CN202955184U - Complex wave type harmonic drive speed reducer - Google Patents
Complex wave type harmonic drive speed reducer Download PDFInfo
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- CN202955184U CN202955184U CN 201220535592 CN201220535592U CN202955184U CN 202955184 U CN202955184 U CN 202955184U CN 201220535592 CN201220535592 CN 201220535592 CN 201220535592 U CN201220535592 U CN 201220535592U CN 202955184 U CN202955184 U CN 202955184U
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- gear
- wave
- flexible bearing
- flexible
- speed reducer
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
- 230000000979 retarding effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 241001484259 Lacuna Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model provides a complex wave type harmonic drive speed reducer which comprises a wave generator, a flexible gear, a fixed rigid gear and an output rigid gear, wherein the wave generator is connected with an output shaft in fastening mode and is provided with a cam, a first flexible bearing and a second flexible bearing. The flexible gear is provided with a first outer gear and a second outer gear which are respectively located at two ends of the flexible gear, and the cam leads the first outer gear of the flexible gear to be meshed with the fixed rigid gear through the first flexible bearing and leads the second outer gear of the flexible gear to be meshed with the output rigid gear through the second flexible bearing. The complex wave type harmonic drive speed reducer achieves two-level harmonic drive speed reduction in complex wave mode and is compact in structure, small in volume, large in drive ratio, high in drive accuracy and wide in application.
Description
Technical field
The utility model belongs to mechanical transmission fields, is specifically related to a kind of harmonic wave drive speed reducer.
Background technique
In the prior art, harmonic wave drive speed reducer carries out in the subsystem of attitude adjustment, automatic control etc. in the sporting flying process of flight carrier, play an important role, due to characteristics such as its volume are little, lightweight, output torque is large, the market demand increases year by year, and be widely used in the multiple fields of all trades and professions, especially some special dimension, require very large to its reduction speed ratio.
Now widely used single-stage straight line type harmonic speed reducer, due to the impact that is subject to moment, selected harmonic wave type (type is usually with the internal diameter size discrimination of flexbile gear), module and machining tool etc., flexbile gear and the modulus of just having taken turns can not be too little, and the reduction speed ratio of harmonic driving part can not be too large.Therefore, for requiring the straight line type harmonic reduction and needing the user of big retarding ratio, there is familiar lacunas in this.
The model utility content
The purpose of this utility model is to provide a kind of harmonic wave drive speed reducer of big retarding ratio, is specially:
A kind of complex wave formula harmonic wave drive speed reducer, comprise wave-generator, flexbile gear and fixing just wheel, also comprises just wheel of output; Described wave-generator has cam, the first flexible bearing, the second flexible bearing; Described flexbile gear has the first external gear and the second external gear, and described the first external gear and described the second external gear lay respectively at the two ends of described flexbile gear; Described cam makes described the first external gear and the engagement of described fixing just wheel of described flexbile gear by described the first flexible bearing; Described cam makes described the second external gear and the described output of described flexbile gear just take turns engagement by described the second flexible bearing.
Further, described the first external gear and described the second external gear have the different numbers of teeth and modulus.
Further, described wave-generator also has the 3rd flexible bearing, and described the 3rd flexible bearing, between described the first flexible bearing and described the second flexible bearing, is separated with isolating ring between each flexible bearing.
Complex wave formula harmonic wave drive speed reducer of the present utility model, adopt harmonic gear drive mechanism, compact structure, two-stage is share a wave-generator and a duplex flexbile gear structure, wave-generator adopts three flexible bearings, with two isolating rings, separate, flexbile gear two external toothings have the different numbers of teeth and modulus, and two external toothings have different deformation wave, the first order just wheel is fixing, output has just been taken turns in the second level, double reduction (being complex wave), and resultant gear ratio is larger, efficiency is high, overall sizes is little, and the flexbile gear gear teeth, without crooked phenomenon, have realized that big retarding is than the purpose of slowing down.
The accompanying drawing explanation
The general structure schematic diagram that Fig. 1 is complex wave formula harmonic wave drive speed reducer of the present utility model.
The structural representation that Fig. 2 is wave-generator of the present utility model.
The structural representation that Fig. 3 is duplex flexbile gear of the present utility model.
Embodiment
Further illustrate embodiment of the present utility model below in conjunction with accompanying drawing.
As shown in Figure 1, complex wave formula harmonic wave drive speed reducer of the present utility model comprises, input shaft 1, fixing just wheel (being housing) 2, wave-generator 3, duplex flexbile gear 4, the firm wheel 5 of output, end cap 6.Wherein, wave-generator 3 adopts key and straight pin to be fastenedly connected with input shaft 1, and output steel wheel 5 has a style of one's own with output, and the form by axle is the moment transmission, and realizes slowing down.Motor drives input shaft 1 to carry out High Rotation Speed, input shaft 1 drives wave-generator 3 rotations, and flexbile gear 4 is produced to controllable deforming, the internal gear engagement of the external gear of flexbile gear 4 one ends and fixing just wheel 2, the motion of generation side set, realize first order harmonic reduction, simultaneously, because two deformation wave share a wave-generator 3, now the external gear of flexbile gear 4 the other ends also carries out the rotation of controllable deforming, it has just been taken turns 5 with output and has produced equally the side set motion, and, by exporting firm wheel 5 outputs, realizes second level harmonic reduction.
As shown in Figure 3, two external gears of duplex flexbile gear 4, have the different numbers of teeth and modulus, and different deformation wave is arranged in realizing the process of speed change, it is fixing that the first order is just taken turns (i.e. fixing just wheel 2), (i.e. output is wheel 5 just) output is just taken turns in the second level, thereby has realized the double reduction (being complex wave) of harmonic wave, and resultant gear ratio is larger, efficiency is higher, overall sizes is little, and the flexbile gear gear teeth are without crooked phenomenon, thereby has realized the purpose of big retarding ratio.
Complex wave formula harmonic wave drive speed reducer structure of the present utility model is more special, by sharing a structure that lengthens cam, a duplex flexbile gear, and the prime mesh form that just wheel is fixing, rear class has just been taken turns output, in the situation that Volume Changes is little, form with complex wave realizes the deceleration of two-stage harmonic driving, there is compact structure, volume is little, velocity ratio is large (can reach the 400-600 reduction speed ratio), the transmission accuracy high, applies wider.
Claims (3)
1. a complex wave formula harmonic wave drive speed reducer, comprise wave-generator, flexbile gear and fixing just wheel, and described wave-generator and output shaft are fastenedly connected;
It is characterized in that,
Also comprise just wheel of output;
Described wave-generator has cam, the first flexible bearing, the second flexible bearing;
Described flexbile gear has the first external gear and the second external gear, and described the first external gear and described the second external gear lay respectively at the two ends of described flexbile gear;
Described cam makes described the first external gear and the engagement of described fixing just wheel of described flexbile gear by described the first flexible bearing;
Described cam makes described the second external gear and the described output of described flexbile gear just take turns engagement by described the second flexible bearing.
2. complex wave formula harmonic wave drive speed reducer as claimed in claim 1, is characterized in that, described the first external gear and described the second external gear have the different numbers of teeth and modulus.
3. complex wave formula harmonic wave drive speed reducer as claimed in claim 1 or 2, it is characterized in that, described wave-generator also has the 3rd flexible bearing, and described the 3rd flexible bearing, between described the first flexible bearing and described the second flexible bearing, is separated with isolating ring between each flexible bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220535592 CN202955184U (en) | 2012-10-19 | 2012-10-19 | Complex wave type harmonic drive speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220535592 CN202955184U (en) | 2012-10-19 | 2012-10-19 | Complex wave type harmonic drive speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202955184U true CN202955184U (en) | 2013-05-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220535592 Expired - Lifetime CN202955184U (en) | 2012-10-19 | 2012-10-19 | Complex wave type harmonic drive speed reducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN202955184U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927209A (en) * | 2012-10-19 | 2013-02-13 | 陕西渭河工模具总厂 | Complex-wave type harmonic drive speed reducer |
| CN103727209A (en) * | 2013-12-20 | 2014-04-16 | 陕西渭河工模具总厂 | Inlaid type harmonic drive reducer |
| CN105351450A (en) * | 2014-06-09 | 2016-02-24 | 哈米尔顿森德斯特兰德公司 | Three point harmonic drive |
| CN106151425A (en) * | 2016-08-25 | 2016-11-23 | 顾建祖 | A kind of flexible needle bearing harmonic motor gear-box |
| CN108050226A (en) * | 2018-01-12 | 2018-05-18 | 西安施迈传动科技有限公司 | A kind of speed change gear of single-power input twin shaft friction speed synchronization right angle output |
| CN108591417A (en) * | 2018-07-09 | 2018-09-28 | 东莞市国森科精密工业有限公司 | A kind of assembly device of harmonic speed reducer |
| CN108799445A (en) * | 2017-05-05 | 2018-11-13 | 杨俊义 | A kind of speed change gear of single-power input twin shaft friction speed synchronism output |
-
2012
- 2012-10-19 CN CN 201220535592 patent/CN202955184U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927209A (en) * | 2012-10-19 | 2013-02-13 | 陕西渭河工模具总厂 | Complex-wave type harmonic drive speed reducer |
| CN103727209A (en) * | 2013-12-20 | 2014-04-16 | 陕西渭河工模具总厂 | Inlaid type harmonic drive reducer |
| CN105351450A (en) * | 2014-06-09 | 2016-02-24 | 哈米尔顿森德斯特兰德公司 | Three point harmonic drive |
| CN105351450B (en) * | 2014-06-09 | 2019-05-03 | 哈米尔顿森德斯特兰德公司 | Bikini harmonic drive |
| CN106151425A (en) * | 2016-08-25 | 2016-11-23 | 顾建祖 | A kind of flexible needle bearing harmonic motor gear-box |
| CN108799445A (en) * | 2017-05-05 | 2018-11-13 | 杨俊义 | A kind of speed change gear of single-power input twin shaft friction speed synchronism output |
| CN108050226A (en) * | 2018-01-12 | 2018-05-18 | 西安施迈传动科技有限公司 | A kind of speed change gear of single-power input twin shaft friction speed synchronization right angle output |
| CN108591417A (en) * | 2018-07-09 | 2018-09-28 | 东莞市国森科精密工业有限公司 | A kind of assembly device of harmonic speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130529 |