CN209370407U - Double flexbile gear harmonic wave speed reducing machines - Google Patents

Abstract

Double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear and wave producer, the strong flexbile gear and the coaxial axial restraint of weak flexbile gear are simultaneously radially fixed, being respectively equipped on strong flexbile gear and weak flexbile gear can be with intermeshing tooth, there are teeth number differences for strong flexbile gear and weak flexbile gear, wave producer makes weak flexbile gear that non-circular elastic deformation occur and engages with strong flexbile gear part, the non-circular elastic deformation of radial pressure generation of strong flexbile gear and weak flexbile gear contact portion by weak flexbile gear.Double flexbile gear harmonic wave speed reducing machines are exactly the steel wheel that existing harmonic wave speed reducing machine is substituted with the one strong flexbile gear that rigidity is greater than existing harmonic wave speed reducing machine flexbile gear, thus strong flexbile gear be different from traditional steel wheel one is noteworthy characterized by: the strong flexbile gear has flexible thin-walled similar with conventional harmonic speed reducer flexbile gear, that is to say, that strong flexbile gear include can one section with elastic deformation gear ring structure between not resiliently deformable mounting flange structure can be with elastically-deformable thin-wall construction.

Description

Double flexbile gear harmonic wave speed reducing machines

Technical field

The present invention relates to speed reducer fields, more particularly, to a kind of double flexbile gear harmonic wave speed reducing machines.

Background technique

Harmonic gear transmission is American inventor C.W.Musser in nineteen fifty-five innovation and creation, it is a kind of using flexible The elastic deformation of working component carries out a kind of novel transmission mode of movement or power transmitting, it breaches machine driving using rigid Property Component Mechanism mode, used a flexible member to realize machine driving, thus obtain it is a series of other transmission institutes Unapproachable specific function.Since the deformation process of middle flexible component is substantially a symmetrical harmonic wave, so gain the name. In addition to this transmission is known as waveform transmission or compliant wheel transmission by the former Soviet Union, American and Britain, moral, Deng state are referred to as " harmonic drive ".

Harmonic gear transmission deceleration principle refers to the relative motion using flexbile gear, firm gear and wave producer, mainly flexbile gear Controlled elasticity deformation come realize movement and power transmitting.Oval cam in wave producer rotates in flexbile gear makes flexbile gear It is deformed.When the flexbile gear gear teeth and the firm gear gear teeth at the oval cam long axis both ends of wave producer enter engagement, short axle The flexbile gear gear teeth and the firm gear gear teeth at both ends disengage.For the tooth between major axis of wave generator and short axle, along flexbile gear and firm gear week It is referred to as engaging-in in the semi-engagement state for progressing into engagement in long different sections；In half engagement for being gradually backed out engagement State is known as nibbling out.When wave producer continuous rotation, flexbile gear constantly generates deformation, make the two-wheeled gear teeth it is engaging-in, engage, nibble Out and the respective original working condition of four kinds of movements constantly change is disengaged, generates side set movement, realize active wave producer and arrive The movement of flexbile gear is transmitted.

The composition of existing harmonic gear transmission device 1. firm gear: rigid internal gear, under normal circumstances 2 more than flexbile gear Tooth is typically secured on casing；2. flexbile gear: the cogged thin cup shaped metal elastomeric element of opening portion outer ring band, it occurs with wave The rotation of device and deform, usually couple with output shaft；3. wave producer: by an oval cam and a flexible bearing group At being usually connected with input shaft.Flexible bearing inner ring is fixed on cam, and outer ring can implement elastic deformation into ellipse by ball Shape.

But after under the action of wave producer ovalizing deflection occurs for the return difference of harmonic wave speed reducing machine depending on flexbile gear at present The tightness degree that engages of the tooth of transverse and steel wheel tooth, the not close then return difference of engagement is larger, and engagement interference can not then assemble Or rotation is difficult, can flexbile gear accurately engage the production precision depending on harmonic wave speed reducing machine with steel wheel, and higher precision is wanted It asks and improves the use that production cost also limits certain relatively inexpensive materials and processing technology；At the same time, flexbile gear, steel wheel With wave producer all can a degree of abrasion during operation, what abrasion will also result in flexbile gear and steel wheel engages tightness degree It gradually decreases, the return difference of speed reducer can be gradually increased, which dictates that the accuracy life of speed reducer cannot be too long.

Summary of the invention

The invention proposes a kind of double flexbile gear harmonic wave speed reducing machines.

The technical scheme adopted by the invention is that.

Double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear and wave producer, the strong flexbile gear and weak flexbile gear co-axial shafts To fixed and radially fixed, being respectively equipped on strong flexbile gear and weak flexbile gear can exist with intermeshing tooth, strong flexbile gear and weak flexbile gear Teeth number difference, wave producer make weak flexbile gear that non-circular elastic deformation occur and engage with strong flexbile gear part, and strong flexbile gear is contacted with weak flexbile gear Part is generated non-circular elastic deformation by the radial pressure of weak flexbile gear；The wall thickness of the strong flexbile gear is more than or equal to the wall thickness of weak flexbile gear 2 times and be less than 5 times of weak Wall-thick, the wall thickness of the strong flexbile gear or the wall thickness of weak flexbile gear refer to that flexbile gear main flexibility is non- The wall thickness for the tubular portion that circle becomes, above-mentioned restriction mainly consider that strong flexbile gear and weak flexbile gear would generally select elasticity modulus phase Under the premise of approximate or identical material, root is answered if strong flexbile gear and weak flexbile gear have selected the biggish material of elastic modulus difference Range is limited according to the above-mentioned wall thickness of elasticity modulus of materials difference conversion.Double flexbile gear harmonic wave speed reducing machines are exactly to be greater than existing harmonic wave with rigidity The strong flexbile gear of one of speed reducer flexbile gear substitutes the steel wheel of existing harmonic wave speed reducing machine, and thus strong flexbile gear is different from the one of existing steel wheel A to be noteworthy characterized by: the strong flexbile gear has flexible thin-walled similar with existing harmonic wave speed reducing machine flexbile gear, that is to say, that strong flexbile gear Include can one section with elastic deformation gear ring structure between not resiliently deformable mounting flange structure can elasticity The thin-wall construction of deformation, this section can usually select thin-walled tubular knot so that non-circular elastically-deformable structure occurs for gear ring structure face Structure；Another of double flexbile gear harmonic wave speed reducing machines is noteworthy characterized by, after non-circular deformation occurs under the action of wave producer for weak flexbile gear The tooth farthest apart from speed reducer axle center reference radius be greater than strong flexbile gear it is unassembled before round gear ring reference circle half Diameter；State that non-circular elastic deformation occurs under the action of wave producer for weak flexbile gear and strong flexbile gear is after the non-circular deformation of weak flexbile gear Engaging portion tooth radial pressure under non-circular elastic deformation occurs, the weak flexbile gear remains part tooth with wave The continuous engaging-in tooth for nibbling out strong flexbile gear of the sense of rotation of device, since there are number of teeth differences for strong flexbile gear and weak flexbile gear, so showing The strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can relatively rotate, and realize the speed reducer effect of deceleration torque increase, wave Generator is equipped with the axis hole or ring flange connecting with input power source, and mounting flange is respectively set on strong flexbile gear and weak flexbile gear Disk and output flange；Certainly double flexbile gear harmonic wave speed reducing machines equally have the reversible output characteristics of existing harmonic wave speed reducing machine；It is practical Using when the wave producer select elliptic cam mostly and be equipped with the structure of rolling bearing in cam outer ring, elliptic cam belongs to 2 cams, which can result in weak flexbile gear, has tooth at two to engage with strong flexbile gear, and the teeth number difference between the strong flexbile gear and weak flexbile gear should be The integral multiple of the cam head number of wave producer can also use the bull cam of single head cam or three or more to make weak theoretically Flexbile gear has one or more to engage with strong flexbile gear, is had using the cam of different head numbers to the number of teeth and tooth form of strong flexbile gear and weak flexbile gear It is corresponding to require；Cycloid tooth, involute teeth, lance tooth, stepped tooth and circle cycloid tooth can be used in strong flexbile gear and weak flexbile gear Deng, since strong flexbile gear may exist certain deflection, certain flank engagement pressure controllable value range can be set by being equal to, Mesh degree also increases, and smaller tooth can be easy to use high, the elasticity of weak flexbile gear is advantageously reduced using smaller tooth height Deformation quantity is to decelerating material fatigue, while smaller tooth height is also more conducive to speed reducer miniaturization and is using the purpose of double flexbile gears When harmonic wave speed reducing machine operates, strong flexbile gear can be as there are a small amount of or micro non-circular elastic deformations for weak flexbile gear for permission；So not only Harmonic wave speed reducing machine be can increase to the fault-tolerant ability of part work difference, moreover it is possible to promote the antiwear property of harmonic wave speed reducing machine to extend essence The service life is spent, therefore also allows for producing the preferable harmonic reduction of the accuracy of manufacture using relatively inexpensive material and processing technology Machine, so that the cost of harmonic wave speed reducing machine be greatly lowered.

Double flexbile gear harmonic wave speed reducing machines, the strong flexbile gear include between gear ring structure and connecting flange dish structure One section can be with elastically-deformable thin-wall construction.The strong flexbile gear has flexible thin similar with existing harmonic wave speed reducing machine flexbile gear Wall, that is to say, that strong flexbile gear include can with elastic deformation gear ring structure and not resiliently deformable mounting flange structure it Between one section can be with elastically-deformable thin-wall construction, it is logical that in favor of gear ring structure face non-circular elastically-deformable structure can occur for this section Often select thin-walled tubular structure.

Double flexbile gear harmonic wave speed reducing machines, it is characterized in that: non-circular deformation occurs under the action of wave producer for weak flexbile gear The reference circle of round gear ring of the reference radius of the tooth farthest apart from speed reducer axle center afterwards greater than strong flexbile gear before unassembled Radius.This is greater than strong flexbile gear that amount guarantees can generate a certain amount of elastic deformation after assembling, this is greater than amount i.e. strong The amount of elastic deformation of flexbile gear, strong flexbile gear only can be only achieved under the basic premise for keeping certain amount of elastic deformation of the invention Technical effect；Above-mentioned size relation is built upon weak flexbile gear, and outside, at this time it is strong to be equipped with outer toothed ring gear to strong flexbile gear for weak flexbile gear inside Flexbile gear is equipped with interior toothed ring gear, and wave producer acts on weak flexbile gear inner wall.

The reference radius of round gear ring of the strong flexbile gear before unassembled is greater than weak flexbile gear in the work of wave producer With the lower reference radius that the non-circular deformed tooth nearest apart from speed reducer axle center occurs.Theoretically there are also another is weak soft Wheel is equipped with interior toothed ring gear outside and flexbile gear is equipped with the harmonic wave speed reducing machine structure including outer toothed ring gear by force, and wave producer acts on weak soft Outer wall is taken turns, this is that weak flexbile gear inwardly squeezes strong flexbile gear, and such structure requires round gear ring of the strong flexbile gear before unassembled Reference radius be greater than weak flexbile gear that non-circular deformed distance deceleration axle center occurs under the action of wave producer be nearest The reference radius of tooth suggests magnitude that this is greater than at least in 0.05mm or more under normal circumstances, this is big in some cases In magnitude even require in 0.1mm or 1mm or more, this magnitude being greater than be exactly assembling after strong flexbile gear plastic deformation Amount, the plastic deformation amount of strong flexbile gear is related with strong flexbile gear radius, the material of strong flexbile gear and machining accuracy level, strong flexbile gear radius Bigger theoretically strong flexbile gear design variations amount should be bigger, the softer theoretically above-mentioned deflection of material should design it is bigger, When requirement on machining accuracy is lower theoretically above-mentioned deflection should design it is bigger, if it is using slotted eye wave producer, Above-mentioned deflection is exactly the difference of the transverse radius and ellipse short shaft radius after strong flexbile gear ovalizing deflection.

Double flexbile gear harmonic wave speed reducing machines further include deceleration main bearing, and the strong flexbile gear and weak flexbile gear pass through deceleration owner The coaxial axial restraint of bearing realization is simultaneously radially fixed.Deceleration main bearing wants that axial moment, radial torque and power of toppling can be born Square, deceleration main bearing usually select crossed roller bearing or double row angular contact bearing, can also select a pair installed respectively Angular contact bearing or a pair of of tapered roller bearing can be any same with receiving axial force in specific speed reducer structure Bearing or the bearing combination of square, radial torque and tilting moment；And all or part of bearing inner race of deceleration main bearing and Bearing outer ring can directly be processed respectively on strong flexbile gear and weak flexbile gear, the methods of can also be bolted and to be separately fixed at On strong flexbile gear and weak flexbile gear；The output flange and mounting flange of double flexbile gear harmonic wave speed reducing machines can be processed respectively in strong flexbile gear and weak On flexbile gear, the bearing inner race and bearing outer ring in deceleration main bearing, certain speed reducers in special circumstances can also be processed respectively Base bearing can select the form of sliding bearing to realize, it might even be possible to directly process respectively on strong flexbile gear and weak flexbile gear complete The inner ring and outer ring of portion or partial sliding bearing.

Double flexbile gear harmonic wave speed reducing machines further include wave producer positioning bearing, and the wave producer is fixed by wave producer Position bearing and strong flexbile gear or weak flexbile gear axial restraint is simultaneously radially fixed.Due to the steel wheel without existing harmonic wave speed reducing machine, more preferably The axle center of fixation wave producer make it that can coaxially effectively reduce when wave producer connect motor with strong flexbile gear or weak flexbile gear The existing micro not coaxially influence to the service life of speed reducer and transmission efficiency, above-mentioned wave producer positioning bearing and existing harmonic wave The non-circular bearing that wave producer includes in speed reducer can not be obscured, and be other additional round bearing；If in practical structures If the drive shaft of the wave producers such as motor shaft and deceleration main bearing have coaxial radially fixed well, wave hair can not needed Raw device positions bearing, and at this moment wave producer is to realize to consolidate with the concentric radial direction of strong flexbile gear and weak flexbile gear by input drive shaft Fixed.

The non-circular deformed tooth farthest apart from speed reducer axle center occurs under the action of wave producer for the weak flexbile gear The reference radius 0.05mm or more of round gear ring of the reference radius greater than strong flexbile gear before unassembled.

The non-circular deformed tooth farthest apart from speed reducer axle center occurs under the action of wave producer for the weak flexbile gear The reference radius 0.2mm or more of round gear ring of the reference radius greater than strong flexbile gear before unassembled.

The non-circular deformed tooth farthest apart from speed reducer axle center occurs under the action of wave producer for the weak flexbile gear The reference radius 1mm or more of round gear ring of the reference radius greater than strong flexbile gear before unassembled.Above-mentioned is the size Difference is exactly the plastic deformation amount of the strong flexbile gear after assembling, the material of the plastic deformation amount of strong flexbile gear and strong flexbile gear radius, strong flexbile gear And machining accuracy level is related, the bigger theoretically strong flexbile gear design variations amount of strong flexbile gear radius should be bigger, and material is softer Theoretically above-mentioned deflection should design bigger, theoretically above-mentioned deflection should design more when requirement on machining accuracy is lower Greatly, if it is using elliptical wave generator, above-mentioned deflection be exactly transverse radius after strong flexbile gear ovalizing deflection with it is ellipse The difference of circle minor axis radius.

The strong flexbile gear is in-flanges or flanging tubular resilient part.Part speed reducer main shaft is machined on the flange The inner ring held or outer ring, or be machined on flange screw hole and deceleration main bearing inner ring or outer ring it is solid by bolt Fixed, in-flanges type is also generally referred to as cupuliform.

The weak flexbile gear is the thin-wall tubular elastic part of in-flanges or flanging.Part deceleration is machined on the flange The inner ring of main bearing or outer ring, or the inner ring of screw hole and deceleration main bearing is machined on flange or outer ring passes through spiral shell Bolt is fixed, and in-flanges type is also generally referred to as cupuliform.

Under normal conditions existing harmonic wave speed reducing machine be all flexbile gear interior steel wheel outside, be at this moment machined on flexbile gear outer Tooth is machined with internal tooth on steel wheel；But theoretically flexbile gear is including outer steel wheel, and internal tooth, steel wheel are at this moment machined on flexbile gear On be machined with external tooth, while cooperating the inner ring of wave producer non-circular bearing inwardly to squeeze flexbile gear makes the engagement of itself and steel wheel be also feasible , this is the harmonic wave speed reducing machine structure type for being more advantageous to structure village hollowing, certainly if it is for better village hollowing, at this time Wave producer rotation power may be from same hollow external rotor electric machine or gear from wave producer outer ring or Toothed belt transmission；Similarly, double flexbile gear harmonic wave speed reducing machines of the invention are all that weak flexbile gear exists outside using strong flexbile gear under normal conditions At this moment interior structure type is machined with external tooth, internal tooth is machined on strong flexbile gear, but similarly can also theoretically adopt on weak flexbile gear The weak flexbile gear of external tooth is machined with the strong flexbile gear of the form of weak flexbile gear outside including strong flexbile gear and is machined with internal tooth, and weak flexbile gear may be selected Flanging tubular configuration, strong flexbile gear uses in-flanges tubular configuration, while wave producer uses hollow form wave producer The inner ring of non-circular bearing squeeze weak flexbile gear non-circular deformation occur, while weak flexbile gear is pressed further by strong flexbile gear and brings it about slightly Non-circular deformation, the rotation power of wave producer at this time may be from same hollow external rotor electric machine or comes from wave The gear or toothed belt transmission of device outer ring.

Double flexbile gear harmonic wave speed reducing machines further include outer flexbile gear protective shell, the flexbile gear protective shell and deceleration main bearing Inner ring or outer ring are fixed.Strong flexbile gear and weak flexbile gear are all flexible, and may be collectively referred to as flexbile gear, due to not being steel wheel on the outside of speed reducer But flexbile gear should guarantee that transport and installation process do not damage outer flexbile gear so the protection of flexbile gear is most important on the outside of speed reducer, Also to guarantee that there are enough spaces to outer deformation of flexible wheel when speed reducer is installed, and effectively prevent so flexbile gear protective shell can provide Shield；Flexbile gear protective shell is fixedly and coaxially connected part, wave with can position bearing as deceleration main bearing and wave producer simultaneously Generator positioning bearing is coaxially fixed by flexbile gear protective shell with deceleration main bearing.

The strong flexbile gear or weak flexbile gear of double flexbile gear harmonic wave speed reducing machines are that plastic material injection molding or plastic material are molded By a small amount of machine-shaping after molding.The precision of injection molding technique is processed lower than precision metallic, and plastic cement part has water suction Property and thermal deformation disadvantage, existing harmonic wave speed reducing machine structure be extremely difficult to if using injection molding technique processing flexbile gear few The high efficiency of return difference is driven, if the work difference of injection molding, which is less than, presets strong flexbile gear using the structure of double flexbile gear harmonic wave speed reducing machines Elastic deformation amount accurate harmonic reduction transmission can be realized；POM material and nylon material are all potential suitable injection moldings For the nylon materials such as the material of flexbile gear, such as PA66, PA6, PA601 be all very suitable to direct injection molding or injection molding after using The flexbile gear part of a small amount of machining manufacture technical solution of the present invention；With the development of macromolecule injected plastics material, constantly there is new answer Mould assembly high molecular material is developed, as long as hardness, wearability, toughness and the satisfactory macromolecule of fatigue durability are molded material Material may serve to the flexbile gear part of the double flexbile gear harmonic wave speed reducing machines of injection molding, and the cost of accurate retarding machine can be greatly lowered in this With the weight for mitigating speed reducer.

It is to include part main shaft that the weak flexbile gear of double flexbile gear harmonic wave speed reducing machines and strong flexbile gear, which distinguish direct injection molding, The part for the inner ring and outer ring held.Because of the convenience of injection molding, from the point of view of simplifying structure and reducing cost, will lead On weak flexbile gear and strong flexbile gear part, certain part process can wrap the direct integrated injection molding of the part inner ring of bearing or outer ring It is machined after including injection molding using a small amount of later period.

Direct machine-shaping has the ball slot rolling of wave producer on the flexbile gear of double flexbile gear harmonic wave speed reducing machines.It is using When the weak flexbile gear of plastic material injection molding, injection molding is also can be used in wave producer, and the rolling element of bearing is filled out in assembling It is charged on wave producer and weak flexbile gear and distinguishes between pre-processed bearing inner race and bearing outer ring, especially with full ball Full ball bearing is formed when filling to be more advantageous to simplified structure and reduce cost.

Laser incising can be used in the tooth of double flexbile gear harmonic wave speed reducing machines or etching is processed.Existing harmonic wave speed reducing machine Since the limitation of work difference is not convenient to use the tooth of very little, and double flexbile gear harmonic wave speed reducing machines are due to good work difference fault-tolerance, The tooth of very little can be used, the non-circular deformation that very little only occurs for the weak flexbile gear that such harmonic wave speed reducing machine can be designed as can transport Turn, this, which can effectively promote the weak flexbile gear service life, also can be reduced fever and promotes transmission efficiency, it is possible thereby to consider using laser incising or Etch process carries out the processing of the tooth of strong flexbile gear and weak flexbile gear, promotes processing efficiency, reduces processing cost.

The significant benefit of one of double flexbile gear harmonic wave speed reducing machines be it is stronger to the inclusiveness of machining tolerance, more bottom water can be used The part that flat work difference requires realizes the small return difference of the high-precision even accurate harmonic wave speed reducing machine of zero return difference；Simultaneously to the packet of part work difference Capacitive is also equal to the inclusiveness to parts depreciation, and parts depreciation in a certain range will not influence the accurate journey of speed reducer Degree, in this way can effectively lifting speed reducer service life；Since the requirement to part processing work difference is reduced, then to material It is just expanded much with the range of choice of processing technology, it is meant that more cheap material and processing technology can be used and realize precision Harmonic wave speed reducing machine, this reduces the costs of the harmonic wave speed reducing machine of same measure of precision, such as stronger to the inclusiveness of abrasion The heat treatment process requirement to existing harmonic wave speed reducing machine to flexbile gear tooth can be reduced or omit, because of the heat treatment meeting of flexbile gear tooth Reduce the material fatigue life of flexbile gear elastoresistance deformation；Double flexbile gear speed reducers also help the tooth for selecting smaller tooth high, using more Small tooth height advantageously reduces the amount of elastic deformation of weak flexbile gear to decelerating material fatigue, while smaller tooth height is also more conducive to subtract Fast machine miniaturization.

Although above-mentioned strong flexbile gear and weak flexbile gear intensity Bu Tong still belong to the components such as flexbile gear and wave producer, bearing one Sample is all known to the those skilled in the art in harmonic wave speed reducing machine field and the those skilled in the art of transmission technical field, detailed to its Thin technical indicator and processing technology and common used material are not done herein excessively to be explained in detail；For double flexbile gear harmonic wave speed reducing machines Common structure, this patent hereinafter also can provide embodiment for several typical structures, it is believed that those skilled in the art understand that The central inventive point of this patent is a kind of both " steel wheel substituted in existing harmonic wave speed reducing machine with the stronger flexbile gear of elasticity modulus After harmonic wave speed reducing machine ", it can fully understand that present invention may apply to the structures of existing all harmonic wave speed reducing machines.

Detailed description of the invention

Double flexbile gear harmonic wave speed reducing machine main views of Fig. 1 embodiment 1.

Double flexbile gear harmonic wave speed reducing machine perspective views of Fig. 2 embodiment 1.

Double flexbile gear harmonic wave speed reducing machine sectional views of Fig. 3 embodiment 1.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Fig. 4 embodiment 1.

Double flexbile gear harmonic wave speed reducing machine main views of Fig. 5 embodiment 2.

Double flexbile gear harmonic wave speed reducing machine perspective views of Fig. 6 embodiment 2.

Double flexbile gear harmonic wave speed reducing machine sectional views of Fig. 7 embodiment 2.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Fig. 8 embodiment 2.

Double flexbile gear harmonic wave speed reducing machine main views of Fig. 9 embodiment 3.

Double flexbile gear harmonic wave speed reducing machine perspective views of Figure 10 embodiment 3.

Double flexbile gear harmonic wave speed reducing machine sectional views of Figure 11 embodiment 3.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Figure 12 embodiment 3.

Double flexbile gear harmonic wave speed reducing machine main views of Figure 13 embodiment 4.

Double flexbile gear harmonic wave speed reducing machine perspective views of Figure 14 embodiment 4.

Double flexbile gear harmonic wave speed reducing machine sectional views of Figure 15 embodiment 4.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Figure 16 embodiment 4.

Double flexbile gear harmonic wave speed reducing machine main views of Figure 17 embodiment 5.

Double flexbile gear harmonic wave speed reducing machine perspective views of Figure 18 embodiment 5.

Double flexbile gear harmonic wave speed reducing machine sectional views of Figure 19 embodiment 5.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Figure 20 embodiment 5.

Double flexbile gear harmonic wave speed reducing machine main views of Figure 21 embodiment 6.

Double flexbile gear harmonic wave speed reducing machine perspective views of Figure 22 embodiment 6.

Double flexbile gear harmonic wave speed reducing machine sectional views of Figure 23 embodiment 6.

Double flexbile gear harmonic wave speed reducing machine parts explosions of Figure 24 embodiment 6.

Mark meaning is as follows in figure: 1, wave producer；2, weak flexbile gear；3, strong flexbile gear；4, deceleration main bearing；5, wave occurs Device positions bearing；6, flexbile gear protective shell.

Specific embodiment

Example is proposed to specific embodiment with reference to the accompanying drawing.

Embodiment 1: as shown in Fig. 1 ~ 4, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear and wave producer, it is described Strong flexbile gear and weak flexbile gear are designed with mounting flange, and the strong flexbile gear and weak flexbile gear are all using existing harmonic wave speed reducing machine flexbile gear Processing technology and flexbile gear common steel are process, and being machined with respectively on strong flexbile gear and weak flexbile gear can be weak with intermeshing tooth Flexbile gear is that the strong flexbile gear of external tooth is internal tooth, selects involute profile, weak flexbile gear has been selected and most of existing harmonic wave flexbile gear speed reducers Identical thin-walled cupuliform, strong flexbile gear selects flanging flexbile gear shape and wall thickness is 2.5 times of weak flexbile gear, and strong flexbile gear is than weak flexbile gear The number of teeth more 2, wave producer use the wave producer of the common oval cam peripheral hardware ball bearing of existing harmonic wave speed reducing machine, wave hair Raw device is equipped with the keyway axis hole connecting with input torque, and wave producer makes weak flexbile gear that non-circular elastic shape occur in weak flexbile gear Become and is engaged with strong flexbile gear part, after oval elastic deformation occurs under the action of wave producer for weak flexbile gear, transverse both ends Tooth reference radius be greater than strong flexbile gear part tooth reference radius 0.1mm, strong flexbile gear and weak flexbile gear contact portion by Radial pressure to weak flexbile gear generates non-circular elastic deformation；The weak flexbile gear remain part tooth with wave producer from Turn the continuous engaging-in tooth for nibbling out strong flexbile gear in direction, so showing the strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can send out It is raw to relatively rotate, realize the speed reducer effect of deceleration torque increase；The wave producer of the present embodiment, weak flexbile gear and strong flexbile gear need respective Concentric, axial is mounted on by axis hole or ring flange to fix and use in radially fixed equipment.In figure the deformation of strong flexbile gear compared with It is small, it is not easy to naked eyes and intuitively finds out the ovalizing deflection amount of strong flexbile gear, so please being interpreted according to specification and understanding that strong flexbile gear is that have The fact that deflection；The components such as wave producer, bearing are more parts members in figure, and what mark directional beacon note component included in figure appoints Meaning position part；Part connection bolt and gasket are concealed in exploded view.

Embodiment 2: as shown in Fig. 5 ~ 8, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear, wave producer and deceleration Main bearing, the deceleration main bearing select crossed roller bearing, and the strong flexbile gear and weak flexbile gear are designed with mounting flange, The strong flexbile gear and weak flexbile gear are fixed with bolt and the outer ring of deceleration main bearing and inner ring respectively by ring flange, described strong soft Wheel and weak flexbile gear be all to be process using the processing technology and flexbile gear common steel of existing harmonic wave speed reducing machine flexbile gear, strong flexbile gear and Being machined with respectively on weak flexbile gear can be the strong flexbile gear of external tooth with intermeshing tooth, weak flexbile gear be internal tooth, select involute profile, weak Flexbile gear has selected thin-walled cupuliform identical with most of existing harmonic wave speed reducing machine flexbile gears, and strong flexbile gear selects flanging flexbile gear shape simultaneously And wall thickness is 2.5 times of weak flexbile gear, for strong flexbile gear 2 more than the weak flexbile gear number of teeth, wave producer is common using existing harmonic wave speed reducing machine The wave producer of oval cam peripheral hardware ball bearing, wave producer are equipped with the keyway axis hole connecting with input torque, wave hair Raw device makes weak flexbile gear that non-circular elastic deformation occur in weak flexbile gear and engages with strong flexbile gear part, and weak flexbile gear is in wave producer After the oval elastic deformation of the lower generation of effect, the reference radius of the tooth at transverse both ends is greater than the indexing of the tooth of strong flexbile gear part Radius of circle 0.1mm, strong flexbile gear and weak flexbile gear contact portion are generated non-circular elastic deformation by the radial pressure of weak flexbile gear；It is described Weak flexbile gear remains part tooth with the continuous engaging-in tooth for nibbling out strong flexbile gear of the sense of rotation of wave producer, so showing The strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can relatively rotate, and realize the speed reducer effect of deceleration torque increase；Figure In strong flexbile gear deformation it is smaller, the ovalizing deflection amount that naked eyes intuitively find out strong flexbile gear is not easy to, so please interpreting according to specification And understand that strong flexbile gear is that have the fact that deflection；The components such as wave producer, bearing are multiple entity component in figure, mark and are directed toward in figure Any part entity that mark component includes；Part connection bolt and gasket are concealed in exploded view.

Embodiment 3: as shown in Fig. 9 ~ 12, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear, wave producer, deceleration Main bearing and wave producer position bearing, and the deceleration main bearing selects crossed roller bearing, the strong flexbile gear and weak soft Wheel is designed with the outer ring that mounting flange, the strong flexbile gear and weak flexbile gear use bolt Yu deceleration main bearing by ring flange respectively It is fixed with inner ring, the strong flexbile gear and weak flexbile gear are all the processing technology and flexbile gear Common Steels using existing harmonic wave speed reducing machine flexbile gear Material is process, and being machined with respectively on strong flexbile gear and weak flexbile gear can be in the strong flexbile gear of external tooth is with intermeshing tooth, weak flexbile gear Tooth, selects involute profile, and weak flexbile gear has selected thin-walled cupuliform identical with most of existing harmonic wave speed reducing machine flexbile gears, strong flexbile gear Selection flanging flexbile gear shape and wall thickness are 2.5 times of weak flexbile gear, and 2 more than the weak flexbile gear number of teeth, wave producer uses strong flexbile gear The wave producer of the existing common oval cam peripheral hardware ball bearing of harmonic wave speed reducing machine, wave producer is equipped with and input torque The keyway axis hole of connection, wave producer make weak flexbile gear that non-circular elastic deformation occur in weak flexbile gear and nibble with strong flexbile gear part It closes, after oval elastic deformation occurs under the action of wave producer for weak flexbile gear, the reference radius of the tooth at transverse both ends is big In the reference radius 0.2mm of the tooth of strong flexbile gear part, the wave producer positions Selection of Bearings needle bearing, bearing outer ring with Wave producer is coaxially radially fixed, coaxial with the weak flexbile gear gasket part one end hollow shaft and bearing inner race that are equipped with both-end hollow shaft It is radially fixed, it is coaxially radially fixed with wave producer in other end hollow shaft insertion wave producer positioning bearing, thus by wave Generator is preferably coaxially secured with speed reducer axle center, and strong flexbile gear and weak flexbile gear contact portion are pressed by the radial direction of weak flexbile gear Power generates non-circular elastic deformation；The weak flexbile gear remains that part tooth is nibbled as the sense of rotation of wave producer is continuously engaging-in The tooth of strong flexbile gear out is realized so showing the strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can relatively rotate The speed reducer effect of deceleration torque increase；The deformation of strong flexbile gear is smaller in figure, is not easy to the ovalizing deflection that naked eyes intuitively find out strong flexbile gear Amount, so please being interpreted according to specification and understanding that strong flexbile gear is that have the fact that deflection；The components such as wave producer, bearing are in figure Multiple entity component, any part entity that mark directional beacon note component includes in figure；Connection bolt in part is concealed in exploded view And gasket.

Embodiment 4: as shown in Figure 13 ~ 16, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear, wave producer, subtract Fast main bearing, wave producer positioning bearing and flexbile gear protective shell, the deceleration main bearing selects crossed roller bearing, described Strong flexbile gear and weak flexbile gear are designed with mounting flange, and the flexbile gear protective shell is the shell that ring flange is had made of intermetallic composite coating Body, the weak flexbile gear are fixed by the inner ring of ring flange bolt and gasket and deceleration main bearing, the strong flexbile gear and flexbile gear Protective shell is fixed by ring flange with the outer ring of bolt and deceleration main bearing, and the strong flexbile gear and weak flexbile gear are all using existing The processing technology and flexbile gear common steel of harmonic wave speed reducing machine flexbile gear are process, and being respectively equipped on strong flexbile gear and weak flexbile gear can phase The tooth mutually engaged, weak flexbile gear are that the strong flexbile gear of external tooth is internal tooth, select involute teeth, weak flexbile gear has been selected and most of existing harmonic waves The identical thin-walled cupuliform of flexbile gear speed reducer, strong flexbile gear selects flanging flexbile gear shape and wall thickness is 2 times of weak flexbile gear, strong flexbile gear 2 more than the weak flexbile gear number of teeth, wave producer is sent out using the wave of the common oval cam peripheral hardware ball bearing of existing harmonic wave speed reducing machine Raw device, wave producer are equipped with the keyway axis hole connecting with input torque, and wave producer occurs weak flexbile gear in weak flexbile gear Non-circular elastic deformation is simultaneously engaged with strong flexbile gear part, ellipse after oval elastic deformation occurs under the action of wave producer for weak flexbile gear The reference radius of the tooth at circle long axis both ends is greater than the reference radius 0.3mm of the tooth of strong flexbile gear part, and the wave producer is fixed Position Selection of Bearings deep groove ball bearing, wave producer position in the groove of outer ring insertion flexbile gear protective shell bottom center of bearing, wave The interior snare that generator positions bearing is fixed in the protruding shaft of wave producer, and the strong flexbile gear is with weak flexbile gear contact portion by weak The radial pressure of flexbile gear generates non-circular elastic deformation；The weak flexbile gear remains part tooth with the rotation side of wave producer To the continuous engaging-in tooth for nibbling out strong flexbile gear, so phase can be occurred by showing the strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear To rotation, the speed reducer effect of deceleration torque increase is realized.The deformation of strong flexbile gear is smaller in figure, is not easy to naked eyes and intuitively finds out strong flexbile gear Ovalizing deflection amount, so please being interpreted according to specification and understanding that strong flexbile gear is that have the fact that deflection；Wave producer, axis in figure Holding equal components is multiple entity component, any part entity that mark directional beacon note component includes in figure；Portion is concealed in exploded view Divide connection bolt and gasket.

Embodiment 5: as shown in Figure 17 ~ 20, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear, wave producer, subtract Fast main bearing, wave producer positioning bearing and flexbile gear protective shell, the deceleration main bearing selects crossed roller bearing, described Mounting flange is designed on the flange of strong flexbile gear and weak flexbile gear, the flexbile gear protective shell is that flange is had made of intermetallic composite coating The shell of disk, the weak flexbile gear are fixed by ring flange with the outer ring of bolt and deceleration main bearing, the strong flexbile gear and flexbile gear Protective shell is fixed by ring flange with the inner ring of bolt and deceleration main bearing, and the strong flexbile gear and weak flexbile gear are all using existing The processing technology and flexbile gear common steel of harmonic wave speed reducing machine flexbile gear are process, and being respectively equipped on strong flexbile gear and weak flexbile gear can phase The tooth mutually engaged, weak flexbile gear are that the strong flexbile gear of external tooth is internal tooth, select involute teeth, and weak flexbile gear has selected flanging thin-walled tubular knot Structure, strong flexbile gear selects flanging thin-walled tubular and wall thickness is 2 times of weak flexbile gear, and 2 more than the weak flexbile gear number of teeth, wave occurs strong flexbile gear Device use the common oval cam peripheral hardware ball bearing of existing harmonic wave speed reducing machine wave producer, wave producer be equipped with it is defeated Enter the keyway axis hole of torque connection, wave producer make in the weak flexbile gear weak flexbile gear occur non-circular elastic deformation and with strong flexbile gear portion After dividing engagement, weak flexbile gear that oval elastic deformation occurs under the action of wave producer, the reference circle half of the tooth at transverse both ends Diameter is greater than the reference radius 0.3mm of the tooth of strong flexbile gear part, and the wave producer positions Selection of Bearings deep groove ball bearing, wave hair In the groove of the outer ring insertion flexbile gear protective shell bottom center of raw device positioning bearing, wave producer positions the interior snare of bearing in wave It is fixed in the protruding shaft of generator, the non-circular elasticity of radial pressure generation of the strong flexbile gear and weak flexbile gear contact portion by weak flexbile gear Deformation；The weak flexbile gear remain part tooth with the continuous engaging-in tooth for nibbling out strong flexbile gear of the sense of rotation of wave producer, So showing the strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can relatively rotate, the deceleration of deceleration torque increase is realized Machine effect.The deformation of strong flexbile gear is smaller in figure, is not easy to naked eyes and intuitively finds out the ovalizing deflection amount of strong flexbile gear, so please according to saying Bright book is interpreted and understands that strong flexbile gear is that have the fact that deflection；The components such as wave producer, bearing are multiple entity component in figure, in figure Mark is directed toward any part entity that mark component includes；Part connection bolt and gasket are concealed in exploded view.

Embodiment 6: as shown in Figure 21 ~ 24, double flexbile gear harmonic wave speed reducing machines, including strong flexbile gear, weak flexbile gear, wave producer, subtract Fast main bearing, wave producer positioning bearing and flexbile gear protective shell composition, the deceleration main bearing select crossed roller bearing Structure, the strong flexbile gear, weak flexbile gear, the inner ring and outer ring of deceleration main bearing, the ellipse of flexbile gear protective shell and wave producer are convex Wheel all select PA610 material injection be made and groove reprocessed out by lathe in not easy mold release part, wherein weak flexbile gear with subtract On one part, a part processing of strong flexbile gear and deceleration main bearing outer ring is in a part for fast main bearing inner ring processing On, while filling another part of deceleration main bearing outer ring and strong flexbile gear between weak flexbile gear and strong flexbile gear after roller with bolt On part deceleration main bearing be connected and fixed, being respectively equipped on strong flexbile gear and weak flexbile gear can be with intermeshing tooth, weak flexbile gear Be internal tooth for the strong flexbile gear of external tooth, select involute profile, the weak inside turnup structure of flexbile gear, strong flexbile gear select flanging structure and Wall thickness is 2 times of weak flexbile gear, and for strong flexbile gear 2 more than the weak flexbile gear number of teeth, wave producer uses common oval cam peripheral hardware ball Groove, weak flexbile gear are machined with ball groove when processing on the inside of gear ring, will be in the ball groove of wave producer and weak flexspline's toothed ring Ball is filled up between the ball groove of side, two parts up and down of wave producer are tightened fixation, set on wave producer by blending bolt Have a keyway axis hole connecting with input torque, wave producer make in weak flexbile gear weak flexbile gear occur non-circular elastic deformation and with it is strong The engagement of flexbile gear part, after oval elastic deformation occurs under the action of wave producer for weak flexbile gear, point of the tooth at transverse both ends The reference radius 0.6mm that radius of circle is greater than the tooth of strong flexbile gear part is spent, the wave producer positions Selection of Bearings deep-groove ball axis It holds, wave producer positions in the groove of outer ring insertion flexbile gear protective shell bottom center of bearing, and wave producer positions the interior of bearing Snare is fixed in the protruding shaft of wave producer, and the strong flexbile gear and weak flexbile gear contact portion are generated by the radial pressure of weak flexbile gear Non-circular elastic deformation；The weak flexbile gear remain part tooth with the sense of rotation of wave producer it is continuous it is engaging-in nibble out it is strong soft The tooth of wheel realizes increasing of slowing down so showing the strong flexbile gear of wave producer rotation rotate driving and weak flexbile gear can relatively rotate The speed reducer effect of torsion.The deformation of strong flexbile gear is smaller in figure, is not easy to the ovalizing deflection amount that naked eyes intuitively find out strong flexbile gear, so It is please interpreted according to specification and understands that strong flexbile gear is that have the fact that deflection；The components such as wave producer, bearing are multiple entity in figure Component, any part entity that mark directional beacon note component includes in figure；Part connection bolt and gasket are concealed in exploded view. Base bearing inner ring and weak flexbile gear in the present embodiment are integrally machined as the same part, a part of main shaft bearing outer-ring and strong flexbile gear Be integrally machined as a part, thus in the view of the present embodiment the mark of base bearing refer in remaining split bearing outer ring and On bearing roller, similarly the non-circular bearing of wave producer has selected the structure without independent outer ring part, and outer ring ball slot rolling Directly processing is on flexbile gear part, so wave producer is the state without race bearing in explosive view.

Claims (16)

1. pair flexbile gear harmonic wave speed reducing machine, it is characterized in that: include strong flexbile gear, weak flexbile gear and wave producer, the strong flexbile gear and weak soft Coaxial axial restraint and radially fixed is taken turns, being respectively equipped on strong flexbile gear and weak flexbile gear can be with intermeshing tooth, strong flexbile gear and weak There are teeth number difference, wave producer makes weak flexbile gear that non-circular elastic deformation occur and engages with strong flexbile gear part flexbile gear, strong flexbile gear with it is weak Flexbile gear contact portion is generated non-circular elastic deformation by the radial pressure of weak flexbile gear；The wall thickness of the strong flexbile gear is more than or equal to weak soft 2 times of the wall thickness of wheel and it is less than 5 times of weak Wall-thick.

2. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: the strong flexbile gear includes in gear ring structure One section between connecting flange dish structure can be with elastically-deformable thin-wall construction.

3. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: weak flexbile gear is sent out under the action of wave producer Round tooth of the reference radius of the raw non-circular deformed tooth farthest apart from speed reducer axle center greater than strong flexbile gear before unassembled The reference radius of circle.

4. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: circle of the strong flexbile gear before unassembled The reference radius of shaped ring gear occurs under the action of wave producer non-circular deformed apart from speed reducer axle center greater than weak flexbile gear The reference radius of nearest tooth.

5. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: double flexbile gear harmonic wave speed reducing machines further include Deceleration main bearing, the strong flexbile gear and weak flexbile gear realize coaxial axial restraint and radially fixed by deceleration main bearing.

6. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: double flexbile gear harmonic wave speed reducing machines further include Wave producer positions bearing, and the wave producer positions bearing and strong flexbile gear or weak flexbile gear axial restraint and diameter by wave producer To fixation.

7. double flexbile gear harmonic wave speed reducing machines according to claim 3, it is characterized in that: effect of the weak flexbile gear in wave producer Circle of the lower reference radius that the non-circular deformed tooth farthest apart from speed reducer axle center occurs greater than strong flexbile gear before unassembled The reference radius 0.05mm or more of shaped ring gear.

8. double flexbile gear harmonic wave speed reducing machines according to claim 3, it is characterized in that: effect of the weak flexbile gear in wave producer Circle of the lower reference radius that the non-circular deformed tooth farthest apart from speed reducer axle center occurs greater than strong flexbile gear before unassembled The reference radius 0.2mm or more of shaped ring gear.

9. double flexbile gear harmonic wave speed reducing machines according to claim 3, it is characterized in that: effect of the weak flexbile gear in wave producer Circle of the lower reference radius that the non-circular deformed tooth farthest apart from speed reducer axle center occurs greater than strong flexbile gear before unassembled The reference radius 1mm or more of shaped ring gear.

10. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: the strong flexbile gear is in-flanges or turns up Side tubular resilient part.

11. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: the weak flexbile gear is in-flanges or turns up The thin-wall tubular elastic part on side.

12. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: double flexbile gear harmonic wave speed reducing machines also wrap Outer flexbile gear protective shell is included, the flexbile gear protective shell is fixed with the inner ring of deceleration main bearing or outer ring.

13. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: double flexbile gear harmonic wave speed reducing machines is strong Flexbile gear or weak flexbile gear are after plastic material injection molding or plastic material injection molding by a small amount of machine-shaping.

14. double flexbile gear harmonic wave speed reducing machines according to claim 13, it is characterized in that: double flexbile gear harmonic wave speed reducing machines Weak flexbile gear and strong flexbile gear distinguish the part that direct injection molding is the inner ring and outer ring comprising part base bearing.

15. double flexbile gear harmonic wave speed reducing machines according to claim 13, it is characterized in that: double flexbile gear harmonic wave speed reducing machines Direct machine-shaping has the ball slot rolling of wave producer on flexbile gear.

16. double flexbile gear harmonic wave speed reducing machines according to claim 1, it is characterized in that: the tooth of double flexbile gear harmonic wave speed reducing machines Laser incising can be used or etching is processed.