CN207261608U - Harmonic speed reducer and manipulator - Google Patents
Harmonic speed reducer and manipulator Download PDFInfo
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- CN207261608U CN207261608U CN201721132818.4U CN201721132818U CN207261608U CN 207261608 U CN207261608 U CN 207261608U CN 201721132818 U CN201721132818 U CN 201721132818U CN 207261608 U CN207261608 U CN 207261608U
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- shell
- wave producer
- bearing
- speed reducer
- harmonic speed
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 53
- 238000006073 displacement reaction Methods 0.000 claims description 58
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000012528 membrane Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
This application discloses a kind of harmonic speed reducer and manipulator, solves the problems, such as that original harmonic speed reducer required precision is high, efficiency of assembling is low.Harmonic speed reducer, including shell, shell include shell one and shell two, base bearing are equipped between shell one and shell two；Flexbile gear is fixed with shell one, the firm gear with flexbile gear engagement is fixed with shell two；Alternatively, being fixed with flexbile gear on shell two, the firm gear with flexbile gear engagement is fixed with shell one；The inside of shell is equipped with wave producer, and wave producer is abutted on flexbile gear；The adjusting mechanism for being used for adjusting wave producer axial location is equipped with shell one.Due to being provided with adjusting mechanism at shell one, the axial location of wave producer can be adjusted after the completion of harmonic speed reducer assembling so that harmonic speed reducer operation is smooth.
Description
Technical field
The utility model belongs to harmonic speed reducer technical field.
Background technology
Chinese utility model patent (notification number CN205877138U, the day for announcing 201701011) discloses one kind and uses cup
The hollow type harmonic speed reducer of shape flexbile gear, it is characterised in that including spiral pin structure, the rigid gear being coaxially disposed, intersect rolling
Sub- bearing, cup-shape flexspline and wave producer, rigid gear are located at the lower section of crossed roller bearing and outer with crossed roller bearing
Circle is fixedly connected；Rigid gear inner wall is formed with internal tooth；Cup-shape flexspline is located at the inner side of rigid gear, and cup-shape flexspline includes cylinder
Shape main part, the membrane to extend internally from the one end in cylindrical body portion towards its radial direction, and the axle sleeve of stepped annular；Circle
Cylindrical body part has the external tooth engaged with internal tooth；Axle sleeve includes first lantern ring and outside diameter is more than second set of the first lantern ring outside diameter
Ring；First lantern ring connects the inner peripheral of second lantern ring and the inner peripheral of membrane；Spiral pin structure includes screw, and positioning pin, is opened in
The first screw hole and the first pin hole on second lantern ring, and it is opened in the second screw hole and the second pin of the inner ring of crossed roller bearing
Hole, the second screw hole and the second pin hole are along the axially extending of crossed roller bearing；First screw hole and the second screw hole are correspondingly arranged and divide
Not with screw threaded；First pin hole and the second pin hole are correspondingly arranged and are interference fitted respectively with positioning pin；Wave producer position
It can simultaneously be rotated in the inner side of cup-shape flexspline relative to cup-shape flexspline；Wave producer is used for the external tooth and rigid gear for making cup-shape flexspline
Internal tooth occurs part and engages, and the flexible bearing of wave producer is arranged in the via of cup-shape flexspline.
In this harmonic speed reducer, in order to enable flexbile gear engaged with steel wheel between no-float, along on axis direction
All parts between dimensional fits need it is very accurate, if slightly inclined with standard size after being axially engaged between parts
Difference, harmonic speed reducer will be unable to well run, and just need replacing parts.Therefore, this harmonic speed reducer requires parts to add
Work dimensional accuracy is very accurate, if accurate to dimension does not reach technical requirements, product quality is just unable to reach in fit on
Standard requirement, needs to change part pairing, extends installation time, add production cost.Moreover, run one in harmonic speed reducer
After the section time, parts have abrasion, just generate gap between steel wheel and flexbile gear engagement, reduce the service precision of harmonic speed reducer
And service life, parts can only be replaced or scrapped.
The content of the invention
Utility model content is in view of the above-mentioned problems, the harmonic wave the utility model proposes a kind of high accuracy, quick assembling subtracts
Fast device.Its technical solution is as follows：
Harmonic speed reducer, including shell, the shell include shell one and shell two, are equipped between the shell one and shell two
Base bearing；Flexbile gear is fixed with the shell one, the firm gear with flexbile gear engagement is fixed with the shell two；It is alternatively, described
Flexbile gear is fixed with shell two, the firm gear with flexbile gear engagement is fixed with the shell one；
The inside of the shell is equipped with wave producer, and the wave producer is abutted on flexbile gear；
It is characterized in that, the adjusting mechanism for being used for adjusting wave producer axial location is equipped with the shell one.
In this harmonic speed reducer, due to being provided with adjusting mechanism at shell one, when processing each parts,
It is of less demanding for size of each parts in wave producer axial direction, rejection rate is reduced, improves production efficiency.Moreover,
In assembling, the adjusting of axial spacing can be carried out to wave producer by adjusting mechanism, makes wave producer accurately in flexbile gear
The position that reclines, flexbile gear external tooth and the mesh degree of firm gear internal tooth is reached optimum state so that harmonic speed reducer run
It is smooth, when harmonic speed reducer run a period of time after, parts are worn, also can by the way that adjusting mechanism is adjusted,
So that harmonic speed reducer is in the state of operational excellence again, service life is extended, reduces use cost.
In above-mentioned harmonic speed reducer, the adjusting mechanism is one kind in following technical proposals：
First, the shell one is equipped with annular in shape and the displacement set coaxial with bearing one, the displacement and is sleeved on ripple
It is threaded in device axial direction on shell one, and shifts set one and acted axially on along wave producer on wave producer；
2nd, bolt one is connected with along wave producer axial thread on the shell one, the bolt one occurs along ripple
Device is acted axially on wave producer；
3rd, slide axially on the shell one along wave producer equipped with sliding sleeve, be equipped with along ripple and send out on the sliding sleeve one
The bolt two that raw device is axially set, the bolt two is threaded on shell one, and the head of bolt two is acted on sliding sleeve；
The sliding sleeve is acted axially on wave producer along wave producer；
4th, the side of the shell one is equipped with supporting item in rounded shape, and the supporting item is along wave producer axial thread
It is connected on shell one, steel ball is equipped between the middle part of the supporting item and wave producer；
5th, slide axially on the shell one along wave producer equipped with sliding part, be equipped with along ripple and send out on the sliding part
The bolt three that raw device is axially set, the bolt three is threaded on shell one, and the head of bolt two acts on sliding part
On；Steel ball is equipped between the middle part of the sliding part and wave producer.
In scheme one, rotation displacement set, makes displacement set relative to being moved in shell one, then shifts set and acts on ripple
On device, so as to drive wave producer to move, to reach adjusting purpose.
In scheme two, adjusting bolt one, makes bolt one be moved relative to shell one, and then bolt one acts on wave producer
On, so as to drive wave producer to move, to reach adjusting purpose.
In scheme three, first adjusting bolt two, bolt two is acted on sliding sleeve, so that bolt two drives sliding sleeve relative to shell
One movement, sliding sleeve are acted on wave producer, wave producer movement are driven, to reach adjusting purpose.
In scheme four, rotary support member so that supporting item is moved relative to shell one, and supporting item acts on ripple by steel ball
On generator, so as to drive wave producer to move, to reach adjusting purpose.
In scheme five, first adjusting bolt three, bolt three is acted on sliding part, so that bolt three drives sliding part opposite
Moved in shell one, sliding part is acted on wave producer by steel ball, so as to drive wave producer to move, to reach adjusting mesh
's.
In above-mentioned harmonic speed reducer, one kind in following technical proposals can be selected in the adjusting mechanism scheme one：
A, the displacement is covered between shell one and wave producer, and shifts the inner side that external threading is connected to shell one；
B, have on the shell one along the axial step one to the outside of shell one protrusion of wave producer, the displacement and put on
With bending part one, the inside thread of the bending part one is connected to the outside of step one.
In option A, since displacement external threading is connected to the inner side of shell one so that the structure of harmonic speed reducer is more compact.
In option b, since displacement is put on bending part one, and the inside thread of bending part one is connected to the outer of step one
Side, therefore, displacement set are more positioned at the position in the outside of shell one, in the assembling and adjusting of displacement set, can be rotated with hand or its
Its instrument rotates, and assembles and adjusts and is more convenient.
In above-mentioned harmonic speed reducer, in the scheme one of the adjusting mechanism, between the shell one and wave producer
Equipped with bearing one, the displacement set is acted axially on along wave producer on the outer ring of bearing one, the inner ring of the bearing one
Acted axially on along wave producer on wave producer.
Bearing one is played a supporting role between shell one and wave producer.Displacement set acts on wave producer by bearing one
On.In above-mentioned harmonic speed reducer, in the scheme one of the adjusting mechanism, it is equipped between the displacement set and wave producer
Bearing one, the bearing one and displacement set axial restraint, the bearing one and wave producer axial restraint.
In this scheme, when displacement set one is moved, band dynamic bearing one and wave producer move together, also, due to
Displacement set, between bearing one and wave producer be axial restraint together, therefore, displacement set along wave producer outwardly or inwardly
It is mobile, can all it drive wave producer to move.In harmonic speed reducer, only this adjusting mechanism need to be set on shell one,
Without setting adjusting mechanism again on shell two, hence in so that harmonic speed reducer is simple in structure.
In above-mentioned harmonic speed reducer, in the scheme one of the adjusting mechanism, the displacement is put on step two,
The displacement is put on equipped with clamp spring one, and the outer ring of the bearing one is between step two and clamp spring one；The ripple hair
Raw device is equipped with step three and clamp spring two, and the inner ring of the bearing one is between step three and clamp spring two.
Under the action of step two and clamp spring one, displacement set one and one axially position of bearing；In step three and clamp spring two
Under effect, bearing one and wave producer axially position.
In above-mentioned harmonic speed reducer, in the adjusting mechanism scheme one, if the outside portion of the displacement set one has
Dry recess one
When shifting the rotation of set one, instrument is stretched into the recess one of displacement set one, adjusting is more convenient, also so that harmonic wave
Reducer structure is compact.
In above-mentioned harmonic speed reducer, in the adjusting mechanism scheme two, set between the shell one and wave producer
There is bearing one, the bolt one is resisted against on the outer ring of bearing one, has step three, the axis on the wave producer
One inner ring is held to be resisted against on step three.
Bearing one is played a supporting role between shell one and wave producer.Bolt one acts on wave producer by bearing one
On.This
Utility model also proposed a kind of assembly method of harmonic speed reducer easy to assembly, its technical solution is as follows：
The assembly method of harmonic speed reducer, harmonic speed reducer include shell and the wave producer in shell, its feature
It is, this assembly method comprises the following steps：
A, shell and wave producer are fitted together；
B, the axial location of wave producer is adjusted.
The utility model also proposed a kind of manipulator easy to assembly, its technical solution is as follows：
Manipulator, it is characterised in that including above-mentioned harmonic speed reducer.
Compared with prior art, this harmonic speed reducer makes due to being provided with adjusting mechanism between shell one and wave producer
The axial location of adjustable wave producer in harmonic speed reducer assembling process and during use is obtained, is on the one hand reduced humorous
The required precision of ripple retarder parts machining, on the other hand, also so that harmonic speed reducer service life is longer.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of embodiment of harmonic speed reducer；
Fig. 2 is the structure diagram of adjusting mechanism another embodiment；
Fig. 3 is the structure diagram of adjusting mechanism another embodiment；
Fig. 4 is the structure diagram of adjusting mechanism another embodiment；
Fig. 5 is the structure diagram of adjusting mechanism another embodiment；
Fig. 6 is the structure diagram of adjusting mechanism another embodiment；
Fig. 7 is the structure diagram of adjusting mechanism another embodiment；
Fig. 8 is the structure diagram of adjusting mechanism another embodiment；
Fig. 9 is the structure diagram of adjusting mechanism another embodiment；
Figure 10 is the structure diagram of adjusting mechanism another embodiment；
Figure 11 is the structure diagram of adjusting mechanism another embodiment；
Figure 12 is the structure diagram of adjusting mechanism another embodiment；
Figure 13 is the structure diagram at shell；
In figure, 1, shell；11st, shell one；111st, step one；12nd, shell two；2nd, flexbile gear；3rd, steel wheel；4th, base bearing；5th, ripple is sent out
Raw device；51st, step three；52nd, clamp spring two；6th, bearing one；7th, sliding sleeve；71st, bending part two；72nd, step four；8th, bolt two；91、
Bolt one；92nd, displacement set；921st, recess one；922nd, bending part one；923rd, step two；924th, clamp spring one；10th, supporting item；101、
Recess two；13rd, bolt three；14th, steel ball；15th, sliding part.
Embodiment
As shown in Figure 1, this harmonic speed reducer includes shell 1.As shown in figure 13, shell 1 includes shell 1 and shell 2 12,
Base bearing 4 is equipped between shell 1 and shell 2 12.In the present embodiment, base bearing 4 intersects bearing for roller.It is fixed on shell 1
There is flexbile gear 2, the firm gear engaged with flexbile gear 2 is fixed with shell 2 12.Alternatively, flexbile gear 2 is fixed with shell 2 12,
The firm gear engaged with flexbile gear 2 is fixed with shell 1.
The inside of shell 1 is equipped with wave producer 5, and wave producer 5 is abutted on flexbile gear 2.
The adjusting mechanism for being used for adjusting 5 axial location of wave producer is equipped with shell 1.It should be noted that this paper emphasis
Adjusting mechanism at shell 1 is described.It may also set up the adjusting mechanism of identical or different scheme at shell 2 12.Hereafter to shell 1
The different embodiments of the adjusting mechanism at place illustrate.
Embodiment one
As shown in Figure 1, in the present embodiment, the adjacent between shell 1 and wave producer 5, shell 1 and wave producer
Bearing 1 is equipped between 5, displacement set 92 is additionally provided between shell 1 and wave producer 5, displacement set 92 is annular in shape and occurs with ripple
Device 5 is coaxial.Displacement set 92 is threaded in the inner side of shell 1.Moreover, displacement set 92 is resisted against axially inwards along wave producer 5
On the outer ring of bearing.There is step 3 51, the inner ring of bearing 1 is resisted against platform axially inwards along wave producer 5 on wave producer 5
On rank 3 51.
Some recesses 1 that instrument stretches into when the outside of displacement set 92 has for adjusting.
During adjusting, instrument is stretched into recess 1, rotational displacement set 92, displacement set 92 acts on ripple by bearing 1 and sends out
On raw device 5, coordinate the effect of the adjusting mechanism at shell 2 12, to reach adjusting purpose.
Embodiment two
As shown in Fig. 2, displacement set 92 is equipped with the present embodiment, between shell 1 and wave producer 5, displacement 92 screw threads of set
It is connected to the inner side of shell 1.Bearing 1 is arranged between displacement set 92 and wave producer 5.There is step two on displacement set 92
923, the outer ring of bearing 1 is located on step 2 923.There is step 3 51, the inner ring of bearing 1 is sent out along ripple on wave producer 5
Raw device 5 is resisted against on step 3 51 axially inwards.
Some recesses 1 that instrument stretches into when the outside of displacement set 92 has for adjusting.
During adjusting, instrument is stretched into recess 1, rotational displacement set 92, displacement set 92 acts on ripple by bearing 1 and sends out
On raw device 5, coordinate the effect of the adjusting mechanism at shell 2 12, to reach adjusting purpose.
Embodiment three
As shown in figure 3, in the present embodiment, bearing 1 is equipped between displacement set 92 and wave producer 5, bearing 1 is with moving
Position 92 axial restraints of set, bearing 1 and 5 axial restraint of wave producer.Specifically, there is step 2 923 on displacement set 92, shift
Set 92 is equipped with clamp spring 1, and the outer ring of bearing 1 is between step 2 923 and clamp spring 1；Wave producer 5 is equipped with
Step 3 51 and clamp spring 2 52, the inner ring of bearing 1 is between step 3 51 and clamp spring 2 52.
Under the action of step 2 923 and clamp spring 1, displacement set 92 1 and one 6 axially position of bearing；In step three
51 and clamp spring 2 52 under the action of, 5 axially position of bearing 1 and wave producer.In this scheme, displacement set 92 1 is moved
When, band dynamic bearing 1 and wave producer 5 move together, also, due to being between displacement set 92, bearing 1 and wave producer 5
Together, therefore, displacement set 92 moves in or out axial restraint along wave producer 5, all wave producer 5 can be driven to move
It is dynamic.In harmonic speed reducer, this adjusting mechanism need to be only set on shell 1, need not adjusting be set again on shell 2 12
Mechanism, hence in so that harmonic speed reducer is simple in structure.
Example IV
As shown in figure 4, have on shell 1 along the axial step 1 to the outside of shell 1 protrusion of wave producer 5, displacement
There is bending part 1 on set 92, the inside thread of bending part 1 is connected to the outside of step 1.Shell 1 and Bo Fa
Bearing 1 is equipped between raw device 5, in the present embodiment, the outer ring of bearing 1 is resisted against the inner side of step 1, and moves
Position set 92, axially against on bearing 1, has step 3 51, the inner ring edge of bearing 1 along wave producer 5 on wave producer 5
Wave producer 5 is axially against on step 3 51.
Due to having bending part 1 on displacement set 92, and the inside thread of bending part 1 is connected to step one
111 outside, therefore, displacement set 92 are more positioned at the position in the outside of shell 1, in the assembling and adjusting of displacement set 92, can use
Hand rotates or other instruments rotate, and assembles and adjusts and is more convenient.
Embodiment five
As shown in figure 5, the present embodiment is roughly the same with example IV, different places is, in the present embodiment, displacement
There is step 2 923 on set 92, the outer ring of bearing 1 is resisted against on step 2 923.
Embodiment six
As shown in fig. 6, the present embodiment is roughly the same with embodiment three, different places is, in the present embodiment, shell one
Have on 11 along the axial step 1 to the outside of shell 1 protrusion of wave producer 5, shifting on set 92 has bending part one
922, the inside thread of bending part 1 is connected to the outside of step 1.
Embodiment seven
As shown in fig. 7, in the present embodiment, bearing 1 is equipped between shell 1 and wave producer 5, is had on wave producer 5
There is a step 3 51, the inner ring of bearing 1 is along wave producer 5 axially against on the step 3 51 on wave producer 5.On shell 1
If being connected with bolt stem 1 along 5 axial thread of wave producer, bolt 1 is along wave producer 5 axially against in bearing 1
On outer ring.During adjusting, rotating bolt 1, by the cooperation with the adjusting mechanism at shell 2 12, bolt 1 passes through bearing 1
The axial location of wave producer 5 is adjusted.
Embodiment eight
Coaxially set with wave producer 5 equipped with sliding sleeve 7, sliding sleeve 7 as shown in figure 8, sliding axially on shell 1 along wave producer 5
Put.The outside of sliding sleeve 7 and the inner side of shell 1 mutually recline.The bolt two axially set along wave producer 5 is equipped with sliding sleeve 7 one
8, bolt 28 is threaded on shell 1, and the head of bolt 28 is acted on sliding sleeve 7.Sliding sleeve 7 is axial along wave producer 5
Act on wave producer 5.In the present embodiment, bearing 1 is equipped between shell 1 and wave producer 5, is had on wave producer 5
There is a step 3 51, the inner ring of bearing 1 is along wave producer 5 axially against on step 3 51.Sliding sleeve 7 is resisted against bearing 1
On outer ring.
During adjusting, first adjusting bolt 28, bolt 28 is acted on sliding sleeve 7, thus bolt 28 drive sliding sleeve 7 relative to
Shell 1 moves, and sliding sleeve 7 is acted on wave producer 5 by bearing 1, drives wave producer 5 to move, to reach adjusting mesh
's.
Embodiment nine
As shown in figure 9, the present embodiment is roughly the same with embodiment eight, different places is, in the present embodiment, shell one
There is the step 1 axially protruded along wave producer 5 to the outside of shell 1 on 11, there is bending part 2 71 on sliding sleeve 7, roll over
The inner side of turn of bilge 2 71 is abutted on the outside of step 1.
Embodiment ten
As shown in Figure 10, the present embodiment is roughly the same with embodiment eight, and different places is, in the present embodiment, sliding
There is step 4 72 on set 7, for bearing 1 between sliding sleeve 7 and wave producer 5, the outer ring of bearing 1 is located at step 4 72
On, and step 4 72 along wave producer 5 axially against on bearing 1.
Embodiment 11
As shown in figure 11, in the present embodiment, wave producer 5 is solid construction, or at least in the shaft of wave producer 5
Portion is solid, to support steel ball 14.On shell 1 supporting item 10, supporting item 10 and ripple are connected with along 5 axial thread of wave producer
Steel ball 14 is equipped between generator 5.The outside of supporting item 10 is equipped with some recesses 2 101, and for rotating when is stretched into for instrument.
In the present embodiment, supporting item 10 is threaded in the inner side of shell 1.
During adjusting, rotatable support 10, supporting item 10 is acted on wave producer 5 by steel ball 14, to adjust ripple
The axial location of device 5.
Embodiment 12
As shown in figure 12, slide axially on shell 1 along wave producer 5 equipped with sliding part 15, edge is equipped with sliding part 15
The bolt 3 13 that wave producer 5 is axially set, bolt 3 13 are threaded on shell 1, and the head of bolt 3 13 acts on
On sliding part 15；Steel ball 14 is equipped between the middle part of sliding part 15 and wave producer 5.
During adjusting, rotating bolt 3 13, to drive sliding part 15 to be moved axially along wave producer 5, sliding part 15 passes through steel
Pearl 14 is acted on wave producer 5, drives wave producer 5 to move axially.
In these above-mentioned embodiments, the adjusting mechanism at shell two can set elastomeric element, such as spring washer so that ripple
Generator has elastic allowance.
In this harmonic speed reducer, since the sidepiece in shell 1 is provided with adjusting mechanism, processing each zero
It is of less demanding for size of each parts in 5 axial direction of wave producer during part, rejection rate is reduced, improves production efficiency.
Moreover, in assembling, the adjusting of axial spacing can be carried out to wave producer 5 by adjusting mechanism so that wave producer 5 is accurately
The position that reclines in flexbile gear 2, makes the external tooth of flexbile gear 2 reach optimum state with the internal tooth mesh degree of steel wheel 3, improves assembling
Quality, so that harmonic speed reducer operation is smooth.After harmonic speed reducer runs a period of time, parts are worn,
Also can be by the way that adjusting mechanism be adjusted so that harmonic speed reducer is in the state of operational excellence again, extends using the longevity
Life, reduces use cost.
Claims (8)
1. harmonic speed reducer, including shell (1), the shell (1) includes shell one (11) and shell two (12), the shell one
(11) base bearing (4) is equipped between shell two (12)；Flexbile gear (2), the shell two (12) are fixed with the shell one (11)
On be fixed with flexbile gear (2) engagement firm gear；Alternatively, flexbile gear (2) is fixed with the shell two (12), the shell one (11)
On be fixed with flexbile gear (2) engagement firm gear；
The inside of the shell (1) is equipped with wave producer (5), and the wave producer (5) is abutted on flexbile gear (2)；Its
It is characterized in that, described shell one (11) place is equipped with the adjusting mechanism for being used for adjusting wave producer (5) axial location.
2. harmonic speed reducer according to claim 1, it is characterised in that the adjusting mechanism is in following technical proposals
One kind：
First, the shell one (11) is equipped with the annular in shape and displacement set (92) coaxial with bearing one (6), the displacement set
(92) it is threaded in wave producer (5) axial direction on shell one (11), and shifts set (92) one and axially make along wave producer (5)
On wave producer (5)；
2nd, bolt one (91), the bolt one are connected with along wave producer (5) axial thread on the shell one (11)
(91) acted axially on along wave producer (5) on wave producer (5)；
3rd, slide axially equipped with sliding sleeve (7) along wave producer (5) on the shell one (11), worn on the sliding sleeve (7) one
There is the bolt two (8) axially set along wave producer (5), the bolt two (8) is threaded on shell one (11), and bolt
The head of two (8) is acted on sliding sleeve (7)；The sliding sleeve (7) is acted axially on wave producer (5) along wave producer (5)；
4th, the side of the shell one (11) is equipped with supporting item (10) in rounded shape, and the supporting item (10) is along wave producer
(5) axial thread is connected on shell one (11), and steel ball is equipped between the middle part of the supporting item (10) and wave producer (5)
(14)；
5th, slide axially along wave producer (5) on the shell one (11) and worn equipped with sliding part (15), the sliding part on (15)
Equipped with the bolt three (13) axially set along wave producer (5), the bolt three (13) is threaded on shell one (11), and
The head of bolt two (8) is acted on sliding part (15)；It is equipped between the middle part of the sliding part (15) and wave producer (5)
Steel ball (14).
3. harmonic speed reducer according to claim 2, it is characterised in that following skills can be selected in the adjusting mechanism scheme one
One kind in art scheme：
A, the displacement set (92) is located between shell one (11) and wave producer (5), and shifts set (92) and be threaded in shell
The inner side of one (11)；
B, have on the shell one (11) along the axial step one (111) to protrusion on the outside of shell one (11) of wave producer (5), institute
There is bending part one (922), the inside thread of the bending part one (922) is connected to step one on the displacement set (92) stated
(111) outside.
4. harmonic speed reducer according to claim 2, it is characterised in that described in the scheme one of the adjusting mechanism
It is equipped with bearing one (6) between shell one (11) and wave producer (5), the displacement set (92) is along wave producer (5) axial action
On the outer ring of bearing one (6), the inner ring of the bearing one (6) acts axially on wave producer (5) along wave producer (5)
On.
5. harmonic speed reducer according to claim 2, it is characterised in that described in the scheme one of the adjusting mechanism
Bearing one (6), the bearing one (6) and displacement set (92) axial restraint are equipped between displacement set (92) and wave producer (5),
The bearing one (6) and wave producer (5) axial restraint.
6. harmonic speed reducer according to claim 2, it is characterised in that described in the scheme one of the adjusting mechanism
There is step two (923) on displacement set (92), the displacement set (92) is equipped with clamp spring one (924), the bearing one (6)
Outer ring between step two (923) and clamp spring one (924)；The wave producer (5) is equipped with step three (51) and card
Spring two (52), the inner ring of the bearing one (6) is between step three (51) and clamp spring two (52).
7. harmonic speed reducer according to claim 2, it is characterised in that in the adjusting mechanism scheme one, the displacement
The outside portion of set (92) one has some recesses one (921).
8. harmonic speed reducer according to claim 2, it is characterised in that in the adjusting mechanism scheme two, the shell
Bearing one (6) is equipped between one (11) and wave producer (5), the bolt one (91) is resisted against on the outer ring of bearing one (6),
There is step three (51), the inner ring of the bearing one (6) is resisted against on step three (51) on the wave producer (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721132818.4U CN207261608U (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721132818.4U CN207261608U (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207261608U true CN207261608U (en) | 2018-04-20 |
Family
ID=61924106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721132818.4U Expired - Fee Related CN207261608U (en) | 2017-09-05 | 2017-09-05 | Harmonic speed reducer and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207261608U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107387719A (en) * | 2017-09-05 | 2017-11-24 | 杨庆华 | Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator |
-
2017
- 2017-09-05 CN CN201721132818.4U patent/CN207261608U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107387719A (en) * | 2017-09-05 | 2017-11-24 | 杨庆华 | Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 |