CN116357717A - Harmonic speed reducer - Google Patents
Harmonic speed reducer Download PDFInfo
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- CN116357717A CN116357717A CN202310218675.2A CN202310218675A CN116357717A CN 116357717 A CN116357717 A CN 116357717A CN 202310218675 A CN202310218675 A CN 202310218675A CN 116357717 A CN116357717 A CN 116357717A
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Abstract
The application relates to a harmonic reducer, when the existing harmonic reducer faces the requirement that the reduction ratio is smaller than 30, the wave generator must make the fall of the ellipse length and the minor axis of a flexible gear and a flexible bearing larger, so that the harmonic reducer is easy to excessively deform and damage; the present application is directed to solving this problem, and includes an external internal toothed rigid gear, an internal external toothed rigid gear, a flexspline having internal and external teeth, and a wave generator; one end of the flexible wheel is arranged on the wave generator and deforms to enable the flexible wheel to have a long shaft and a short shaft; at the long shaft, the external teeth of the flexible gear are meshed with the external internal teeth rigid gear, and at the short shaft, the internal teeth of the flexible gear are meshed with the internal external teeth rigid gear; the external tooth rigid gear and the external tooth of the flexible gear have tooth difference, and the internal tooth rigid gear and the internal tooth of the flexible gear have tooth difference; one rigid wheel of the external internal tooth rigid wheel and one rigid wheel of the internal external tooth rigid wheel are always fixed, and the other rigid wheel is connected with an output end for output; the application satisfies that the harmonic reducer is used for under the condition of low reduction ratio, reducible flexspline or flexible bearing's damage.
Description
Technical Field
The present application relates to the field of speed reducers, and in particular to harmonic speed reducers.
Background
The main functions of the harmonic reducer are to ensure that equipment can reliably complete process tasks while reducing speed and improving torque.
The traditional harmonic reducer is assembled and sequentially provided with a wave generator, a flexible bearing, a flexible gear and a rigid gear from inside to outside, wherein the flexible gear is an external gear, and the rigid gear is an internal gear; the hollow shaft of the wave generator (with elliptic outer diameter) is connected with the input power, the cap-shaped flexible wheel and the shell are fixed and do not rotate, and the rigid wheel (output end) is locked with the crossed roller bearing.
The inner tooth flexible gear harmonic reducer is assembled from rigid gear, flexible bearing (or substitute bearing) and wave generator; the wave generator is hollow, and the inner hole is elliptical; the rigid wheel is an external gear and can be integrated with the output shaft or locked on the output flange; the flexible gear is an internal gear and can be integrated with the shell or locked on the shell; at this time, the wave generator extrudes the flexible wheel to become elliptic at the outer side, so that the teeth at the short axis position are meshed with the rigid wheel, and the teeth at the long axis are separated.
The harmonic speed reducers deform the flexible gear through the wave generator, and teeth between the long shaft and the short shaft of the wave generator are in a semi-meshing state of gradually meshing along different sections of the circumferences of the flexible gear and the rigid gear, which is called meshing; in a semi-engaged state gradually exiting engagement, referred to as engaged; when the wave generator continuously rotates, the flexible gear continuously deforms, so that the original working states of the gear teeth of the two gears are continuously changed in the four movements of meshing in, meshing out and disengaging, staggered tooth movement is generated, and the transmission of the motion from the wave generator to the flexible gear is realized, so that the final speed reduction is realized.
However, the existing harmonic speed reducer has a speed reduction ratio of 50-100 basically, and when the harmonic speed reducer faces the requirement that the speed reduction ratio is smaller than 30, the wave generator needs to make the fall of the elliptical long and short axes of the flexspline and the flexspline bearing larger, so that the flexspline and the flexspline are easy to excessively deform and damage, and therefore, the harmonic speed reducer needs to be improved.
Content of the application
In order to reduce damage to the flexspline with reduced reduction ratio, the present application provides a harmonic reducer.
The harmonic reducer who this application provided adopts following technical scheme:
the utility model provides a harmonic reducer, includes wave generator and flexbile gear, flexbile gear sets up on the wave generator and produces deformation, after the deformation flexbile gear has two at least major axes and two at least minor axes, its characterized in that: the long shaft creep along the circumferential direction of the flexible gear in the rotation process of the wave generator, the short shaft creep along the circumferential direction of the flexible gear in the rotation process of the wave generator, and the long shaft and the short shaft creep synchronously;
the flexible gear is provided with internal teeth and external teeth, an external internal tooth rigid gear is arranged on the outer side of the flexible gear, the external teeth of the flexible gear are meshed with the external internal tooth rigid gear at the long shaft of the flexible gear, and the external teeth of the flexible gear are separated from the external internal tooth rigid gear at the short shaft of the flexible gear;
an inner external tooth rigid gear is arranged on the inner side of the flexible gear, the internal teeth of the flexible gear are meshed with the inner external tooth rigid gear at the short shaft of the flexible gear, and the internal teeth of the flexible gear are separated from the inner external tooth rigid gear at the long shaft of the flexible gear;
the external internal tooth rigid gear is fixed, and the internal external tooth rigid gear rotates and is connected with the output end;
or the internal external tooth rigid gear is fixed, and the external internal tooth rigid gear rotates and is connected with the output end.
The traditional unidirectional transmission, namely the rotation of the wave generator, causes the long shaft of the fixed flexible wheel to creep, thereby driving the rigid wheel to rotate so as to realize the effect of speed reduction; through adopting above-mentioned technical scheme, after the wave generator inserts the motor, the in-process that flexible wheel and outside internal tooth rigid gear carry out relative transmission, flexible wheel is at oval major axis direction's external tooth and the partial internal tooth meshing of outside internal tooth rigid gear, flexible wheel is at oval minor axis direction's external tooth and the partial internal tooth separation of outside internal tooth rigid gear, so can produce the speed reduction operation. Meanwhile, the flexible gear is completely separated from the inner external tooth rigid gear in the major axis direction of the ellipse, and the flexible gear is completely meshed with the inner external tooth rigid gear in the minor axis direction of the ellipse, so that the speed reduction operation can be generated; after power is input, in the power transmission of the wave generator through the external internal tooth rigid gear, the flexible gear and the internal external tooth rigid gear, the flexible gear generates a deceleration operation through the matching of the external teeth of the flexible gear and the external internal tooth rigid gear, the external internal tooth rigid gear meshed with the flexible gear reversely rotates relative to the input power, the flexible gear also generates a deceleration operation through the matching of the internal teeth of the flexible gear and the internal external tooth rigid gear, and the internal external tooth rigid gear meshed with the flexible gear reversely rotates relative to the input power, so that the output of the deceleration operation of the external tooth rigid gear, the flexible gear and the internal tooth rigid gear can be overlapped, the output rotating speed is increased, and the integral reduction ratio is reduced; the traditional combination of a single rigid gear and a single flexible gear is changed, the rigid gears are arranged on the inner ring and the outer ring of the flexible gear, a special structure is adopted, and the condition that the harmonic speed reducer is used for low reduction ratio is met, and the damage of the flexible gear can be reduced.
Optionally, the number of teeth on the external teeth of the flexible gear is different from the number of the external internal teeth and the external teeth; the number of the internal teeth of the flexible gear is different from the number of the rigid teeth of the internal external teeth.
Optionally, the difference between the number of teeth of the external gear and the number of teeth of the external internal gear is equal to the difference between the number of teeth of the internal gear and the number of teeth of the internal gear.
Optionally, the difference between the number of teeth of the external gear and the number of teeth of the external internal gear is not equal to the difference between the number of teeth of the internal gear and the number of teeth of the internal gear;
and the number difference between the number of the external teeth of the flexible gear and the number of the external teeth of the rigid gear is integral multiple with the number difference between the number of the internal teeth of the flexible gear and the number of the internal teeth of the rigid gear.
Optionally, the number of teeth of the inner gear of the flexible gear is equal to the number of teeth of the outer gear of the flexible gear;
or, the number of teeth of the inner gear of the flexible gear is unequal to the number of teeth of the outer gear of the flexible gear.
Optionally, the flexible gear deforms into an ellipse on the wave generator, and the flexible gear has only two major axes and two minor axes;
the difference between the number of the external teeth of the flexible gear and the number of the external internal teeth of the rigid gear, and the difference between the number of the internal teeth of the flexible gear and the number of the internal teeth of the rigid gear are all integer multiples of 2.
Optionally, the difference between the number of teeth of the external gear and the number of teeth of the external internal gear is 2, and the difference between the number of teeth of the internal gear and the number of teeth of the internal gear is 2.
Optionally, the wave generator comprises a body and a squeezing component for deforming the flexible gear, and the squeezing component is mounted on the body;
the body is connected with an input end.
Optionally, the extrusion assembly includes a plurality of inner bearings and a plurality of outer bearings, the inner bearings are abutted against the inner ring side wall of the flexible gear, and the outer bearings are abutted against the outer ring side wall of the flexible gear;
wherein a plurality of continuous inner bearings and a plurality of continuous outer bearings are alternately arranged on the inner side and the outer side of the flexible gear;
the inner bearing and the outer bearing are both mounted on the body.
Through adopting above-mentioned technical scheme, inside bearing and outside bearing cooperation, the major axis and the minor axis department when taking place elastic deformation of messenger's flexbile gear all produce extrusion force and holding power, and not only make the deformation of flexbile gear more accurate, have alleviateed the condition that flexbile gear collapses simultaneously.
Optionally, the extrusion assembly includes a compliant bearing for deforming the compliant gear, the compliant bearing being mounted on the body.
In summary, the present application includes at least one of the following beneficial effects:
1. when the wave generator is connected with the motor, in the process of relative transmission between the flexible gear and the external internal tooth rigid gear, the external teeth of the flexible gear in the elliptical long axis direction are meshed with part of the internal teeth of the external internal tooth rigid gear, and the external teeth of the flexible gear in the elliptical short axis direction are separated from part of the internal teeth of the external internal tooth rigid gear, so that the speed reduction operation can be generated. Meanwhile, the flexible gear is completely separated from the inner external tooth rigid gear in the major axis direction of the ellipse, and the flexible gear is completely meshed with the inner external tooth rigid gear in the minor axis direction of the ellipse, so that the speed reduction operation can be generated; after power is input, in the power transmission of the wave generator through the external internal tooth rigid gear, the flexible gear and the internal external tooth rigid gear, the flexible gear generates a deceleration operation through the matching of the external teeth of the flexible gear and the external internal tooth rigid gear, the external internal tooth rigid gear meshed with the flexible gear reversely rotates relative to the input power, the flexible gear also generates a deceleration operation through the matching of the internal teeth of the flexible gear and the internal external tooth rigid gear, and the internal external tooth rigid gear meshed with the flexible gear reversely rotates relative to the input power, so that the output of the deceleration operation of the external tooth rigid gear, the flexible gear and the internal tooth rigid gear can be overlapped, the output rotating speed is increased, and the integral reduction ratio is reduced; the traditional combination of a single rigid gear and a single flexible gear is changed, the rigid gears are arranged on the inner ring and the outer ring of the flexible gear, and the special structure is adopted, so that the condition that the harmonic speed reducer is used for low reduction ratio is met, and the damage of the flexible gear can be reduced;
2. the internal bearing is matched with the external bearing, so that the long shaft and the short shaft of the flexible wheel generate extrusion force and supporting force when the flexible wheel is elastically deformed, the deformation of the flexible wheel is more accurate, and the collapse of the flexible wheel is reduced.
Drawings
Fig. 1 is a schematic diagram of the structure of a harmonic reducer in embodiment 1 of the present application.
Fig. 2 is a schematic cross-sectional view showing an internal structure of a harmonic reducer according to embodiment 1 of the present application.
Fig. 3 is an exploded view for embodying the mounting relationship among the wave generator, the flexspline, the external toothed rigid spline, and the internal toothed rigid spline in embodiment 1 of the present application.
Fig. 4 is a schematic diagram of the primary transmission principle in embodiment 1 of the present application.
Fig. 5 is a schematic diagram of the two-stage transmission principle in embodiment 1 of the present application.
Fig. 6 is an exploded view showing the mounting relationship among the wave generator, the flexspline, the external toothed rigid spline, and the internal toothed rigid spline according to embodiment 5 of the present application.
In the figure: 1. a wave generator; 11. a body; 111. a body outer ring; 112. a body inner tube; 12. an extrusion assembly; 121. an inner bearing; 122. an outer bearing; 123. a flexible bearing; 2. a flexible wheel; 21. a smooth surface; 3. an input end; 4. internal tooth rigid wheel; 5. externally toothed rigid wheel; 6. an output end; 7. a top shell; 8. a bottom case; 9. an annular shell.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-6.
The embodiment of the application discloses a harmonic reducer.
Example 1
Referring to fig. 1, the harmonic reducer includes a top case 7, a bottom case 8, and an annular case 9, the annular case 9 being connected to the top case 7 and the bottom case 8, respectively, by bolts; the top shell 7, the bottom shell 8 and the annular shell 9 then form a placement area around.
Referring to fig. 2 and 3, a wave generator 1, an annular flexspline 2 having internal teeth and external teeth, an external internal toothed rigid spline 4, and an internal external toothed rigid spline 5 are provided in the placement area. The wave generator 1 is rotatably mounted on the bottom shell 8 through a bearing, and the wave generator 1 has an elliptical characteristic in the embodiment, the flexspline 2 is mounted on the wave generator 1, the external internal gear rigid gear 4 is mounted on the outside of the flexspline 2, and the internal external gear rigid gear 5 is mounted on the inside of the flexspline 2.
The wave generator 1 is also connected to an input 3, which input 3 in this embodiment is a motor, which provides power to the wave generator 1 for rotating the wave generator 1 in the placement area. In this embodiment, the top case 7 is connected to the external internal gear 4 by bolts, so that the external internal gear 4 is fixed, and a gap exists between one end of the external internal gear 4 near the bottom case 8 and the bottom case 8, and at this time, the outer ring portion of the wave generator 1 mounted in the placement area is located between the external internal gear 4 and the bottom case 8.
The inner and outer toothed rigid wheels 5 are rotatably connected to the top shell 7 through annular bearings, the inner and outer toothed rigid wheels 5 are connected to the output end 6 for power output, and the output end 6 can be integrally formed on the inner and outer toothed rigid wheels 5 in another embodiment.
In this embodiment, the flexspline 2 is elastically deformed by the wave generator 1 having an elliptical characteristic to deform the flexspline 2 having an elliptical profile, and at this time, two major axes, specifically, the major axis of the ellipse and two minor axes, specifically, the minor axis of the ellipse are formed on the flexspline 2.
Specifically, the wave generator 1 includes a body 11, where the body 11 is a cap, that is, the body 11 includes an inner body tube 112 and an outer body tube 111, the outer body tube 111 is mounted on the bottom shell 8 through an annular bearing, two ends of the inner body tube 112 are opened, and the inner body tube 112 is integrally formed on an inner sidewall of the outer body tube 111, so that the outer body tube 111 and the inner body tube 112 are combined to form a cap.
The body outer ring 111 is provided with a pressing assembly 12, and the pressing assembly 12 comprises a plurality of inner bearings 121 and a plurality of outer bearings 122, in this embodiment, the inner bearings 121 have two groups, each group having three consecutively arranged bearings, and the outer bearings 122 have two groups, each group having three consecutively arranged bearings. Two sets of inner bearings 121 and two sets of outer bearings 122 are alternately mounted on the top wall of the body outer ring 111, and the two sets of inner bearings 121 are centered on the virtual axis of the body outer ring 111, and similarly, the two sets of outer bearings 122 are centered on the virtual axis of the body outer ring 111.
The flexspline 2 is mounted on the wave generator 1 and is located between the inner bearing 121 and the outer bearing 122, the inner bearing 121 abuts against the inner ring side wall of the flexspline 2, and the outer bearing 122 abuts against the outer ring side wall of the flexspline 2, so that the flexspline 2 is elastically deformed, and thus the flexspline 2 with an elliptical profile is formed.
At this time, the input end 3 is connected with the inner tube 112 of the body, when the motor is started, the whole body 11 is driven to rotate, the long shaft creeps along the circumference of the flexible wheel 2 in the rotation process of the wave generator 1, the short shaft creeps along the circumference of the flexible wheel 2 in the rotation process of the wave generator 1, and the long shaft and the short shaft creeps synchronously; at the same time, the flexible wheel 2 rotates under the action of the wave generator 1.
The contact area between the flexspline 2 and the inner bearing 121 or the outer bearing 122 is set as a smooth surface 21, and the smooth surface 21 reduces abrasion to the inner bearing 121 and the outer bearing 122 when the flexspline 2 rotates.
After the flexible gear 2 is arranged on the wave generator 1, the inner ring of the flexible gear 2 is provided with the inner external tooth rigid gear 5, an annular bearing is arranged between the inner external tooth rigid gear 5 and the inner pipe 112 of the body, and the annular bearing plays a role in supporting and limiting the inner external tooth rigid gear 5. At the same time, the bottom of the external internal toothed rigid gear 4 is supported and limited by the external bearing 122, so that the harmonic reducer stably operates.
Referring again to fig. 2 and 3, the flexspline 2 has internal teeth and external teeth, the external teeth of the flexspline 2 corresponding to the internal teeth of the external internal tooth rigid gear 4, and the internal teeth of the flexspline 2 corresponding to the external teeth of the internal external tooth rigid gear 5. The number of teeth of the external tooth of the flexible gear 2 is different from the number of teeth of the internal tooth of the external tooth rigid gear 4, and the number of teeth difference is set as a difference value a; the number of teeth of the flexible gear 2 is different from the number of teeth of the outer teeth of the inner outer tooth rigid gear 5, and the difference of the number of teeth is set as a difference b.
In this embodiment, the number of teeth of the external teeth of the flexible gear 2 is equal to the number of teeth of the internal teeth of the flexible gear 2, and n numbers of teeth are provided, and in other embodiments, the number of teeth of the internal teeth of the flexible gear 2 is not equal to the number of teeth of the external teeth.
At this time, the number of the internal teeth of the external internal tooth rigid gear 4 is n+a, and the number of the external teeth of the internal external tooth rigid gear 5 is n-b. In this embodiment, the harmonic reducer is a double wave transmission, the difference a is equal to the difference b, and the difference a=the difference b=2, the number of teeth of the inner teeth of the outer inner teeth rigid gear 4 is n+2, and the number of teeth of the outer teeth of the inner teeth rigid gear 5 is n-2.
When the wave generator 1 is connected to the motor, in the process of relative transmission between the flexible gear 2 and the external internal toothed rigid gear 4, external teeth of the flexible gear 2 in the elliptical long axis direction are meshed with partial internal teeth of the external internal toothed rigid gear 4, and external teeth of the flexible gear 2 in the elliptical short axis direction are completely separated from partial internal teeth of the external internal toothed rigid gear 4, so that a deceleration operation can be generated. At the same time, the internal teeth of the flexspline 2 in the elliptical major axis direction are completely separated from the partial external teeth of the internal-external-tooth rigid spline 5, and the internal teeth of the flexspline 2 in the elliptical minor axis direction are completely meshed with the partial external teeth of the internal-external-tooth rigid spline 5, so that a decelerating operation is also generated.
After power is input, in the power transmission of the wave generator 1 through the external internal tooth rigid gear 4, the flexible gear 2 and the internal external tooth rigid gear 5, the flexible gear 2 generates a decelerating operation through the matching of the external teeth of the flexible gear 2 and the external internal tooth rigid gear 4, the external internal tooth rigid gear 4 meshed with the flexible gear 2 reversely rotates relative to the input power, the flexible gear 2 also generates a decelerating operation through the matching of the internal teeth of the flexible gear 2 and the internal external tooth rigid gear 5, and the internal tooth rigid gear 5 meshed with the flexible gear 2 reversely rotates relative to the input power, so that the output of the decelerating operation of the external tooth rigid gear 4 and the external tooth rigid gear 5 can be overlapped, the output rotating speed is increased, and the integral reduction ratio is reduced.
Referring to fig. 4 and 5 again, before the harmonic reducer is assembled, the flexspline 2 and the inner hole thereof are circular, and after the wave generator 1 is installed into the inner hole of the flexspline 2, the flexspline 2 is deformed into an elliptical shape; at this time, in the rotation process of the wave generator 1, the flexible gear 2 rotates reversely along with the wave generator 1 under the left and right sides of the fixed external internal tooth rigid gear 4, when one tooth is meshed with one tooth of the external internal tooth rigid gear 4 to be meshed with the tooth on the external internal tooth rigid gear 4 again, the flexible gear 2 just rotates for one circle, at this time, the wave generator 1 rotates for a plurality of circles, and the ratio of the rotation circle number of the wave generator 1 to the rotation circle number (1 circle) of the flexible gear 2 is the reduction ratio of the first-stage transmission of the harmonic gear reducer.
Meanwhile, when the inner external tooth rigid gear 5 rotates at the inner ring of the flexible gear 2, and the flexible gear 2 is fixed relative to the inner external tooth rigid gear 5, the inner external tooth rigid gear 5 rotates in the opposite direction to the rotation of the wave generator 1, and when one tooth of the inner external tooth rigid gear 5 is meshed with one tooth of the flexible gear 2 again to be meshed with the tooth on the flexible gear 2, the inner external tooth rigid gear 5 just rotates for one circle, and at the moment, the wave generator 1 rotates for a plurality of circles, namely, the reduction ratio in the secondary transmission of the harmonic gear reducer is obtained.
However, the flexspline 2 is actually rotating, so the actual number of rotations of the internal externally toothed rigid spline 5 is the sum of its rotational speed relative to the flexspline 2 and the rotational speed of the flexspline 2.
Therefore, the ratio of the number of rotations of the wave generator 1 to the actual number of rotations of the internal-external toothed rigid gear 5 is the actual reduction ratio, and the low reduction ratio is achieved by the superposition of the output of the two reduction operations.
In this embodiment, the formula of the harmonic reducer of the double wave transmission is expressed as:
the input rotating speed is x;
the number of the internal tooth teeth and the number of the external tooth of the flexible gear 2 are n;
the number of the internal tooth teeth of the external internal tooth rigid gear 4 is n+2;
the number of the external teeth of the internal external tooth rigid gear 5 is n-2;
wherein- (minus) indicates that the output is inverted from the input;
the basic formula of the speed reducer is: reduction ratio = rotor tooth number/(rotor tooth number-stator tooth number);
first-stage transmission description:
the wave generator 1 rotates, the wave generator 1 drives the flexible gear 2 to rotate, and the external internal tooth rigid gear 4 is fixed.
Two-stage transmission description:
the wave generator 1 rotates, assuming the flexspline 2 is stationary;
but is provided with
Corresponding to an input rotation speed of RPM Flexible and soft +x；
Thus, with respect to the flexspline 2: RPM (RPM) External internal tooth rigid gear ＝(RPM Flexible and soft +x)/i 2 ；
Therefore, the sum reduction ratio illustrates:
i.e.
At this time:
from the above, it can be seen that i Total (S) Numerical values of (2)<i 1 Numerical values of (2)<i 2 The total speed reduction ratio of the harmonic speed reducer in the implementation is smaller than the speed reduction ratio of the primary transmission in the harmonic speed reducer and smaller than the speed reduction ratio of the secondary transmission in the harmonic speed reducer, so that the smaller speed reduction ratio is realized.
Example 2
The difference between this embodiment and embodiment 1 is that there is a difference in number of teeth between the number of tooth units of the outer teeth of the flexspline 2 and the number of tooth units of the inner teeth of the outer toothed rigid spline 4, and the difference in number of teeth is set as a difference a; the number of tooth units of the inner teeth of the flexible gear 2 is different from the number of tooth units of the outer teeth of the inner outer tooth rigid gear 5, and the difference of the number of teeth is set as a difference b;
wherein the difference a and the difference b are not equal, and the difference a and the difference b are integer multiples of 2, for example, the difference a=2, and the difference b=4; the flexspline 2 is deformed into an elliptical shape by the wave generator 1, and has two major axes and two minor axes, which are alternately arranged.
Example 3
The present embodiment is different from embodiment 1 in that the harmonic reducer is a three-wave transmission (not shown in the drawings).
The number of tooth units of the external teeth of the flexible gear is different from the number of tooth units of the internal teeth of the external internal tooth rigid gear, and the tooth difference is set as a difference a; the number of tooth units of the inner teeth of the flexible gear is different from the number of tooth units of the outer teeth of the inner teeth rigid gear, and the difference of the number of teeth is set as a difference b.
Wherein, the difference a and the difference b are integer multiples of 3;
the flexible wheel is deformed into a rounded triangle (pear shape) under the action of the wave generator, and is provided with three long shafts and three short shafts, wherein the long shafts and the short shafts are alternately arranged.
The difference a is equal to the difference b; or, the difference a is not equal to the difference b.
Example 4
The present embodiment is different from embodiment 1 in that the harmonic reducer is a four-wave transmission (not shown in the drawings).
The number of tooth units of the external teeth of the flexible gear is different from the number of tooth units of the internal teeth of the external internal tooth rigid gear, and the tooth difference is set as a difference a; the number of tooth units of the inner teeth of the flexible gear is different from the number of tooth units of the outer teeth of the inner teeth rigid gear, and the difference of the number of teeth is set as a difference b.
Wherein, the difference a and the difference b are integer multiples of 4;
the flexible wheel is deformed into a round corner quadrangle under the action of the wave generator, and is provided with four long shafts and four short shafts, and the long shafts and the short shafts are alternately arranged.
The difference a is equal to the difference b; or, the difference a is not equal to the difference b.
Example 5
Referring to fig. 6, the difference between this embodiment and embodiment 1 is that the extrusion assembly 12 includes a flexible bearing 123 for deforming the flexible gear, the flexible bearing 123 is mounted on the body 11, the sidewall of the flexible gear 2 is attached to the flexible bearing 14, and the deformation of the flexible bearing 14 drives the flexible gear 2 to deform, so that the deformed profile of the flexible gear 2 is elliptical.
Example 6
The present embodiment is different from embodiment 1 in that (not shown in the drawings), the internal-external toothed rigid gear is fixed to the top case by bolts, and the external internal-toothed rigid gear is connected to the output end at this time to output power.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. The utility model provides a harmonic reducer, includes wave generator (1) and flexbile gear (2), the setting of flexbile gear (2) is in on wave generator (1) and produce deformation, have at least two major axes and at least two minor axes on flexbile gear (2) after the deformation, its characterized in that: the long shaft is peristaltic along the circumferential direction of the flexible wheel (2) in the rotation process of the wave generator (1), the short shaft is peristaltic along the circumferential direction of the flexible wheel (2) in the rotation process of the wave generator (1), and the long shaft and the short shaft are peristaltic synchronously;
the flexible gear (2) is provided with internal teeth and external teeth;
an external internal tooth rigid gear (4) is arranged on the outer side of the flexible gear (2), external teeth of the flexible gear (2) are meshed with the external internal tooth rigid gear (4) at the long shaft of the flexible gear (2), and external teeth of the flexible gear (2) are separated from the external internal tooth rigid gear (4) at the short shaft of the flexible gear (2);
an inner external tooth rigid gear (5) is arranged on the inner side of the flexible gear (2), internal teeth of the flexible gear (2) are meshed with the inner external tooth rigid gear (5) at the short shaft of the flexible gear (2), and the internal teeth of the flexible gear (2) are separated from the inner external tooth rigid gear (5) at the long shaft of the flexible gear (2);
the external internal tooth rigid gear (4) is fixed, and the internal external tooth rigid gear (5) rotates and is connected with the output end (6);
or the internal and external tooth rigid gear (5) is fixed, and the external and internal tooth rigid gear (4) rotates and is connected with the output end (6).
2. The harmonic reducer of claim 1, wherein: the number of the external teeth of the flexible gear (2) is different from the number of the internal teeth of the external internal tooth rigid gear (4); the number of teeth of the flexible gear (2) is different from the number of teeth of the outer teeth of the inner outer tooth rigid gear (5).
3. A harmonic reducer according to claim 2, characterized in that: the difference between the number of the external teeth of the flexible gear (2) and the number of the internal teeth of the external internal tooth rigid gear (4) is equal to the difference between the number of the internal teeth of the flexible gear (2) and the number of the external teeth of the internal external tooth rigid gear (5).
4. A harmonic reducer according to claim 2, characterized in that: the difference between the number of the external teeth of the flexible gear (2) and the number of the internal teeth of the external internal tooth rigid gear (4) is different from the difference between the number of the internal teeth of the flexible gear (2) and the number of the external teeth of the internal external tooth rigid gear (5);
and the number difference between the number of external teeth of the flexible gear (2) and the number of internal teeth of the external internal tooth rigid gear (4) is an integer multiple of the number of teeth difference between the number of internal teeth of the flexible gear (2) and the number of external teeth of the internal external tooth rigid gear (5).
5. A harmonic reducer according to any of claims 2-4, characterized in that: the number of teeth of the inner teeth of the flexible gear (2) is equal to the number of teeth of the outer teeth of the flexible gear (2);
or the number of the internal teeth of the flexible gear (2) is unequal to the number of the external teeth of the flexible gear (2).
6. The harmonic reducer of claim 5, wherein: the deformation outline of the flexible gear (2) on the wave generator (1) is elliptical, and the flexible gear (2) is provided with only two long shafts and two short shafts;
the difference between the number of the external teeth of the flexible gear (2) and the number of the internal teeth of the external internal tooth rigid gear (4), and the difference between the number of the internal teeth of the flexible gear (2) and the number of the external teeth of the internal external tooth rigid gear (5) are integer multiples of 2.
7. The harmonic reducer of claim 6, wherein: the tooth number difference between the outer tooth number of the flexible gear (2) and the inner tooth number of the outer inner tooth rigid gear (4) is 2, and the tooth number difference between the inner tooth number of the flexible gear (2) and the outer tooth number of the inner tooth rigid gear (5) is 2.
8. The harmonic reducer according to claim 6 or 7, characterized in that: the wave generator (1) comprises a body (11) and a squeezing assembly (12) for deforming the flexible gear (2), wherein the squeezing assembly (12) is mounted on the body (11);
the body (11) is connected with an input end (3).
9. The harmonic reducer of claim 8, wherein: the extrusion assembly (12) comprises a number of inner bearings (121) and a number of outer bearings (122);
the inner bearing (121) is abutted against the inner ring side wall of the flexible gear (2), and the outer bearing (122) is abutted against the outer ring side wall of the flexible gear (2);
wherein a plurality of continuous inner bearings (121) and a plurality of continuous outer bearings (122) are alternately arranged on the inner and outer sides of the flexspline (2);
the inner bearing (121) and the outer bearing (122) are both mounted on the body (11).
10. The harmonic reducer of claim 8, wherein: the extrusion assembly (12) comprises a flexible bearing (123) for deforming the flexible gear (2), the flexible bearing (123) being mounted on the body (11).
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| CN202310218675.2A CN116357717B (en) | 2023-03-07 | 2023-03-07 | Harmonic speed reducer |
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| CN116357717B (en) | 2024-04-05 |
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