flexible gear 2 wall thickness and realize.
Between this utility model rigid gear 1 and flexible gear 2, the gear teeth meshing degree of depth is little, flexible gear 2 and the elastic deformation of flexible bearing 4
Measuring little, therefore do not have the requirement of harshness to harmonic speed reducer flexible gear 2 wall thickness, the selection significant spatial of flexible gear 2 wall thickness carries
High.Under identical elastic deformation amount, flexible gear 2 wall thickness of this utility model harmonic speed reducer is than traditional harmonic reduction
Much, and flexible gear 2 wall thickness is the thickest for the flexible gear 2 wall thickness thickness of device, and the torsional rigidity that flexible gear 2 transmits moment is the highest,
Flexible gear 2 anti-twisting property is the highest, and harmonic speed reducer transmission accuracy is the highest.Therefore, when design, this utility model
Harmonic speed reducer transmission accuracy can be improved by increasing the wall thickness of flexible gear 2.
Those skilled in the art can carry out various modifications and variations to this utility model, if these amendment and modification
Within the scope of this utility model claim and equivalent technologies thereof, then these amendments and modification are also guarantor of the present utility model
Within the scope of protecting.
The prior art that the content not described in detail in description is known to the skilled person.
Claims (4)
1. a cycloidal pin teeth harmonic speed reducer, including rigid gear (1), described rigid gear is provided with flexible gear in (1)
(2), being provided with flexible bearing (4) in described flexible gear (2), be provided with cam (3) in flexible bearing (4), flexible bearing (4) is with convex
Wheel (3) constitutes harmonic oscillator；It is characterized in that: the gear teeth meshing mode of described rigid gear (1) and flexible gear (2) is pendulum
Line pin tooth engages.
2. cycloidal pin teeth harmonic speed reducer as claimed in claim 1, it is characterised in that: the gear teeth of described rigid gear (1) are
The needle roller gear teeth, the gear teeth of described flexible gear (2) are cycloidal gear teeth.
3. cycloidal pin teeth harmonic speed reducer as claimed in claim 1 or 2, it is characterised in that: described cam (3) includes that cam is originally
Body, the outer circumferential edges of described cam body is provided with elastic compensating device (5).
4. cycloidal pin teeth harmonic speed reducer as claimed in claim 3, it is characterised in that: described elastic compensating device (5) is one
Middle part has the arc block in arcuate elongated slot hole (6), links into an integrated entity with cam body in the middle part of the intrados of arc block, arc block
Intrados left part and right part and cam body between all have the first slot (7), between both sides and the cam body of arc block
All having the second slot (8), the first slot (7) and second slot (8) of homonymy are interconnected, and the extrados of arc block is higher than convex
The extrados of wheel body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620764976.0U CN205806388U (en) | 2016-07-20 | 2016-07-20 | Cycloidal pin teeth harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620764976.0U CN205806388U (en) | 2016-07-20 | 2016-07-20 | Cycloidal pin teeth harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205806388U true CN205806388U (en) | 2016-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620764976.0U Expired - Fee Related CN205806388U (en) | 2016-07-20 | 2016-07-20 | Cycloidal pin teeth harmonic speed reducer |
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| CN (1) | CN205806388U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave reducer |
-
2016
- 2016-07-20 CN CN201620764976.0U patent/CN205806388U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015515A (en) * | 2016-07-20 | 2016-10-12 | 湖南同晟精传技术有限公司 | Cycloid-pin gear harmonic-wave 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: 20161214 Termination date: 20210720 |