CN206072245U - For the firm wheel of harmonic speed reducer, harmonic speed reducer and robot - Google Patents
For the firm wheel of harmonic speed reducer, harmonic speed reducer and robot Download PDFInfo
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- CN206072245U CN206072245U CN201620989870.0U CN201620989870U CN206072245U CN 206072245 U CN206072245 U CN 206072245U CN 201620989870 U CN201620989870 U CN 201620989870U CN 206072245 U CN206072245 U CN 206072245U
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Abstract
The disclosure provides a kind of firm wheel for harmonic speed reducer, harmonic speed reducer and robot.The harmonic speed reducer includes wave producer（11）, firm wheel（12）And flexbile gear（13）, wave producer is arranged on flexbile gear（13）Inner peripheral surface on, firm wheel includes the flange being coaxially disposed（122）, rigid canister annulus（123）With flexible cylinder annulus（124）, flexible cylinder annulus（124）Inner peripheral surface on be provided with first gear teeth（121）, flexbile gear（13）Outer peripheral face on be provided with second gear teeth（131）, first gear teeth and the second gear teeth meshing.In the harmonic speed reducer of the disclosure, firm wheel is in addition to being flexible yielding structure in the part for being disposed with the gear teeth, remainder is rigid structure, compared with cylinder generally flexible " firm wheel ", the cylinder torsional deflection amount of the firm wheel adopted by the disclosure is less, the return difference of the harmonic speed reducer of the disclosure is only derived from the return difference that the cylinder torsional deflection of flexbile gear is produced, therefore with higher transmission accuracy.
Description
Technical field
It relates to a kind of harmonic speed reducer, in particular it relates to a kind of firm wheel for harmonic speed reducer, harmonic reduction
Device and robot.
Background technology
Harmonic Gears are a kind of Novel transmissions that later stage the 1950's develops appearance with space technology, are belonged to
Planet-gear transmission.Harmonic speed reducer is mainly made up of three basic building blocks：Firm wheel with ring gear, with external tooth
The flexbile gear and wave producer of circle.Use as decelerator, generally using wave producer actively（Input）, firm wheel fix, flexbile gear
The form of output, wave producer are a rod-like members, and its two ends is constituted roller equipped with rolling bearing, passed through with the inwall of flexbile gear
Flexible bearing is mutually compressed.Flexbile gear is the thin-wall gear that can produce larger elastic deformation.Wave producer is to make flexbile gear generation controllable
The component of elastic deformation, after wave producer loads flexbile gear, forces the section of flexbile gear to be become by original circle by flexible bearing
Into abnormal curved surface, the tooth near its major axis two ends is at a fully engaged with the tooth of firm wheel, and the tooth near short axle two ends is then complete with firm wheel
It is complete to disengage.On girth, the tooth of other sections is in engagement and the transitive state for departing from.When wave producer is continuously rotated, flexbile gear
Deformation constantly changes, and flexbile gear and the engagement of firm wheel is also constantly changed, by it is engaging-in, engage, nibble out, disengaging, it is engaging-in again, it is all
And carry out with renewing, so as to realize flexbile gear relative to firm wheel along the rightabout slow rotation of wave producer.
Harmonic Gears compared with general gear drive, with bearing capacity it is high, gear ratio is big, small volume, it is lightweight,
The advantages of high precision, little noise, and simple structure, number of parts be few, installation is simple, can be to confined space transmitting movement and dynamic
Power, therefore it is widely used in the industries such as electronics, Aero-Space, robot.
Although harmonic speed reducer has many advantages, such as that above-mentioned, traditional harmonic speed reducer yet suffers from following defect：First,
The firm wheel of conventional harmonic decelerator is generally overall thicker, and rigidity is good, is unlikely to deform, and this is allowed at only major axis of wave generator
The gear teeth are in engagement, cause transmission accuracy relatively low；2nd, the gear tooth of conventional harmonic decelerator adopts metal material system
Into, for the demand for meeting assembling and lubricate, certain sideshake between the firm wheel gear teeth and the flexbile gear gear teeth, is left, and with gear grinding
The aggravation of damage, the sideshake are incrementally increased, and cause harmonic speed reducer return difference to increase, and affect the transmission accuracy of harmonic gear and transmission flat
Stability, even results in harmonic speed reducer failure.
Utility model content
The purpose of the disclosure is to provide a kind of higher harmonic speed reducer of transmission accuracy.
To achieve these goals, the disclosure provides a kind of harmonic speed reducer, including wave producer, firm wheel and flexbile gear, institute
State wave producer to be arranged on the inner peripheral surface of the flexbile gear, flange that the firm wheel includes being coaxially disposed, rigid canister annulus and
Flexible cylinder annulus, the rigid canister annulus are axially located between the flange and flexible cylinder annulus, the flexible sleeve
First gear teeth are provided with the inner peripheral surface of body annulus, the wall thickness of the flexible cylinder annulus is less than the wall of the rigid canister annulus
Thickness, is provided with second gear teeth, first gear teeth and the second gear teeth meshing on the outer peripheral face of the flexbile gear.
Alternatively, external diameter of the external diameter of the rigid canister annulus more than the flexible cylinder annulus.
Alternatively, the external diameter of the rigid canister annulus is more than the maximum outside diameter after the flexible cylinder Deformed ring.
Alternatively, circular pitch of the circular pitch of first gear teeth less than second gear teeth.
Alternatively, at least one of first gear teeth and second gear teeth are made up of engineering plastics.
Alternatively, first gear teeth and second gear teeth are stepped tooth.
Height of teeth top ha of the stepped tooth=（0.75~0.85）* m, height of teeth root hf=（0.9~1.1）* m, profile angle Φ exist
Between 20 ° ~ 30 °, wherein m is the modulus of the stepped tooth.
Alternatively, first gear teeth have the first tooth top fillet and the first root fillet, and second gear teeth have the
Two tooth top fillets and the second root fillet.
In the harmonic speed reducer of the disclosure, firm wheel except be disposed with the gear teeth part be flexible yielding structure it
Outward, remainder is rigid structure, with cylinder generally flexible " firm wheel "（Hereinafter referred to as " flexible firm wheel "）Compare, the disclosure
The cylinder torsional deflection amount of the firm wheel for being adopted is less, will not produce return difference, the disclosure when reversing as " flexible firm wheel "
The return difference of harmonic speed reducer be only derived from the return difference that the cylinder torsional deflection of flexbile gear is produced, therefore with higher transmission essence
Degree.
The disclosure also provides a kind of firm wheel for harmonic speed reducer, during the firm wheel is harmonic speed reducer as above
Firm wheel.
The disclosure also provides a kind of robot, and the robot includes harmonic speed reducer as above.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of description, with following tool
Body embodiment is used for explaining the disclosure together, but does not constitute restriction of this disclosure.In the accompanying drawings：
Fig. 1 is the sectional view of the harmonic speed reducer of the disclosure；
Fig. 2 is the sectional view of the stepped tooth used by the disclosure；
Fig. 3 and Fig. 4 are that the engagement of the gear teeth is shown before the flexible cylinder Deformed ring of the embodiment of the present disclosure and after deformation respectively
It is intended to；
Fig. 5 is the enlarged drawing of part A in Fig. 3；
Fig. 6 is the enlarged drawing of part B in Fig. 4.
Description of reference numerals
11 wave producer, 111 cam, 112 flexible bearing
12 121 first gear teeth of firm wheel, 122 flange
123 rigid canister annulus, 124 flexible 13 flexbile gear of cylinder annulus
131 second gear teeth 1211,1311 tooth top fillets 1212,1312 root fillets.
Specific embodiment
It is described in detail below in conjunction with accompanying drawing specific embodiment of this disclosure.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the disclosure, is not limited to the disclosure.
As shown in figure 1, according to an aspect of this disclosure, there is provided a kind of harmonic speed reducer, including wave producer 11, firm wheel
12 and flexbile gear 13.Wherein, wave producer 11 includes the cam 111 and flexible bearing 112 of ellipse, and flexible bearing 112 is along cam
111 contour line is arranged.Firm wheel 12 includes coaxially arranged three part：Flange 122, rigid canister annulus 123 and flexible sleeve
Body annulus 124.Being axially located between flange 122 and flexible cylinder annulus 124 along firm wheel 12 of rigid canister annulus 123.Rigidity
Cylinder annulus 123 is arranged on the end face of flange 122, and the installation for harmonic speed reducer is positioned.Flexible cylinder annulus 124 is arranged
On the end face of rigid canister annulus 123, first gear teeth 121 on the inner peripheral surface of flexible cylinder annulus 124, are provided with.Flexbile gear 13
Second gear teeth 131 on outer peripheral face, first gear teeth 121 are intermeshed with second gear teeth 131.Flexible bearing 112 is arranged on flexbile gear
On 13 inner peripheral surface.
In the harmonic speed reducer of the disclosure, the circular pitch of first gear teeth 121 is more smaller than the circular pitch of second gear teeth 131, therefore
When the flexible cylinder annulus 124 of the firm wheel 12 used by the disclosure is in confined state, due to first gear teeth 121 attached to it
By second gear teeth 131 the extruding on 11 long axis direction of wave producer of flexbile gear 13 so that flexible cylinder annulus 124 is with flexbile gear
13 stretch out on the long axis direction of wave producer 11 together, and inwardly shorten on the short-axis direction of wave producer 11, from
And form the shape of a sub-elliptical ring（As shown in Figure 4）.This allows for the gear teeth at not only transverse and engagement can occur,
The part gear teeth between ellipse short shaft and major axis can also be engaged so that the number of gear teeth that engagement occurs is more, can bear load
The number of teeth of lotus is also more, and more fully, transmission accuracy is higher for engagement.
In addition, in the harmonic speed reducer of the disclosure, firm wheel 12 is except being flexible yielding in the part for being disposed with the gear teeth
Outside structure, remainder（That is, flange 122 and rigid canister annulus 123）It is for rigid structure, generally flexible with cylinder
" firm wheel "（Hereinafter referred to as " flexible firm wheel "）Compare, the cylinder torsional deflection amount of the firm wheel 12 adopted by the disclosure is less, will not
Return difference is produced when reversing as " flexible firm wheel ", the return difference of the harmonic speed reducer of the disclosure is only derived from the cylinder of flexbile gear 13
The return difference that torsional deflection is produced, therefore with higher transmission accuracy.
In the firm wheel 12 adopted by the disclosure, rigid canister annulus 123 for install harmonic speed reducer when from position
Effect.Specifically, for example when harmonic speed reducer is installed on robot body, the outer peripheral face of rigid canister annulus 123 with
The hole wall of the installing hole on robot body is engaged, to realize the radial positioning of harmonic speed reducer.Therefore, in the disclosure,
External diameter of the external diameter of rigid canister annulus 123 more than flexible cylinder annulus 124.In order to avoid the change to flexible cylinder annulus 124
Shape causes to interfere, it is preferable that the external diameter of rigid canister annulus 123 is more than the full-size after flexible cylinder annulus 124 deforms,
That is, the external diameter of rigid canister annulus 123 deforms at the major axis of the sub-elliptical ring for being formed more than flexible cylinder annulus 124
Outside dimension.
In the harmonic speed reducer of the disclosure, rigid canister annulus 123 and flexible cylinder annulus 124 can be by identical materials
Material is integrally formed, it is also possible to be respectively prepared by two kinds of different materials, as long as ensureing that the rigidity of the two is different.In rigid cartridge
In the case of body annulus 123 and flexible cylinder annulus 124 are by made by same material, as shown in figure 1, flexible cylinder annulus 124
Wall thickness can be less than the wall thickness of rigid canister annulus 123.The wall thickness of flexible cylinder annulus 124 is relatively thin, easily diametrically deforms；Just
The wall thickness of property cylinder annulus 123 is thicker, it is ensured which is without torsional deflection.
In the disclosure, at least one of first gear teeth 121 and second gear teeth 131 can be by with self-lubricating properties
Engineering plastics are made, so that will to meet lubrication without the need for reserving sideshake between first gear teeth 121 and second gear teeth 131
Ask, improve the transmission accuracy and transmission stability of harmonic speed reducer.Preferably, first gear teeth 121 and second gear teeth 131 can be equal
It is made up of engineering plastics.The engineering plastics can be polyformaldehyde（POM）, politef（PTFE）, polyether-ether-ketone（PEEK）
Or polyamide（PA）.
As shown in Fig. 2 in the preferred implementation of the disclosure, first gear teeth 121 and second gear teeth 131 are trapezoidal
Tooth.As shown in Figures 3 to 6, as the circular pitch of first gear teeth 121 is more smaller than the circular pitch of second gear teeth 131, therefore with the first round
When the flexible cylinder annulus 124 of tooth 121 is not deformed, first gear teeth 121 and second gear teeth 131 exist and interfere in theory（Such as Fig. 5 institutes
Show）, but in the disclosure, the flexible cylinder annulus 124 of firm wheel 12 is deformable, when first gear teeth 121 are subject to second gear teeth 131
Extruding when, flexible cylinder annulus 124 is changed into approximate ellipsoidal from circle（As shown in Figure 4）So that first gear teeth 121 and second
The gear teeth 131 are in zero sideshake engagement（As shown in Figure 6）.As the original state of flexible cylinder annulus 124 is annulus, therefore when
The pointer trend for being returned to annulus with resilience, therefore when first gear teeth 121 or second gear teeth 131 occur abrasion, it is flexible
124 resilience of cylinder annulus so that 121 moment of first gear teeth thereon is fitted with second gear teeth 131.And in the above-mentioned side of being preferable to carry out
In formula, the isosceles trapezoid section that first gear teeth 121 and second gear teeth 131 adopt identical, gradually expand from top to root,
So that first gear teeth 121 and second gear teeth 131 form bilateral engagement, the resilience force of flexible cylinder annulus 124 can ensure that the gear teeth
The backlash moment is zero, so as to further reduce the return difference of harmonic speed reducer, improves transmission accuracy.
In the disclosure, as shown in Fig. 2 height of teeth top ha of the stepped tooth=（0.75~0.85）* m, height of teeth root hf=
（0.9~1.1）* m, profile angle Φ between 20 ° ~ 30 °, wherein, m is the modulus of the stepped tooth.Height of teeth top ha is reference circle d
To the radial distance between outside circle, height of teeth root hf is to the radial distance between root circle.Using in the range of above-mentioned parameter
Stepped tooth can preferably reduce backlash as first gear teeth 121 and second gear teeth 131.
As shown in Figure 2, it is preferable that first gear teeth 121 have the first tooth top fillet 1211 and the first root fillet 1212, the
Two gear teeth 131 have the second tooth top fillet 1311 and the second root fillet 1312.First tooth top fillet 1211 and the second outside circle
Angle 1311 can ensure that the gear teeth engaging-in smooth with when nibbling out；First root fillet 1212 and the second root fillet 1312 can change
Stress state suffered by the kind gear teeth, reduces stress concentration.
In sum, the cylinder annulus 124 that the gear teeth are distributed with of the firm wheel 12 of the disclosure is flexible deformable, with reference to ladder
The characteristics of shape gear teeth, it is ensured that gear teeth backlash also can be made constantly to be zero after wheel odontotripsis, firm wheel 12 it is fixed for installing
The rigid canister annulus 123 of position has enough rigidity again, is not in as " flexible firm wheel " to produce return difference when reversing.
Compared with prior art, the harmonic speed reducer of the disclosure can automatically adjust backlash, and the moment ensures that backlash is zero,
So as to reduce the return difference of harmonic speed reducer, transmission accuracy is improved.
According to another aspect of the present disclosure, there is provided a kind of firm wheel for harmonic speed reducer, the firm wheel is as above
Firm wheel 12 in harmonic speed reducer.
According to another aspect of the present disclosure, there is provided a kind of robot, the robot adopts harmonic speed reducer as above.
The preferred implementation of the disclosure is described in detail above in association with accompanying drawing, but, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, various letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The compound mode of energy is no longer separately illustrated.
Additionally, combination in any between a variety of embodiments of the disclosure, can also be carried out, as long as which is without prejudice to this
Disclosed thought, which should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of harmonic speed reducer, including wave producer（11）, firm wheel（12）And flexbile gear（13）, the wave producer（11）Arrange
In the flexbile gear（13）Inner peripheral surface on, it is characterised in that the firm wheel includes the flange being coaxially disposed（122）, rigid canister
Annulus（123）With flexible cylinder annulus（124）, the rigid canister annulus（123）It is axially located in the flange（122）With it is soft
Property cylinder annulus（124）Between, the flexible cylinder annulus（124）Inner peripheral surface on be provided with first gear teeth（121）, it is described soft
Property cylinder annulus（124）Wall thickness be less than the rigid canister annulus（123）Wall thickness, the flexbile gear（13）Outer peripheral face on set
It is equipped with second gear teeth（131）, first gear teeth（131）With second gear teeth（121）Engagement.
2. harmonic speed reducer according to claim 1, it is characterised in that the rigid canister annulus（123）External diameter it is big
In the flexible cylinder annulus（124）External diameter.
3. harmonic speed reducer according to claim 2, it is characterised in that the rigid canister annulus（123）External diameter it is big
In the flexible cylinder annulus（124）Maximum outside diameter after deformation.
4. harmonic speed reducer according to claim 1, it is characterised in that first gear teeth（121）Circular pitch be less than institute
State second gear teeth（131）Circular pitch.
5. harmonic speed reducer according to claim 1, it is characterised in that first gear teeth（121）With second gear teeth
（131）At least one of be made up of engineering plastics.
6. the harmonic speed reducer according to any one in claim 1-5, it is characterised in that first gear teeth（121）
With second gear teeth（131）It is stepped tooth.
7. harmonic speed reducer according to claim 6, it is characterised in that height of teeth top ha of the stepped tooth=（0.75~
0.85）* m, height of teeth root hf=（0.9~1.1）* m, between 20 ° ~ 30 °, wherein m is the modulus of the stepped tooth to profile angle Φ.
8. harmonic speed reducer according to claim 6, it is characterised in that first gear teeth（121）With the first tooth top
Fillet（1211）With the first root fillet（1212）, second gear teeth（131）With the second tooth top fillet（1311）With second
Root fillet（1312）.
9. a kind of firm wheel for harmonic speed reducer, it is characterised in that the firm wheel is according to any one institute in claim 1-8
Firm wheel in the harmonic speed reducer stated.
10. a kind of robot, it is characterised in that including the harmonic speed reducer described in any one in claim 1-8.
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| CN107198319A (en) * | 2017-06-27 | 2017-09-26 | 浙江工贸职业技术学院 | Luggage case with running gear |
| WO2018040978A1 (en) * | 2016-08-31 | 2018-03-08 | 比亚迪股份有限公司 | Rigid gear for harmonic reducer, harmonic reducer, and robot |
| CN108980300A (en) * | 2018-10-11 | 2018-12-11 | 北京中研华飞科技有限公司 | Harmonic wave drive speed reducer and transmission system |
| CN109139855A (en) * | 2018-10-03 | 2019-01-04 | 凌子龙 | Double flexbile gear harmonic wave speed reducing machines |
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| WO2018040978A1 (en) * | 2016-08-31 | 2018-03-08 | 比亚迪股份有限公司 | Rigid gear for harmonic reducer, harmonic reducer, and robot |
| EP3508753A4 (en) * | 2016-08-31 | 2019-08-28 | BYD Company Limited | Rigid gear for harmonic reducer, harmonic reducer, and robot |
| CN107198319A (en) * | 2017-06-27 | 2017-09-26 | 浙江工贸职业技术学院 | Luggage case with running gear |
| US11648662B2 (en) | 2018-09-19 | 2023-05-16 | Gree Electric Appliances, Inc. Of Zhuhai | Speed reducer and robot |
| CN109139855A (en) * | 2018-10-03 | 2019-01-04 | 凌子龙 | Double flexbile gear harmonic wave speed reducing machines |
| WO2020069660A1 (en) * | 2018-10-03 | 2020-04-09 | 爱磁科技（深圳）有限公司 | Double-flexible-wheel harmonic speed reducer |
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| CN108980300A (en) * | 2018-10-11 | 2018-12-11 | 北京中研华飞科技有限公司 | Harmonic wave drive speed reducer and transmission system |
| CN109372952A (en) * | 2018-12-13 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of compact cycloid in planet harmonic wave speed change gear and its method for changing speed |
| CN109372952B (en) * | 2018-12-13 | 2024-08-16 | 浙江环动机器人关节科技股份有限公司 | Compact cycloid planetary harmonic speed change device and speed change method thereof |
| US11525502B2 (en) | 2019-06-13 | 2022-12-13 | Circular Wave Drive Partners Inc. | Circular wave drive |
| WO2020252424A1 (en) * | 2019-06-13 | 2020-12-17 | Circular Wave Drive Partners Inc. | Circular wave drive |
| US11125301B1 (en) | 2020-03-31 | 2021-09-21 | Circular Wave Drive Partners Inc. | Circular wave drive |
| CN115443388A (en) * | 2020-03-31 | 2022-12-06 | 圆波传动合作股份有限公司 | Circular wave driver |
| WO2021201898A1 (en) * | 2020-03-31 | 2021-10-07 | Circular Wave Drive Partners Inc. | Circular wave drive |
| CN115055875B (en) * | 2022-08-15 | 2022-10-25 | 常州市传动输送机械有限公司 | Welding equipment for inner circular seam and outer longitudinal seam of roller |
| CN115055875A (en) * | 2022-08-15 | 2022-09-16 | 常州市传动输送机械有限公司 | Welding equipment for inner circular seam and outer longitudinal seam of roller |
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