CN202708030U - Flexible gear fixing structure of harmonic wave speed reduction device - Google Patents
Flexible gear fixing structure of harmonic wave speed reduction device Download PDFInfo
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- CN202708030U CN202708030U CN 201220291198 CN201220291198U CN202708030U CN 202708030 U CN202708030 U CN 202708030U CN 201220291198 CN201220291198 CN 201220291198 CN 201220291198 U CN201220291198 U CN 201220291198U CN 202708030 U CN202708030 U CN 202708030U
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- flexbile gear
- flexible gear
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Abstract
Disclosed is a flexible gear fixing structure of a harmonic wave speed reduction device. The flexible gear fixing structure of the harmonic wave speed reduction device comprises a rigid gear, a flexible gear and a wave generator. The flexible gear is fixed through a fixing seat with a plurality of elastic walls, wherein the fixing seat is further fixed on a device shell of the speed reduction device. The rigid gear is connected with an output shaft, and when the wave generator is driven by a motive power source to rotate, the rigid gear and the output shaft are driven by the flexible gear to rotate synchronously. Due to the fact that the flexible gear is fixed through the elastic walls of the fixing seat, wherein the elastic walls have elasticity, internal stress is improved when the flexible gear is deformed and bears uneven stress, fracture condition of the flexible gear is reduced, and service life of the flexible gear is prolonged. A higher deformation of the flexible gear is allowed through the elastic walls with elasticity, and ellipse curvature of the wave generator can be adjusted, so that tooth differences of the rigid gear and the flexible gear are adjusted, different reduction ratios are achieved, and an output requirement in a greater range is satisfied.
Description
Technical field
The utility model relates to a kind of harmonic speed reducer, particularly a kind of fixed structure about the flexbile gear that wherein comprises.
Background technique
Harmonic speed reducer is that a kind of flexible unit that utilizes produces a kind of gear transmission that the elastic mechanical ripple comes transferring power and motion, also is called " Harmonic Gears (abbreviation harmonic driving) ".
Fig. 1 is for showing existing harmonic speed reducer structure, and consist predominantly of three assemblies: one has the firm A of wheel of internal gear, a flexbile gear B with external gear and a wave-generator C.When using as retarder, generally all be adopt just that wheel A fixes, the form of wave-generator C active transport, flexbile gear B outputting power.
Flexbile gear B then is a kind of thin-wall gear that produces larger resiliently deformable, and its internal diameter equals or be slightly larger than total external diameter of wave-generator.Wave-generator C makes flexbile gear B produce the member of controlled elasticity distortion; Wave-generator C has a central shaft, but this central shaft the deformation rolling bearing is housed and consists of roller, it is inner that wave-generator C is combined in flexbile gear B, and the inwall of its external diameter and flexbile gear B is compressed mutually, and wave-generator C connection power source (being generally motor).After wave-generator C packs flexbile gear B into, force the end face of flexbile gear to become ellipse by original circle, and then near the outer gear teeth its oval-shaped major axis two ends are meshed fully with the interior gear teeth of just taking turns A, near the outer gear teeth the minor axis two ends are then thrown off fully with the interior gear teeth of firm wheel; The outer gear teeth of other section then are in and the interior gear teeth meshing of firm wheel and the transition state of disengaging on the girth.When wave-generator rotates continuously, the distortion meeting of flexbile gear constantly changes, make flexbile gear B and the just also constantly change of engagement of wheel A, produce engaging-in, mesh, nibble out, throw off, engaging-in etc. again, carry out again and again, thereby the realization flexbile gear has relatively just been taken turns the rightabout slow circumvolve along wave-generator C.
In transmission process, wave-generator C rotates a circle, and the cycle-index of upper certain point deformation of flexbile gear B is called wave number, represents with n.Commonly used is the double wave transmission, and its flexbile gear stress is less, relatively simple for structure, is easy to obtain large velocity ratio, so be present most widely used a kind of.The flexbile gear of Harmonic Gears is identical with the circular pitch of just having taken turns, but the number of teeth does not wait.
When firm wheel is fixed, when wave-generator active rotation, the driven rotation of flexbile gear, the velocity ratio of Harmonic Gears is i=-B1/ (A1-B1)
A1, B1 are respectively the number of teeth of the firm A of wheel and flexbile gear B in the formula.
Because the flexbile gear number of teeth is a lot, therefore, harmonic speed reducer can obtain very large velocity ratio.
Harmonic speed reducer is in harmonic driving, because tooth is that face contacts with the engagement of tooth, adds that total number of teeth in engagement is more simultaneously, thereby the load of unit area is little, so that bearing capacity is high than other type of belt drive, and velocity ratio is large, and the velocity ratio of single-stage Harmonic Gears can reach i=70～500; Add, have that volume is little, lightweight, transmission efficiency is high, the life-span is long, stable drive, without impact, noise free, kinematic accuracy high, be very widely retarder of a kind of application therefore.
Because flexbile gear needs to bear larger stress alternation in the gearing down process, cause flexbile gear to be easier to damage, thereby fatigue resistance, processing and the heat treatment technology of flexbile gear material are had relatively high expectations, process technique is also complicated; In addition, the firm wheel of traditional harmonic speed reducer and flexbile gear engaging position and output shaft distant, thereby produce easily the situation that disalignment is rocked, increased the problems such as frictional heating and noise.
In order to solve aforesaid problem, No. 101210934 the harmonic speed reducer application case that this case claimant proposes then is that wave-generator is combined in flexbile gear and a power source, makes flexbile gear produce distortion and the firm wheel of local engagement; This flexbile gear is fixed, and just wheel then connects an output shaft; When driving the wave-generator rotation by power source, drive just wheel and output shaft synchronous rotation via flexbile gear.
But the flexbile gear in the described harmonic speed reducer directly is fixed on casing or other assembly of retarder, so that produce easily the internal stress of unbalance stress during the on-stream generation deformation of flexbile gear, the flexbile gear probability of damaging of breaking is higher; In addition, the deformation quantity of flexbile gear is subject to larger restriction, and the tooth that can't further adjust firm wheel and flexbile gear is poor, that is can't reach different decelerations and recently satisfy wider output demand.
The model utility content
The purpose of this utility model is to solve casing or other assembly that flexbile gear in the general harmonic speed reducer directly is fixed on retarder, the easily wheel damage of breaking so that produce easily the internal stress of unbalance stress during the on-stream generation deformation of flexbile gear; The deformation quantity of flexbile gear is subject to larger restriction and can't further to adjust the tooth of firm wheel and flexbile gear poor, and then can't further obtain the problem that wider output demand is recently satisfied in different decelerations.
The flexbile gear fixed structure of the harmonic speed reducer that the utility model provides, its major character is flexbile gear to be fixed in one have flexible fixed base, fixed base is fixed in the casing of speed reducer, the elasticity that provides by fixed base is so that stressed more even during the on-stream generation deformation of flexbile gear again; The deformation quantity of flexbile gear also can improve and further to adjust the tooth of firm wheel and flexbile gear poor, recently satisfies wider output thereby obtain different decelerations.
Technological means of the present utility model includes a fixed base and a flexbile gear, and described fixed base is a ring bodies, and the internal diameter of this fixed base is provided with a plurality of elastic walls that are circle distribution; The external diameter of described flexbile gear is fixed in the internal diameter that each elastic wall of this fixed base encloses.
The utility model can arrange at the external diameter of flexbile gear a plurality of holes, and arrange respectively perforation that should hole at the elastic wall of fixed base, after making the external diameter of flexbile gear be combined in the internal diameter of fixed base, utilize fixing-assembly to pass this perforation and hole is fixed in this elastic wall with flexbile gear.
The utility model is by the fixing flexbile gear of the flexible elastic wall of having of fixed base, and the internal stress of unbalance stress in the time of can improving flexbile gear deformation reduces the situation that flexbile gear breaks, prolongation flexbile gear working life; Utilize again to have flexible elastic wall and can allow flexbile gear that higher deformation quantity is arranged, that is can adjust the elliptical curvature of wave-generator, poor with the tooth of adjusting firm wheel and flexbile gear, reach different reduction speed ratio, satisfy wider output demand.
Description of drawings
Fig. 1 is for showing the section plan of existing harmonic speed reducer structure;
Fig. 2 is the three-dimensional exploded view of the assembly combination relation of demonstration the utility model harmonic speed reducer;
Fig. 3 is for showing the section plan of the utility model harmonic speed reducer structure;
Fig. 4 is for showing the end face floor map of the utility model harmonic speed reducer structure.
The primary clustering symbol description
1 harmonic speed reducer
11 have just taken turns
111 internal gears
112 output shafts
12 flexbile gears
121 external gears
122 holes
13 wave-generators
131 central shafts
132 outer ring bodies
14 fixed bases
141 elastic walls
1411 perforation
A just takes turns
The B flexbile gear
The C wave-generator
Embodiment
Those of ordinary skill in the art below cooperate graphic and element numbers is done more detailed description to mode of execution of the present utility model, so that can implement after studying this specification carefully according to this.
With shown in Figure 3, the harmonic speed reducer 1 that the utility model provides includes one and has just taken turns 11, one flexbile gear 12, a wave-generator 13 and a fixed base 14 with reference to figure 2; Wherein, just taken turns 11 and had interior space, internal face circumference in space is formed with the internal gear 111 that is made of a plurality of interior gear teeth in this; Just wheel 11 connects an output shaft 112; In preferred embodiment of the present utility model, this output shaft 112 can be incorporated into firm wheel 11 ends one-body moldedly, and this output shaft 112 can arrange a plurality of holes or screw, so that make up other output unit with outputting power.
Described flexbile gear 12 can adopt the tubing with suitable thickness to reprocess out accurate shape and size, and utilizing gear hobbing machine that its outer surface circumference is formed the external gear 121 that is made of a plurality of outer gear teeth, an end limit of this flexbile gear further is provided with a plurality of holes 122.
Described fixed base 14 is a ring bodies, and its internal diameter is provided with a plurality of elastic walls 141 that are circle distribution; The preferably, this elastic wall 141 is via the spring sheet of staying fixed base 14 internal diameters after the punch process, and reserves perforation 1411 thereon, then again each spring sheet bending is formed described elastic wall 141 near 90 degree.
But described wave-generator 13 is for having the deformation bearing of a central shaft 131 and an outer ring body 132, and this central shaft 131 is near orbicular ellipse, so that outer ring body 132 can rotate relatively with central shaft 131; This central shaft 131 is used for connecting a power source (not shown), and generally speaking, described power source is a kind of motor.
The assembly compound mode of harmonic speed reducer 1 of the present utility model, that external diameter with flexbile gear 12 is combined in the internal diameter that each elastic wall 141 of fixed base 14 encloses, and the elastic wall 141 of fixed base 14 is fixed in flexbile gear 12 combinations with the hole 122 of flexbile gear 12 in the perforation 1411 that utilizes screw or other fixing-assembly lock to pass elastic wall 141, that is directly linking flexbile gear 12 by elastic wall 141,14 of fixed bases are fixed in the casing (not shown) of retarder; Flexbile gear 12 recombinants are in the interior space of firm wheel 11, and wave-generator 13 then is combined in flexbile gear 12 internal diameters; Flexbile gear 12 is a kind of thin-wall gears that produce larger resiliently deformable, and its internal diameter equals or be slightly larger than total external diameter of wave-generator 13; 13 of wave-generators are to make flexbile gear 12 produce the member of controlled elasticity distortion, after wave-generator 13 is packed flexbile gear 12 into, force the end face of flexbile gear 12 to become ellipse (as shown in Figure 4) by original circle, and then near the external gear 121 its oval-shaped major axis two ends is meshed fully with the internal gear 111 of just taking turns 11, near the external gear the minor axis two ends is then thrown off fully with the internal gear of firm wheel; The external gear of other section then is in and the just internal gear engagement of wheel 11 and the transition state that breaks away from the girth.When wave-generator 13 rotates continuously, the distortion meeting of flexbile gear 12 constantly changes, make flexbile gear 12 and the just also constantly change of engagement of wheel 11, produce engaging-in, mesh, nibble out, throw off, engaging-in etc. again, carry out again and again, thereby realization flexbile gear 12 has relatively just taken turns 11 along the rightabout slow circumvolve of wave-generator.
The utility model utilizes fixedly flexbile gear 12 of the flexible elastic wall 141 of having of fixed base 14, and the internal stress of unbalance stress in the time of can improving flexbile gear deformation reduces the situation that flexbile gear breaks, prolongation flexbile gear working life; Utilize again to have flexible elastic wall 141 and can allow flexbile gear 12 that higher deformation quantity is arranged, that is can adjust the elliptical curvature of wave-generator 13, poor with the tooth of flexbile gear 12 to adjust firm wheel 11, reach different reduction speed ratio, satisfy wider output demand.
The above only is in order to explain preferred embodiment of the present utility model; be not that attempt is done any pro forma restriction to the utility model according to this; therefore; all have in that identical model utility spirit is lower do relevant any modification of the present utility model or change, all must be included in the category of the utility model intention protection.
Claims (2)
1. the flexbile gear fixed structure of a harmonic speed reducer is characterized in that, this structure includes:
One fixed base is a ring bodies, and the internal diameter of this fixed base is provided with a plurality of elastic walls that are circle distribution;
One flexbile gear, its external diameter are fixed in the internal diameter that each elastic wall of this fixed base encloses.
2. the flexbile gear fixed structure of harmonic speed reducer as claimed in claim 1, it is characterized in that, the external diameter of this flexbile gear is provided with a plurality of holes, and this elastic wall is respectively equipped with perforation that should hole, to utilize fixing-assembly to pass this perforation and hole is fixed in this elastic wall with described flexbile gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220291198 CN202708030U (en) | 2012-06-20 | 2012-06-20 | Flexible gear fixing structure of harmonic wave speed reduction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220291198 CN202708030U (en) | 2012-06-20 | 2012-06-20 | Flexible gear fixing structure of harmonic wave speed reduction device |
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| Publication Number | Publication Date |
|---|---|
| CN202708030U true CN202708030U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220291198 Expired - Lifetime CN202708030U (en) | 2012-06-20 | 2012-06-20 | Flexible gear fixing structure of harmonic wave speed reduction device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139641A1 (en) * | 2022-12-28 | 2024-07-04 | 广州市浩洋电子股份有限公司 | High-precision rotary positioning stage lamp |
-
2012
- 2012-06-20 CN CN 201220291198 patent/CN202708030U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139641A1 (en) * | 2022-12-28 | 2024-07-04 | 广州市浩洋电子股份有限公司 | High-precision rotary positioning stage lamp |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170123 Address after: 215000 Dongtai City, Jiangsu Province East New District Four Road West two road north latitude Patentee after: JIANGSU HANSHENGCHENG TECHNOLOGY CO.,LTD. Address before: 215200 Jiangsu province Suzhou city Wujiang town of Tongli city science and Technology Industrial Park, No. 88, Liaoning Patentee before: SUZHOU HARMONIC ELECTRICAL CO.,LTD. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190202 Address after: No. 88 Liaobin Road, Science and Technology Industrial Park, Wujiang Economic and Technological Development Zone (Tongli Town), Suzhou City, Jiangsu Province, 215000 Patentee after: SUZHOU HARMONIC ELECTRICAL CO.,LTD. Address before: 215000 Chengdong New Area, Dongtai City, Jiangsu Province, on the west side of Jingsi Road and the north side of Wei2 Road Patentee before: JIANGSU HANSHENGCHENG TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130130 |
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| CX01 | Expiry of patent term |