CN210196387U - PEEK injection molding tooth harmonic speed reducer - Google Patents

Abstract

PEEK moulds plastics tooth harmonic speed reducer machine comprises steel wheel, flexbile gear and wave generator, characterized by: the flexspline is made of PEEK material and the teeth have an axial draft angle. The PEEK material is used for manufacturing the toothed part of the harmonic speed reducer, so that the advantages are high, the processing technology of the part is that the PEEK material is used for realizing part forming through injection molding or blank forming and then manufacturing and forming through a small amount of machining, and heat treatment is not needed.

Description

PEEK injection molding tooth harmonic speed reducer

Technical Field

The invention relates to the field of speed reducers, in particular to a PEEK injection molding tooth harmonic speed reducer.

Background

The harmonic gear transmission is invented and created by U.S. inventor C.W.Musser in 1955, is a novel transmission mode for carrying out motion or power transmission by utilizing the elastic deformation of a flexible working member, breaks through the mode that a rigid member mechanism is adopted in mechanical transmission, and uses a flexible member to realize mechanical transmission, thereby obtaining a series of special functions which are difficult to achieve by other transmissions. The deformation process of the intermediate flexible member is basically a symmetrical harmonic, so the name is obtained. Except that the former Soviet union refers to the transmission as wave transmission or flexible wheel transmission, the countries of America, English, Germany, Japan and the like are all called as 'harmonic transmission'.

The harmonic gear transmission speed reduction principle is that the relative motion of the flexible gear, the rigid gear and the wave generator is utilized, and the controllable elastic deformation of the flexible gear is mainly utilized to realize the motion and power transmission. An elliptical cam in the wave generator rotates in the flexible gear to deform the flexible gear. When the flexible gear teeth and the rigid gear teeth at two ends of the long shaft of the elliptic cam of the wave generator are engaged, the flexible gear teeth and the rigid gear teeth at two ends of the short shaft are disengaged. For the teeth between the major axis and the minor axis of the wave generator, the teeth are in a half-meshing state gradually entering into meshing in different sections along the circumferences of the flexible gear and the rigid gear, which is called meshing; in a half-engaged state where the engagement is gradually released, it is called a mesh-out. When the wave generator rotates continuously, the flexible gear deforms continuously, so that the original working states of the two-wheel gear teeth are changed continuously in four motions of meshing, meshing and disengaging, staggered tooth motion is generated, and motion transmission from the driving wave generator to the flexible gear is realized.

The existing harmonic gear drive consists of ① rigid internal gear with 2 more teeth than flexible gear, ② flexible gear, thin cup-shaped metal elastic part with gear on its external ring, which deforms with the rotation of wave generator and is connected with output shaft, ③ wave generator, which consists of an elliptic cam and a flexible bearing, which is connected with input shaft, the internal ring of flexible bearing is fixed on the cam and the external ring can be deformed into elliptic shape by balls.

Polyether ether ketone (PEEK) is a novel semi-crystalline aromatic thermoplastic engineering plastic which is successfully researched and developed in the end of the 70 th 20 th century, is one of the recognized thermoplastic materials with the highest performance all over the world, and has excellent comprehensive performance. Since PEEK has the characteristics of good high-temperature fluidity and high thermal decomposition temperature, various processing modes can be adopted, such as injection molding, extrusion molding, die forming, melt spinning and the like. PEEK has good toughness and rigidity, and has excellent fatigue resistance comparable to alloy materials. A variety of modified PEEK materials have been developed, modified by the addition of fibers or particles, as well as PEEK modified alloy materials.

At present, the harmonic speed reducer is mainly made of steel materials through a machining process, the manufacturing cost is high, the difficulty of the tooth profile forming and heat treatment process is high, the efficiency is low, and particularly the tooth profile forming process of the flexible gear is difficult to achieve and has the highest cost.

Disclosure of Invention

In order to solve the problems, the invention provides a PEEK injection molding tooth harmonic speed reducer.

The technical scheme adopted by the invention is as follows.

PEEK moulds plastics tooth harmonic speed reducer machine comprises steel wheel, flexbile gear and wave generator, characterized by: the flexspline is made of PEEK material and the teeth have an axial draft angle. The harmonic reducer machine usually contains two there are tooth parts of steel wheel and flexbile gear, especially the tooth of flexbile gear processes the degree of difficulty great, through research discovery, use the PEEK material to make harmonic reducer machine have tooth part, can have more advantage, the processing technology of part can realize through moulding plastics that the part takes shape or the stock takes shape and makes the shaping through a small amount of machine tooling again for using the PEEK material, and do not need the thermal treatment, the production degree of difficulty and the manufacturing cost that have significantly reduced, can realize the profile of tooth processing of tooth part fast, utilize excellent mechanical properties and the lightweight characteristic of PEEK material, the unit of the harmonic reducer machine who moulds plastics the tooth with the PEEK material holds the density of twisting has the advantage for steel harmonic reducer machine. The flexspline is a flexible gear part which is peculiar to the harmonic reducer, the flexible gear part requires to process teeth on a thinner pipe wall, so the flexspline processing is a core difficulty of the production and processing of the harmonic reducer, the PEEK material is a very good fatigue-resistant material, and the cost performance of the flexspline which is processed by injection molding by using a PEEK material mold is higher than that of the flexspline which is processed by steel machinery. Because the teeth are formed by injection molding of the die, a certain amount of draft angles can be designed during the design of the die, and simultaneously, because the flexible gear has a certain axial angle with the teeth meshed with the steel gear after flexible deformation, the teeth can be offset by the draft angles in the injection molding process, so that better meshing is realized; meanwhile, if the steel wheel serving as the inner gear ring is also a toothed part made of PEEK material, a corresponding draft angle can be processed according to the axial angle of the deformed flexible gear teeth of the meshing part, so that better meshing is realized.

The teeth of the toothed part made of PEEK material are injection molded by a PEEK material mold. The PEEK material is used for processing the toothed part or the blank of the toothed part through injection molding, the blank formed through injection molding can be made into a finished part only through lathe processing again, the process cost is greatly reduced compared with that of metal material tooth processing, the tooth profile processing of the toothed part can be rapidly realized, and the injection molded tooth has the advantages of high consistency, good batch stability, high production efficiency, low cost and the like.

The PEEK tooth harmonic speed reducer of moulding plastics is a two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics, including strong flexbile gear, weak flexbile gear and wave generator, strong flexbile gear and the coaxial axial fixity of weak flexbile gear and radial fixed are equipped with the tooth that can intermeshing on strong flexbile gear and the weak flexbile gear respectively, and strong flexbile gear and weak flexbile gear exist the tooth number difference, and wave generator makes weak flexbile gear take place non-circular elastic deformation and with strong flexbile gear partial meshing, and strong flexbile gear and weak flexbile gear contact segment receive the radial pressure of weak flexbile gear and produce non-circular elastic deformation, strong flexbile gear or weak flexbile gear are made for the PEEK material and the tooth has axial draft angle. The two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics just replace the steel wheel of current harmonic speed reducer machine with a strong flexbile gear that the rigidity is greater than current harmonic speed reducer machine flexbile gear, so say that a strong flexbile gear is different from a significant feature of current steel wheel and is: the strong flexible gear has a flexible thin wall similar to that of the flexible gear of the existing harmonic speed reducer, namely the strong flexible gear comprises a section of thin-wall structure which can be elastically deformed between a gear ring structure which can be elastically deformed and a connecting flange structure which cannot be elastically deformed, and the section of the structure which can be beneficial to the noncircular elastic deformation of the gear ring structure surface is generally a thin-wall tubular structure; the PEEK injection molding tooth double-flexible gear harmonic reducer is characterized in that the reference circle radius of the tooth farthest from the axis of the reducer after the weak flexible gear is subjected to non-circular deformation under the action of a wave generator is larger than the reference circle radius of the circular gear ring before the strong flexible gear is not assembled; the weak flexible gear generates non-circular elastic deformation under the action of the wave generator, the strong flexible gear generates non-circular elastic deformation under the radial pressure of meshing part teeth after the weak flexible gear is subjected to non-circular deformation, the weak flexible gear always keeps part of teeth continuously meshed with the teeth of the strong flexible gear along the rotation direction of the wave generator, and the strong flexible gear and the weak flexible gear have the difference of the number of teeth, so that the strong flexible gear and the weak flexible gear are driven to rotate by the rotation of the wave generator to rotate relatively, the speed reducer effect of speed reduction and torque increase is realized, a shaft hole or a flange connected with an input power source is arranged on the wave generator, and a fixed flange and an output flange are respectively arranged on the strong flexible gear and the weak flexible gear; certainly, the double-flexspline harmonic reducer of the PEEK injection molding teeth also has the reversible output characteristic of the existing harmonic reducer; in practical application, the wave generator mostly adopts an elliptical cam and a rolling bearing structure is arranged on the outer ring of the cam, the elliptical cam belongs to a 2-head cam and can cause the weak flexible gear to have two teeth to be meshed with the strong flexible gear, the difference of the tooth number between the strong flexible gear and the weak flexible gear is integral multiple of the number of the cam heads of the wave generator, theoretically, a single-head cam or a multi-head cam with more than three heads can be used to cause the weak flexible gear and the strong flexible gear to have one or more meshing, and the cams with different head numbers have corresponding requirements on the tooth numbers and the tooth shapes of the strong flexible gear and the weak flexible gear; the strong flexible gear and the weak flexible gear can use cycloid teeth, involute teeth, triangular teeth, trapezoidal teeth, circular cycloid teeth and the like, and because the strong flexible gear can have a certain deformation amount which is equal to a controllable range value of tooth surface meshing pressure which can be set, the meshing degree is also improved, smaller tooth height can be conveniently used, the use of the smaller tooth height is beneficial to reducing the elastic deformation amount of the weak flexible gear so as to reduce the fatigue of a material, and meanwhile, the smaller tooth height is also more beneficial to the miniaturization of the speed reducer and the use of the double flexible gears, and the purpose of allowing the strong flexible gear to have a small amount or trace of non-circular elastic deformation along with the weak flexible gear when the harmonic speed reducer runs is realized; therefore, the fault tolerance of the harmonic speed reducer to the tolerance of parts can be improved, the abrasion resistance of the harmonic speed reducer can be improved, the precision life is prolonged, the harmonic speed reducer with good manufacturing precision is produced by using cheap materials and a machining process, and the cost of the harmonic speed reducer is greatly reduced.

The double-flexspline harmonic speed reducer of the PEEK injection molding teeth, wherein the strong flexspline comprises a section of thin-wall structure which can be elastically deformed and is arranged between the gear ring structure and the connecting flange structure. The strong flexible gear has a flexible thin wall similar to that of the flexible gear of the existing harmonic speed reducer, namely the strong flexible gear comprises a section of thin-wall structure which can be elastically deformed between a gear ring structure which can be elastically deformed and a connecting flange structure which can not be elastically deformed, and the section of the structure which can be beneficial to the noncircular elastic deformation of the gear ring structure surface is generally in a thin-wall tubular structure.

According to the double-flexible gear harmonic speed reducer with the PEEK injection molding teeth, the reference circle radius of the teeth which are farthest away from the axis of the speed reducer and are subjected to non-circular deformation by the weak flexible gear under the action of the wave generator is larger than that of the circular gear ring before the strong flexible gear is not assembled. The strong flexible gear with the larger quantity can generate a certain amount of elastic deformation after being assembled, the larger quantity is the elastic deformation quantity of the strong flexible gear, and the strong flexible gear can achieve the technical effect of the invention only on the basic premise of keeping a certain elastic deformation quantity; the size relationship is established in that the weak flexible gear is arranged outside the internal strong flexible gear, the weak flexible gear is provided with an external tooth gear ring, the strong flexible gear is provided with an internal tooth gear ring, and the wave generator acts on the inner wall of the weak flexible gear. The reference circle radius of the tooth farthest from the axis of the speed reducer after the weak flexible gear is subjected to non-circular deformation under the action of the wave generator is larger than the reference circle radius of the circular gear ring before the strong flexible gear is not assembled by 0.2mm or more than 1 mm. The dimensional difference is the flexible deformation of the assembled strong flexible gear, the flexible deformation of the strong flexible gear is related to the radius of the strong flexible gear, the material of the strong flexible gear and the processing precision level, the larger the radius of the strong flexible gear is, the larger the design deformation of the strong flexible gear theoretically should be, the softer the material is, the larger the design deformation theoretically should be, the lower the processing precision requirement is, the larger the design deformation theoretically should be, and if an elliptical wave generator is adopted, the deformation is the difference between the radius of the major axis of the ellipse and the radius of the minor axis of the ellipse after the elliptical deformation of the strong flexible gear.

The reference circle radius of the circular gear ring of the strong flexible gear before being assembled is larger than that of the tooth closest to the axis of the speed reducer after the weak flexible gear is subjected to non-circular deformation under the action of the wave generator. Theoretically, another harmonic speed reducer structure with a weak flexible gear provided with an internal tooth ring outside and a strong flexible gear provided with an external tooth ring inside is provided, a wave generator acts on the outer wall of the weak flexible gear, the weak flexible gear extrudes the strong flexible gear inwards, the structure requires that the reference circle radius of a circular gear ring of the strong flexible gear before being assembled is larger than the reference circle radius of a tooth which is closest to the axis of the speed reducer after the weak flexible gear generates non-circular deformation under the action of the wave generator, generally, the larger value is at least more than 0.05mm, in some cases, the larger value is even more than 0.1mm or more than 1mm, the larger value is the flexible deformation amount of the strong flexible gear after being assembled, the flexible deformation amount of the strong flexible gear is related to the radius of the strong flexible gear, the material of the strong flexible gear and the processing precision level, the larger radius of the strong flexible gear is theoretically the larger design deformation amount of the strong flexible gear, the softer the material, the larger the deformation should be theoretically designed, and the lower the machining precision requirement, the larger the deformation should be theoretically designed, and if the wave generator with the elliptical hole is adopted, the deformation is the difference between the radius of the major axis of the ellipse and the radius of the minor axis of the ellipse after the elliptical deformation of the strong flexible gear.

The two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include the speed reducer base bearing, strong flexbile gear and weak flexbile gear pass through the speed reducer base bearing and realize coaxial axial fixity and radial fixed. The main bearing of the speed reducer can bear axial moment, radial moment and overturning moment, the main bearing of the speed reducer usually adopts a cross roller bearing or a double-row angular contact bearing, and can also adopt a pair of angular contact bearings or a pair of tapered roller bearings which are respectively installed, and any bearing or bearing combination which has the same functions of bearing the axial moment, the radial moment and the overturning moment can be adopted in a specific speed reducer structure; all or part of the bearing inner ring and the bearing outer ring of the main bearing of the speed reducer can be directly and respectively processed on the strong flexible gear and the weak flexible gear, and can also be respectively fixed on the strong flexible gear and the weak flexible gear by methods such as bolt fixing and the like; the output flange and the fixed flange of the double-flexible gear harmonic speed reducer of the PEEK injection molding teeth can be respectively processed on the strong flexible gear and the weak flexible gear, and also can be respectively processed on the bearing inner ring and the bearing outer ring of the main bearing of the speed reducer, the main bearing of the speed reducer can be realized in a sliding bearing mode under certain special conditions, and even the whole or partial inner ring and outer ring of the sliding bearing can be directly processed on the strong flexible gear and the weak flexible gear respectively.

The two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include wave generator location bearing, wave generator passes through wave generator location bearing and strong flexbile gear or weak flexbile gear axial fixity and radial fixation. Because the steel wheel of the existing harmonic speed reducer is not used, the axle center of the wave generator is better fixed to enable the wave generator to be coaxial with the strong flexible wheel or the weak flexible wheel, so that the influence of trace non-coaxiality on the service life and the transmission efficiency of the speed reducer when the wave generator is connected with a motor can be effectively reduced, and the wave generator positioning bearing and a non-circular bearing contained in the wave generator in the existing harmonic speed reducer can not be confused and is an additional circular bearing; if the driving shaft of the wave generator such as a motor shaft and the main bearing of the speed reducer are well coaxially and radially fixed in an actual structure, the positioning bearing of the wave generator is not needed, and the wave generator is concentrically and radially fixed with the strong flexible gear and the weak flexible gear by inputting the driving shaft.

The wall thickness of the strong flexible gear is generally selected in a range of 1.5 times greater and 3 times less than the wall thickness of the weak flexible gear. The wall thickness of the strong flexible gear or the wall thickness of the weak flexible gear refers to the wall thickness of a tubular part of the flexible gear, wherein the tubular part is mainly flexible and non-circular, and the limitation is that on the premise that the strong flexible gear and the weak flexible gear are usually made of materials with similar or same elastic modulus, if the strong flexible gear and the weak flexible gear are made of materials with larger elastic modulus difference, the wall thickness limitation range is converted according to the elastic modulus difference of the materials. The above definition also considers whether the flexible walls of the strong flexible gear and the weak flexible gear have different lengths, and the longer the flexible arm of the strong flexible gear is relative to the flexible arm of the weak flexible gear, the thicker the wall thickness of the strong flexible gear should be.

The strong flexible gear is an elastic part with an inward flanging or an outward flanging tubular shape. The flanging is provided with an inner ring or an outer ring of a main bearing of the speed reducer, or the flanging is provided with a screw hole which is fixed with the inner ring or the outer ring of the main bearing of the speed reducer through a bolt, and the inward-flanging shape is also generally called a cup shape. The weak flexible gear is a thin-wall tubular elastic part with an inward flanging or an outward flanging. The flanging is provided with an inner ring or an outer ring of a main bearing of the speed reducer, or the flanging is provided with a screw hole which is fixed with the inner ring or the outer ring of the main bearing of the speed reducer through a bolt, and the inward-flanging shape is also generally called a cup shape. In general, the conventional harmonic speed reducer is provided with a flexible gear outside an inner steel gear, wherein the flexible gear is provided with external teeth, and the steel gear is provided with internal teeth; however, theoretically, the flexible gear is arranged inside the outer steel gear, internal teeth are machined on the flexible gear, external teeth are machined on the steel gear, and the flexible gear is matched with an inner ring of a non-circular bearing of the wave generator to extrude the flexible gear inwards to be meshed with the steel gear, so that the flexible gear is a structural form of a harmonic speed reducer which is more beneficial to structural hollowing; in the same way, the double-flexible gear harmonic speed reducer of the PEEK injection molding gear of the invention usually adopts a structural form that a strong flexible gear is arranged inside an outer weak gear, at the moment, outer teeth are processed on the weak flexible gear, and inner teeth are processed on the strong flexible gear, but in the same way, theoretically, a strong flexible gear is arranged outside an inner weak gear, and an outer tooth weak flexible gear is processed with inner teeth, the weak flexible gear can be formed in an outer flanging tubular shape, the strong flexible gear is formed in an inner flanging tubular shape, meanwhile, a wave generator adopts a hollow form, the weak flexible gear is extruded by an inner ring of a non-circular bearing of the wave generator to generate non-circular deformation, and the weak flexible gear further extrudes the strong flexible gear to generate slight non-circular deformation, and the self-rotation force of the wave generator at the moment can be from the same hollow outer rotor motor or a gear or a synchronous belt transmission from an outer ring.

The two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include outer flexbile gear protective housing, the flexbile gear protective housing is fixed with the inner circle or the outer lane of speed reducer base bearing. The strong flexible gear and the weak flexible gear are flexible and can be collectively called as flexible gears, and the flexible gears outside the speed reducer are not steel gears but flexible gears, so that the protection of the flexible gears outside the speed reducer is vital, the flexible gears are not damaged in the transportation and installation process, and enough space is reserved for the deformation of the flexible gears when the speed reducer is installed, so that the flexible gear protection shell can provide effective protection; meanwhile, the flexible gear protection shell and a coaxial fixed connecting piece which can be used as a main bearing of the speed reducer and a positioning bearing of the wave generator are coaxially fixed, and the positioning bearing of the wave generator is coaxially fixed with the main bearing of the speed reducer through the flexible gear protection shell.

The PEEK injection molding tooth double-flexible-gear harmonic reducer is characterized in that a weak flexible gear and a strong flexible gear of the double-flexible-gear harmonic reducer are respectively and directly injection molded into parts comprising an inner ring and an outer ring of a part of a main bearing. Because of the convenience of injection molding, from the perspective of simplifying the structure and reducing the cost, part of the inner ring or the outer ring of the main bearing is directly and integrally injected on the parts of the weak flexible gear and the strong flexible gear, and the part processing process can include a small amount of post machining after injection molding.

The flexible gear of the double-flexible-gear harmonic speed reducer of the PEEK injection molding teeth is directly machined and formed with a ball rolling groove of a wave generator. When the plastic material is used for injection molding the weak flexible gear, the wave generator can also be used for injection molding, the rolling bodies of the bearing are filled between the bearing inner ring and the bearing outer ring which are respectively processed in advance on the wave generator and the weak flexible gear during assembly, and particularly, the full ball bearing is formed when full balls are used for filling, so that the structure is simplified, and the cost is reduced.

The obvious technical effect of the harmonic reducer using the PEEK injection molding teeth is that the processing difficulty and the processing cost of toothed parts of the harmonic reducer are reduced, and meanwhile, the torque bearing capacity of the harmonic reducer in unit weight can be improved.

The double-flexible-gear harmonic speed reducer of the PEEK injection molding teeth has the obvious advantages that the inclusion of machining tolerance is stronger, and a part with lower horizontal tolerance requirements can be used for realizing a high-precision small-return-difference or even zero-return-difference precision harmonic speed reducer; meanwhile, the tolerance of the parts is equal to the tolerance of the wear of the parts, and the precision degree of the speed reducer is not influenced by the wear of the parts within a certain range, so that the service life of the speed reducer can be effectively prolonged; since the requirement for the processing tolerance of the parts is reduced, the selection range of materials and processing techniques is greatly expanded, which means that cheaper materials and processing techniques can be used to realize the precise harmonic speed reducer, so that the cost of the harmonic speed reducer with the same precision is reduced, for example, the requirement for the heat treatment technique of the flexible gear teeth of the conventional harmonic speed reducer can be reduced or omitted due to stronger wear containment, because the fatigue life of the materials for resisting the elastic deformation of the flexible gear teeth can be reduced due to the heat treatment of the flexible gear teeth; the double-flexible gear speed reducer is also beneficial to selecting teeth with smaller tooth heights, the smaller tooth heights are beneficial to reducing the fatigue of the elastic deformation quantity of the weak flexible gears, and meanwhile, the smaller tooth heights are also beneficial to the miniaturization of the speed reducer.

Although the strength of the strong flexible gear and the weak flexible gear is different, the strong flexible gear and the weak flexible gear belong to flexible gears, and are familiar to general technical personnel in the field of harmonic speed reducers and general technical personnel in the field of transmission technology like wave generators, bearings and the like, and detailed technical indexes of the strong flexible gear and the weak flexible gear are not explained in too much detail; the parts injection molding process for PEEK material and the machining process for PEEK injection molding blank are familiar to those skilled in PEEK material application field, and are not described herein, and the structure of the PEEK injection molding tooth part harmonic reducer of the existing harmonic reducer structure is not described herein, and for the common structure of the PEEK injection molding tooth double-flexspline harmonic reducer, the following description of the patent will also provide an embodiment for a typical structure.

Drawings

FIG. 1 Main view of a double-flex-gear harmonic reducer of PEEK injection molded teeth of embodiment 1.

FIG. 2 is a sectional view of a double-flexspline harmonic reducer of PEEK injection-molded teeth of embodiment 1.

Fig. 3 is a perspective view of a double-flexspline harmonic reducer of PEEK injection molding teeth of embodiment 1.

Fig. 4 is an exploded view of the components of a double-flexspline harmonic reducer of PEEK injection molded teeth of embodiment 1.

The notations in the figures have the following meanings: 1. a wave generator; 2. a weak flexible gear; 3. a strong flexible gear; 4. a main bearing of the speed reducer; 5. a wave generator positioning bearing; 6. flexspline protective housing.

Detailed Description

The following description of the embodiments refers to the accompanying drawings.

Example 1: as shown in fig. 1 to 4, a PEEK injection molded tooth double-flexspline harmonic reducer comprises a strong flexspline, a weak flexspline, a wave generator, a reducer main bearing, a wave generator positioning bearing and a flexspline protective housing, wherein the reducer main bearing is of a crossed roller bearing structure, the strong flexspline, the weak flexspline, an inner ring and an outer ring of the reducer main bearing, the flexspline protective housing and an elliptical cam of the wave generator are all made of PEEK450G material by injection molding and are reprocessed and formed by a lathe at a part which is difficult to demould (with back-off), wherein the weak flexspline and the reducer main bearing inner ring are processed on one part, the strong flexspline and a part of the reducer main bearing outer ring are processed on one part, simultaneously, the weak flexspline and the strong flexspline are filled with rollers, then the other part of the reducer main bearing outer ring and a part of the reducer main bearing on the strong flexspline are connected and fixed by bolts, and the, the weak flexible gear is an external strong flexible gear which is internal gear, involute tooth form is selected, the weak flexible gear is of inward flanging structure, the strong flexible gear is of outward flanging structure, the wall thickness is 2 times of that of the weak flexible gear, the tooth number of the strong flexible gear is 2 more than that of the weak flexible gear, the wave generator uses a common elliptical cam to externally arrange a ball groove, the inner side of a gear ring is processed with the ball groove when the weak flexible gear is processed, balls are filled between the ball groove of the wave generator and the ball groove at the inner side of the gear ring of the weak flexible gear, the upper part and the lower part of the wave generator are screwed and fixed by bolts, the wave generator is provided with a key groove shaft hole connected with input torque, the wave generator is arranged in the weak flexible gear to enable the weak flexible gear to generate non-circular elastic deformation and to be meshed with the strong flexible gear part, after the weak flexible gear generates elliptical elastic deformation under the action of the wave generator, the reference circle radius of, the wave generator positioning bearing adopts a deep groove ball bearing, the outer ring of the wave generator positioning bearing is embedded into a groove in the center of the bottom of the flexible gear protective shell, the inner ring of the wave generator positioning bearing is sleeved and fixed on a convex shaft of the wave generator, and the contact part of the strong flexible gear and the weak flexible gear is subjected to the radial pressure of the weak flexible gear to generate non-circular elastic deformation; the weak flexible gear always keeps partial teeth which are continuously engaged with the teeth of the strong flexible gear along with the rotation direction of the wave generator, so that the strong flexible gear and the weak flexible gear are driven to rotate relatively by the rotation of the wave generator, and the speed reducer effect of reducing speed and increasing torque is realized. The deformation of the strong flexible gear in the figure is small, and the elliptical deformation of the strong flexible gear is not easy to be observed visually, so please read and understand the fact that the strong flexible gear has deformation according to the description; in the figure, wave generator, bearing and other parts are multi-entity parts, and any position entity contained in the direction marking part is marked in the figure; the exploded view hides part of the attachment bolts and shims. In the embodiment, the inner ring of the main bearing and the weak flexible gear are integrally processed into the same part, and one part of the outer ring of the main bearing and the strong flexible gear are integrally processed into one part, so that the marks of the main bearing in the view of the embodiment refer to the rest part of the outer ring of the bearing and the bearing rollers, the non-circular bearing of the wave generator in the same way selects a structure without an independent outer ring part, and the rolling grooves of the balls of the outer ring are directly processed on the flexible gear part, so that the wave generator in the explosion diagram is in a state without the outer ring bearing.

Claims (9)

1, two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics, characterized by: including strong flexbile gear, weak flexbile gear and wave generator, strong flexbile gear and the coaxial axial fixity of weak flexbile gear and radial fixed are equipped with the tooth that can intermeshing on strong flexbile gear and the weak flexbile gear respectively, and there is the difference in tooth number strong flexbile gear and weak flexbile gear, and wave generator makes weak flexbile gear take place non-circular elastic deformation and with strong flexbile gear partial meshing, and strong flexbile gear and weak flexbile gear contact segment receive the radial pressure of weak flexbile gear and produce non-circular elastic deformation, strong flexbile gear or weak flexbile gear are made for the PEEK material and the tooth has axial draft angle.

2. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the strong flexible gear comprises a section of thin-wall structure which can be elastically deformed and is arranged between the gear ring structure and the connecting flange structure.

3. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the reference circle radius of the tooth farthest from the axis of the speed reducer after the weak flexible gear is subjected to non-circular deformation under the action of the wave generator is larger than that of the circular gear ring before the strong flexible gear is not assembled.

4. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include the speed reducer base bearing, strong flexbile gear and weak flexbile gear pass through the speed reducer base bearing and realize coaxial axial fixity and radial fixed.

5. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include wave generator location bearing, wave generator passes through wave generator location bearing and strong flexbile gear or weak flexbile gear axial fixity and radial fixation.

6. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the selection range of the wall thickness of the strong flexible gear is 1.5 times larger than that of the weak flexible gear and 3 times smaller than that of the weak flexible gear.

7. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the two flexbile gear harmonic speed reducers of PEEK tooth of moulding plastics still include outer flexbile gear protective housing, the flexbile gear protective housing is fixed with the inner circle or the outer lane of speed reducer base bearing.

8. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the PEEK injection molding tooth double-flexible-gear harmonic reducer is characterized in that a weak flexible gear and a strong flexible gear of the double-flexible-gear harmonic reducer are respectively and directly injection molded into parts comprising an inner ring and an outer ring of a part of a main bearing.

9. The PEEK injection-molded tooth double-flexspline harmonic reducer of claim 1, which is characterized in that: the flexible gear of the double-flexible-gear harmonic speed reducer of the PEEK injection molding teeth is directly machined and formed with a ball rolling groove of a wave generator.

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