CN2351616Y - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
- Publication number
- CN2351616Y CN2351616Y CN 98245304 CN98245304U CN2351616Y CN 2351616 Y CN2351616 Y CN 2351616Y CN 98245304 CN98245304 CN 98245304 CN 98245304 U CN98245304 U CN 98245304U CN 2351616 Y CN2351616 Y CN 2351616Y
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- CN
- China
- Prior art keywords
- wheel
- cup
- tooth
- rigidity
- output
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Abstract
The utility model belongs to the technical field of the machine, relating to an improvement of a harmonic gear reducer. The prior art adopts that external teeth of a column-shaped flexible wheel with tooth biting type output is connected with inner teeth of an output wheel in a tooth connection mode and engaged with inner teeth of a rigidity wheel in a tooth connection mode, but tooth space and return difference exist, and the output torsional rigidity and the dynamic precision are low. The utility model comprises a motor, a planetary wave generator, a cup-shaped flexible wheel, a rigidity wheel, a bearing, a rolling component, a retainer, a central rotary wheel, etc. The utility model makes the flexible wheel and the rigidity wheel easily realize meshing engagement without side space, so the return difference is small, and tooth connection does not exist. The output torsional rigidity is enhanced, and the precision of the motion rotation angle is enhanced.
Description
The invention belongs to field of mechanical technique, relate to improvement a kind of harmonic gear reducer.
Prior art comprises cylindrical flexbile gear, output wheel, rigid body, housing, bearing, the center runner of planet generator, steel ball, the retainer of drive motor, tooth-type output.The output shaft of drive motor cooperates with the center runner of planetary wave generator and is fixedly connected, the steel ball of planetary wave generator withstands on the arc raceway of center runner on one side, another side withstands on the inwall of tubular flexbile gear, and on its raceway and inwall, rotate a side external tooth of flexbile gear and wheel internal tooth engagement just.The opposite side external tooth of flexbile gear connects with the output wheel internal tooth.Because output wheel internal tooth and cylindrical flexbile gear external tooth contact position have limited the amount of deformation of cylindrical major axis of flexspline engagement place, make cylindrical flexbile gear external tooth and the backlash that firm wheel internal tooth produces in movement process give a spot of compensation by amount of deformation.Then it easily produces backlash and return difference is arranged, and torsional stiffness is little, and dynamic precision is low.
The objective of the invention is to reduce backlash and return difference, improve torsional stiffness and dynamic precision.
The present invention is as shown in Figure 1: it comprises: drive motor 1, just taken turns 2, center runner 3, roll piece 4, retainer 5, cup type flexbile gear 6, housing 7, bearing 8 in the planetary wave generator.The end face of drive motor 1 is fixedly connected with firm wheel 2, the external tooth of cup-shape flexspline 6 and the internal tooth engagement of wheel 2 just, the output shaft of cup-shape flexspline 6 cooperates arrangement with bearing 8, just an end and the housing 7 of wheel 2 are fixedly connected, the endoporus of housing 7 cooperates arrangement with the external diameter of bearing 8, the center runner 3 of planetary wave generator cooperates with the output shaft of drive motor 1 and is fixedly connected, roll piece 4 one sides in the planetary wave generator withstand on the raceway of center runner 3, one side withstands on the inwall of cup-shape flexspline 6, is symmetrical on the circumference of retainer 5 and settles four roll pieces 4 in 25 ° of-27.5 ° of scopes of cup-shape flexspline 6 major axis angles.
Working procedure of the present invention: after drive motor 1 energising, the center runner 3 that drives in the planetary wave generator rotates synchronously, the roll piece 4 that center runner 3 drives on retainer 5 moves in a circle around center runner 3, roll piece 4 also rolls along center runner 3 raceways and cup-shape flexspline 3 inwalls simultaneously, and promptly roll piece 4 is done planetary motion around center runner 3.Because roll piece 4 makes cup-shape flexspline 6 produce ellipse in the angular distribution and the roll piece 4 symmetrical cup-shape flexspline 6 inwall effects of retainer 5 and circumference.When roll piece 4 is done planetary motion, make cup-shape flexspline 6 produce the continuous deformation wave that moves, the external tooth at the major axis two ends of cup-shape flexspline 6 meshes fully with the internal tooth of just taking turns 2 at this moment, then throws off the internal tooth of firm wheel 2 fully at the external tooth of minor axis place cup-shape flexspline 6.When planetary wave generator rotated continuously, the variation at its cup-shape flexspline 6 deformation wave positions made the external tooth of cup-shape flexspline 6 and the internal tooth of just taking turns 2 have change engaging-in, that mesh, nibble out, throw off four kinds of positions.Because just to have the number of teeth poor for wheel 2 and cup-shape flexspline 6, when firm wheel 2 adopts fixed structures, when the deformation wave of cup-shape flexspline 6 is rotated a whole circle, cup-shape flexspline 6 counter-rotation firm wheel 2 and the corresponding angle of cup-shape flexspline 6 number of teeth differences.So when the flexbile gear number of teeth is a lot of, just can obtain very big velocity ratio.
Good effect of the present invention: angle and the cup-shape flexspline 6 with respect to the cup-shape flexspline major axis that utilize roll piece 4 to install on retainer 5 give tight elastic force with firm wheel 2 engagement places, make the amount of deformation compensation of cup-shape flexspline 6 greater than the compensation of the cylindrical deformation of flexible wheel amount of prior art, realized that the cup type flexbile gear tooth and the just gear teeth in use do not have than can there being the sideshake engagement under the galling situation yet.Structure that the cup-shape flexspline that the present invention adopts combines with planetary wave generator, cup-shape flexspline and output shaft are become one, and then torsional stiffness is big, and has overcome that the cylindrical flexbile gear of prior art connects with the tooth of output wheel and the running clearance that produces.The present invention does not have running clearance, has eliminated the return difference that running clearance causes, dynamic precision improves greatly.
Description of drawings:
Fig. 1 is a plan view of the present invention.
Embodiments of the invention: selecting velocity ratio is 240.Drive motor 1 can adopt 36BF001 type stepper motor, and planetary wave generator adopts steel ball four power two wave structures, and center runner 3 adopts the arc raceway structure.Flexbile gear 6 material selection 38CrMnSi cup-shaped structure, its characteristics are cup-shaped to be that flexbile gear and output shaft are integral, and it absorbs, and deformability is better, and torsional stiffness is big, and the number of teeth is 160; Modulus 0.2mm; 7 grades of precision.Just wheel 2 adopts monolithic constructions, promptly simplifies the structure connecting to become one between firm wheel 2 and the motor 1, has reduced by an error link, the number of teeth 162; Modulus 0.2mm; 7 grades of precision.Center runner 3 external diameters and retainer 5 internal diameter Spielpassung h8/H8 are advisable.Roll piece 4 on the symmetry axis of this Spielpassung assurance center runner 3 is on the center line of center runner 3, the angle of roll piece that makes and cup-shape flexspline major axis immobilizes, angle can be selected 25 °, 26 ° or 27.5 ° respectively, can prevent effectively that angle from changing angular errors and the return difference that causes.Roll piece 4 can be selected steel ball for use and cooperate with the arc raceway of center runner 3.Roll piece 4 also can be selected roller and cooperate with the cylindrical raceway of center runner 3, and the cylndrical surface can be selected in the cylindrical road.Cup-shape flexspline 6 can be selected the clock-type flexbile gear for use.Housing 7 adopts the LY12 aluminum alloy material, and retainer 5 is selected polysulfone material for use.Bearing 8 is selected the universal models bearing for use.
Claims (1)
1. harmonic speed reducer, it comprises: drive motor 1, just take turns 2, the center runner 3 of planetary wave generator, roll piece 4, retainer 5, housing 7, bearing 8, it is characterized in that also comprising: roll piece 4 one sides of planetary wave generator withstand on the raceway of center runner 3, the another side of roll piece 4 withstands on the inwall of cup-shape flexspline 6, is symmetrical on retainer 6 circumference and settles four roll pieces 4 in 25 ° of-27.5 ° of scopes of major axis angle of glass type flexbile gear 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98245304 CN2351616Y (en) | 1998-10-22 | 1998-10-22 | Harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98245304 CN2351616Y (en) | 1998-10-22 | 1998-10-22 | Harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2351616Y true CN2351616Y (en) | 1999-12-01 |
Family
ID=33991106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98245304 Expired - Fee Related CN2351616Y (en) | 1998-10-22 | 1998-10-22 | Harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2351616Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307377C (en) * | 2004-08-12 | 2007-03-28 | 西安交通大学 | Torque spring loader for space harmonic gear decelerator testing table |
| CN100408883C (en) * | 2003-11-14 | 2008-08-06 | 辛洪兵 | Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator |
| CN102052429A (en) * | 2010-12-17 | 2011-05-11 | 西安益灵机电科技有限公司 | Flexible planet gear speed reducer |
| CN102425644A (en) * | 2011-12-07 | 2012-04-25 | 苏州绿的谐波传动科技有限公司 | Reduced harmonic (RH) harmonic wave reducer device |
| CN102444706A (en) * | 2010-10-12 | 2012-05-09 | 苏州市恒加新精密机械科技有限公司 | Flexible gear output device used in harmonic speed reducer |
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN106151472A (en) * | 2015-04-15 | 2016-11-23 | 浙江宁波智动机器人技术有限公司 | A kind of harmonic speed reducer with lubricating function |
| CN106239129A (en) * | 2016-07-29 | 2016-12-21 | 柳州福能机器人开发有限公司 | The method for processing and assembling of high-performance robot driving device |
| WO2020056963A1 (en) * | 2018-09-19 | 2020-03-26 | 珠海格力电器股份有限公司 | Speed reducer and robot |
-
1998
- 1998-10-22 CN CN 98245304 patent/CN2351616Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100408883C (en) * | 2003-11-14 | 2008-08-06 | 辛洪兵 | Method for close contact of soft wheel and rigid wheel in harmonic driving and floating wave generator |
| CN1307377C (en) * | 2004-08-12 | 2007-03-28 | 西安交通大学 | Torque spring loader for space harmonic gear decelerator testing table |
| CN102444706A (en) * | 2010-10-12 | 2012-05-09 | 苏州市恒加新精密机械科技有限公司 | Flexible gear output device used in harmonic speed reducer |
| CN102052429A (en) * | 2010-12-17 | 2011-05-11 | 西安益灵机电科技有限公司 | Flexible planet gear speed reducer |
| CN102425644A (en) * | 2011-12-07 | 2012-04-25 | 苏州绿的谐波传动科技有限公司 | Reduced harmonic (RH) harmonic wave reducer device |
| CN104565282A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN104565282B (en) * | 2014-12-31 | 2017-05-17 | 山东帅克机械制造股份有限公司 | Harmonic reducer and machining process thereof |
| CN106151472A (en) * | 2015-04-15 | 2016-11-23 | 浙江宁波智动机器人技术有限公司 | A kind of harmonic speed reducer with lubricating function |
| CN106239129A (en) * | 2016-07-29 | 2016-12-21 | 柳州福能机器人开发有限公司 | The method for processing and assembling of high-performance robot driving device |
| WO2020056963A1 (en) * | 2018-09-19 | 2020-03-26 | 珠海格力电器股份有限公司 | Speed reducer and robot |
| EP3839294A4 (en) * | 2018-09-19 | 2021-08-18 | Gree Electric Appliances, Inc. of Zhuhai | Speed reducer and robot |
| US11648662B2 (en) | 2018-09-19 | 2023-05-16 | Gree Electric Appliances, Inc. Of Zhuhai | Speed reducer and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |