CN207583959U - A kind of firm gear structure of two-stage harmonic speed reducer - Google Patents
A kind of firm gear structure of two-stage harmonic speed reducer Download PDFInfo
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- CN207583959U CN207583959U CN201721394329.6U CN201721394329U CN207583959U CN 207583959 U CN207583959 U CN 207583959U CN 201721394329 U CN201721394329 U CN 201721394329U CN 207583959 U CN207583959 U CN 207583959U
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Abstract
The utility model discloses a kind of firm gear structures of two-stage harmonic speed reducer, the firm gear inner wall is circle, outer wall is ellipse, firm gear inner wall forming has internal tooth, and pass through internal tooth and be engaged with level-one flexbile gear, the outer wall of firm gear is shiny surface, and the outer wall of firm gear is connected with two level compliant wheel by two level flexible bearing.The utility model is simple in structure, saves material, and reduces the deflection of flexbile gear, reduces residual stress after flexbile gear assembling, improves service life.
Description
Technical field
The utility model belongs to machinery field more particularly to a kind of firm gear structure of two-stage harmonic speed reducer.
Background technology
In order to carry out the deceleration of high transmission ratio, people, which usually connect two harmonic speed reducers, to be formed cascaded structure and subtracts
Speed, but the structure that two harmonic speed reducer series connection are slowed down needs two flexbile gears, two firm gears and two wave producers, knot
Structure is also more complicated, and complicated structure is not only of high cost, but also parts are also susceptible to problem during operating.In addition, slow down
Output shaft is generally connected by the input shaft of machine by lock sleeve with being driven mechanism, but existing lock sleeve is in order to remain fixed
It is radially to be in a plane, therefore be an overall structure, as shown in figure 5, opening up groove body in side, and corresponding groove body setting
Upper screwed hole and lower threaded hole, bolt pass through upper screwed hole and lower threaded hole to fix output shaft and be driven mechanism, corresponding fluting
At threaded hole, loss of weight face is set, keeps balance of the input shaft in high speed rotation.But since above structure has not been
Holohedral symmetry, and for different motor shafts, the degree that bolt tightens threaded hole is different, more causes the imbalance of lock sleeve, this
Phenomena such as leading to speed reducer when running at high speed, being susceptible to vibrations, and noise is larger, in addition, this uses the motor of Structure adaptation
The range of the axis diameter of axle is small
Utility model content
To solve the above problems, the utility model provides a kind of firm gear structure of two-stage harmonic speed reducer, this practicality is new
Type is simple in structure, saves material, and reduces the deflection of flexbile gear, reduces residual stress after flexbile gear assembling, improves use
Service life.
To reach above-mentioned technique effect, the technical solution of the utility model is：
A kind of firm gear structure of two-stage harmonic speed reducer, the firm gear inner wall are circle, and outer wall is oval, firm gear inner wall
Internal tooth is formed with, and passes through internal tooth and is engaged with level-one flexbile gear, the outer wall of firm gear is shiny surface, and the outer wall of firm gear passes through two level flexibility
Bearing is connected with two level compliant wheel.
Further to improve, the teeth portion of the barrel of the level-one flexbile gear and two level compliant wheel is horizontally disposed, rest part
It is obliquely installed.
Further to improve, the level-one flexbile gear fixation is connected with left box body, and two level compliant wheel is connected with output shaft.
Compared with prior art, the utility model has the following advantages that：
1. utility model a kind of novel two-stage harmonic reduction structure, the structure can realize super large reduction ratio (i=5000
~50000)), and structure is simpler, and service life is long；
2. a kind of novel firm gear structure of utility model, the inner face of firm gear is for processing what is engaged with level-one flexbile gear
Rigid teeth, outer end end face is oval, is used as the cam of two level harmonic reduction, and in the course of work after installation is complete,
This firm gear structure has axial degree of freedom；
The barrel of the harmonic wave flexbile gear of this patent has certain inclination angle, only in teeth portion in level.
Description of the drawings
Fig. 1 is two-stage harmonic speed reducer structure sectional view；
Fig. 2 is the structure diagram of harmonic wave flexbile gear；
The end view of Fig. 3 the utility model harmonic speed reducer level-one firm gears
The sectional view of Fig. 4 the utility model harmonic speed reducer level-one firm gears
Fig. 5 is the structure diagram of existing lock sleeve；
Fig. 6 is the structure diagram that input shaft is fastened with motor shaft by lock sleeve；
Fig. 7 is the side structure schematic diagram of this patent lock sleeve；
Fig. 8 looks up cross-sectional view for this patent locking.
Wherein, 1- connections bolt, 2- left box bodies, 3- two level flexible bearings, 4- level-one firm gears, 5- level-one flexbile gears, 6- are fixed
Bolt, 7- level-one flexible bearings, 8- input shafts, 9- input terminal seal washers, 10- clutch shaft bearings, 11- second bearings, 12- waves hair
Raw device, 13- cross connectors, 14- 3rd bearings, 15- coupling nuts, 16- right cases, 17- two level flexbile gears, 18- connecting pins,
19- output terminal seal washers, 20- output shafts, 21- fourth bearings；22- motor shafts；23- lock sleeve ontologies；24- vertical slots；On 25-
Ring body；26- translots；27- threaded holes；28- lock sleeves.
Specific embodiment
It is illustrated below by way of specific embodiment and with reference to attached drawing to the technical solution of the utility model.
Embodiment 1
A kind of two-stage harmonic speed reducer as shown in Figure 1, including left box body 2 and with 2 relatively-stationary right case of left box body
16；Left box body 2, which passes through, input shaft 8；It is connected between left box body 2 and input shaft 8 by bearing, the input shaft 8 connects wave hair
Raw device 12, wave producer 12 are connected with level-one flexbile gear 5 by level-one flexible bearing 7, and level-one flexbile gear 5 is fixed on left box body 2；One
Grade flexbile gear 5 is engaged with level-one firm gear 4, and 4 one end of level-one firm gear is engaged with level-one flexbile gear 5, and the other end passes through bearing and 2 phase of left box body
Even；The inner wall of level-one firm gear 4 is circle, and outer wall is ellipse；4 outside of level-one firm gear connects two level by two level flexible bearing 3
Flexbile gear 17, two level flexbile gear 17 are connected with output shaft 20, and output shaft 20 passes through right case 16.Input shaft 8 passes through 10 He of clutch shaft bearing
Second bearing 11 is rotatably connected fixation with left box body 2；Level-one firm gear 4 is connected by 3rd bearing 14 with left box body 2；Output shaft 20
It is rotatably connected on right case 16 by fourth bearing 21.Left box body 2 and right case 16 are fixed by connecting the connection of bolt 1.One
Grade flexbile gear 5 is fixed on by fixing bolt 6 on left box body 2.Input shaft 8 and the end face junction of left box body 2 are equipped with input terminal
Seal washer 9.Input shaft 8 is connected by cross connector 13 with wave producer 12.
4 inner end of level-one firm gear of the utility model is the rigid teeth engaged with level-one flexbile gear 5, and outer end face is ellipse, and
Wave producer as two level harmonic reduction.
For the utility model when assembling completion, wave producer 12 makes the inside and outside circle profile of level-one flexible bearing 7 by round bent
Line becomes elliptic curve, and the shape of level-one flexbile gear 5 also becomes elliptic curve from circular curve when further.Similarly, level-one is firm
The outer end face of wheel 4 makes the inside and outside circle profile of two level flexible bearing 3 become elliptic curve from circular curve, two level when further
The shape of flexbile gear 17 also becomes elliptic curve from circular curve.
When external motor driving input shaft 8 rotates, input shaft 8 drives wave producer 12 to revolve by cross connector 13
Turn, since level-one flexbile gear 5 is fixed on by fixing screws 6 on left box body 2, the left end outside wall surface of level-one firm gear 4 is interior with bearing 3
End face coordinates so that and level-one firm gear 5 has axial degree of freedom, when wave producer 12 makes flexbile gear generate periodically deforming, by
In relative motion, so as to which level-one firm gear 4 be made to rotate, so as to fulfill primary speed-down.Then the outer end face conduct of level-one firm gear 4
The wave producer of two level harmonic reduction, since two level firm gear is fixed, two level flexbile gear 17 has axial freedom, so as to make two level soft
Wheel rotates, so as to fulfill double reduction.Two level flexbile gear 17 is connected to one by connecting pin 18 and output shaft 20, so as to
It realizes the output of power, and realizes deceleration.
As shown in Fig. 2, in this patent, for Reducing distortion amount, residual stress after reduction assembling, raising service life, one
The teeth portion of grade 17 flexbile gear barrel of flexbile gear 5 and two level flexbile gear is horizontally disposed, and rest part is obliquely installed.And it requires：
θ=(10~15) ω*m(°)
B=b+ (4~7) (mm).
Wherein, θ represents flexbile gear barrel inclination angle, and ω represents deformation of flexible wheel coefficient, and m represents flexbile gear modulus, and b represents the facewidth, B tables
Show barrel horizontal component width, δ represents Wall-thick, d1Represent flexbile gear tail end diameter, d2Represent flexbile gear increment diameter；L represents soft
Take turns lateral length.
Embodiment 2
As shown in figs 6-8, input shaft 8 is connected by lock sleeve 28 and the locking of motor shaft 22, and the lock sleeve 28 includes lock
Fixed ontology 23 symmetrically offers vertical slot 24 on lock sleeve ontology 23, and the lock sleeve ontology 23 of 24 both sides of vertical slot passes through upper ring body
25 are connected, and be formed with the threaded hole 27 being oppositely arranged, and are offered on upper ring body 25 and 24 vertically disposed translot 26 of vertical slot.
Vertical slot 24 is on the central axes of translot 26.
Embodiment 3
In order to guarantee, the wear-resisting property and service life of level-one flexbile gear and two level flexbile gear, the flexbile gear of this patent make such as
Under, the steel of 92-95%, the graphene of 2-5%, the chromium of 1.2-1.6%, the nickel of 0.8-1.6%, the copper of 0.67-1.37%,
The molybdenum of 0.01-0.03%, the titanium of 0.005-0.02%.Wherein, the alum containing 0.01-0.08% in steel, 0.42-1.67%'s
Carbon, the silicon of 0.27-0.56%, the manganese of 0.4-0.8%, the phosphorus of 0.011-0.04%, the sulphur of 0.06-0.10%, 0.02-0.07%
Aluminium, wherein aluminium be dissolved aluminum, remaining is iron.Above-mentioned material is proportionally added into the grinding of ball milling instrument, is then added in filled with inertia
In the smelting furnace of gas, heating melting forms alloy solution, 4 is taken the photograph using 6 degrees Celsius of heating per minute and per minute heat up during heating
The mode mixed and alternate heating of family name's degree.Fully after melting, alloy solution is poured into flexbile gear mold and is cooled and shaped.
It above are only one of the utility model and specific be oriented to embodiment, but the design concept of the utility model not office
It is limited to this, all non-essential modifications to the present invention made by this concept should all belong to the guarantor for invading the utility model
Protect the behavior of range.
Claims (3)
1. a kind of firm gear structure of two-stage harmonic speed reducer, which is characterized in that the firm gear inner wall is circle, and outer wall is ellipse
Shape, firm gear inner wall forming have internal tooth, and pass through internal tooth and be engaged with level-one flexbile gear, and the outer wall of firm gear is shiny surface, the outer wall of firm gear
Two level compliant wheel is connected with by two level flexible bearing.
2. the firm gear structure of two-stage harmonic speed reducer as described in claim 1, which is characterized in that the level-one flexbile gear and two level
The teeth portion of the barrel of compliant wheel is horizontally disposed, and rest part is obliquely installed.
3. the firm gear structure of two-stage harmonic speed reducer as described in claim 1, which is characterized in that the level-one flexbile gear fix with
Left box body is connected, and two level compliant wheel is connected with output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721394329.6U CN207583959U (en) | 2017-10-26 | 2017-10-26 | A kind of firm gear structure of two-stage harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721394329.6U CN207583959U (en) | 2017-10-26 | 2017-10-26 | A kind of firm gear structure of two-stage harmonic speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN207583959U true CN207583959U (en) | 2018-07-06 |
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ID=62729530
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721394329.6U Active CN207583959U (en) | 2017-10-26 | 2017-10-26 | A kind of firm gear structure of two-stage harmonic speed reducer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109751393A (en) * | 2019-02-25 | 2019-05-14 | 珠海格力电器股份有限公司 | Flexbile gear, harmonic wave speed changer and robot |
| CN113339478A (en) * | 2021-06-15 | 2021-09-03 | 苏州兴域机器人装备有限责任公司 | Radial double-wave flexible transmission speed reducer |
| CN117145946A (en) * | 2023-10-30 | 2023-12-01 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
-
2017
- 2017-10-26 CN CN201721394329.6U patent/CN207583959U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109751393A (en) * | 2019-02-25 | 2019-05-14 | 珠海格力电器股份有限公司 | Flexbile gear, harmonic wave speed changer and robot |
| CN113339478A (en) * | 2021-06-15 | 2021-09-03 | 苏州兴域机器人装备有限责任公司 | Radial double-wave flexible transmission speed reducer |
| CN117145946A (en) * | 2023-10-30 | 2023-12-01 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
| CN117145946B (en) * | 2023-10-30 | 2024-02-09 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Circular spline structure of two -stage harmonic speed reducer ware Effective date of registration: 20190801 Granted publication date: 20180706 Pledgee: Jinzhou Branch of Hunan Ningxiang Rural Commercial Bank Co., Ltd. Pledgor: Wan Xin Seiko (Hunan) Co., Ltd. Registration number: 2019990000824 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200915 Granted publication date: 20180706 Pledgee: Jinzhou Branch of Hunan Ningxiang Rural Commercial Bank Co.,Ltd. Pledgor: WANSHSIN SEIKOU (HUNAN) Co.,Ltd. Registration number: 2019990000824 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| CP03 | Change of name, title or address |
Address after: No. 158, Jinsha East Road, Ningxiang high tech Industrial Park, Changsha, Hunan 410600 Patentee after: Wanxin Jinggong (Hunan) Co., Ltd Address before: 410600 jinshaw Road, Ningxiang City, Changsha City, Hunan Province, No. 158 Patentee before: WANSHSIN SEIKOU (HUNAN) Co.,Ltd. |
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| CP03 | Change of name, title or address |