CN102817969A - Ultra-short harmonic speed reducer - Google Patents

Abstract

The invention discloses an ultra-short harmonic speed reducer, which comprises a wave generator, a flexible wheel and an outer wheel, wherein the flexible wheel comprises a flexible wheel body and a flexible wheel round ring, the flexible wheel body is approximately in a round disc shape, the outer part of the flexible wheel body is provided with a u-shaped part in the circumferential direction, the flexible wheel round ring is concentrically arranged on the outer circumference of the flexible wheel body, first teeth are arranged on the outer circumference of the flexible wheel round ring, the outer wheel is in annular arrangement, second teeth are arranged on the inner circumference of the outer wheel, the wave generator is arranged on the inner circumference of the flexible wheel round ring, the outer circumference of the flexible wheel round ring is arranged on the inner circumference of the outer wheel, the first teeth and the second teeth are mutually engaged, and the outer wheel deforms along the flexible wheel round ring. In the scheme of the ultra-short harmonic speed reducer disclosed by the invention, the flexible wheel body is approximately in the round disc shape, and the outer part of the flexible wheel body is provided with the u-shaped part in the circumferential direction, so the flexible wheel is easier in deformation, the intensity is good, the carrying capability is higher, and the transmission efficiency is higher.

Description

An ultra-short harmonic reducer

technical field

The invention relates to an improvement of a harmonic reducer, in particular to an ultra-short harmonic reducer with easier deformation of a flexspline, better strength, stronger bearing capacity, and higher transmission efficiency; it belongs to the technical field of reducers. the

Background technique

The reducer is a power transmission mechanism that uses the speed conversion of the gear set to reduce the number of revolutions of the motor to the desired number of revolutions and obtain a larger torque mechanism. There are many types of reducers with different models, and different types have different uses. Among them, the harmonic reducer is a new type of reducer developed by using the principle of planetary gear transmission. The unique advantages of small size, light weight, stable transmission and high transmission precision make harmonic reducers widely used in electronics, aerospace, robotics and other industries.

The existing harmonic reducer, as shown in Figure 1, includes a wave generator 1, a flexspline 2, and an outer wheel 3; the flexspline 2 includes a flexspline body 4, a flexspline ring 5; the flexspline The body 4 is roughly disc-shaped; the flexspline ring 5 is concentrically arranged on the outer circumference of the flexspline body 4; the outer circumference of the flexspline ring 5 is provided with first teeth 6; the outer wheel 3 It is also called a rigid wheel, which is arranged in a ring shape; the inner circumference of the outer wheel 3 is provided with only the second tooth 7; the wave generator 1 is arranged on the inner circumference of the flexspline ring 5; the flexspline ring The outer circumference of 5 is arranged on the inner circumference of the outer wheel 3, and the first tooth 6 and the second tooth 7 mesh with each other; the wave generator 1 is oval; the flexspline body 4 on the flexspline, the flexspline The rings 5 are relatively thin, and elastically deformed under the action of the wave generator 1, the first tooth 6 of the flexible spline 2 enters (engages) or exits (meshes away) the second tooth 7 of the rigid spline during the deformation process At the long axis of the wave generator 1, the first tooth 6 and the second tooth 7 are fully meshed, while the first tooth 6 and the second tooth 7 in the direction of the short axis are completely disengaged. This kind of harmonic reducer, since the flexspline body 4 is a flat plate structure, is easy to deform along with the flexspline ring 5 during the working process, so that the load capacity of the harmonic reducer is small and the transmission efficiency is low.

Contents of the invention

The purpose of the present invention is to provide an ultra-short harmonic reducer with easier deformation of the flexspline, better strength, stronger load-bearing capacity and higher transmission efficiency in order to overcome the deficiencies of the prior art. the

In order to achieve the above object, the technical solution adopted by the present invention is: an ultra-short harmonic reducer, including a wave generator, a flexspline, and an outer wheel; the flexspline, including a flexspline body, and a flexspline ring; The flexspline body is roughly disc-shaped, and the outside of the flexspline body is provided with a u-shaped portion along the circumferential direction; the flexspline ring is concentrically arranged on the outer circumference of the flexspline body; The outer circumference is provided with a first tooth; the outer ring, the outer ring is arranged in an annular shape; the inner circumference of the outer ring is provided with a second tooth; the wave generator is arranged on the inner circumference of the flexspline ring Above; the outer circumference of the flexspline ring is set on the inner circumference of the outer wheel, and the first teeth and the second teeth mesh with each other; the outer wheel deforms together with the flexspline ring.

Preferably, the ends of the opening of the u-shaped portion are respectively connected to the flexspline body, so that an annular groove is formed on the surface of the flexspline body.

Preferably, the bottom of the u-shaped portion points towards the wave generator.

Preferably, the bottom of the u-shaped portion faces away from the wave generator.

Due to the application of the above-mentioned technical solution, the present invention has the following advantages compared with the prior art:

In the ultra-short harmonic reducer of the present invention, the flexspline body is roughly disc-shaped, and the outside of the flexspline body is provided with a U-shaped portion along the circumferential direction; on the basis of maintaining the flexibility of the flexspline ring, The rigidity of the flexible spline is increased, so that the deformation of the flexible spline is easier, the strength is better, the bearing capacity is stronger, and the transmission efficiency is higher; the scheme of the present invention can not only increase the output load but also increase the rigidity, and the service life is also long.

Description of drawings

Below in conjunction with accompanying drawing, technical solution of the present invention will be further described:

Accompanying drawing 1 is the sectional view of the harmonic speed reducer of prior art;

Accompanying drawing 2 is the partial sectional view of ultra-short type harmonic speed reducer of the present invention;

Among them: 1. Wave generator; 2. Flexspline; 3. Outer wheel; 4. Flexspline body; 5. Flexspline ring; 6. First tooth; 7. Second tooth; 11. Wave generator; 12. Flexspline; 13, outer wheel; 14, flexspline body; 15, flexspline ring; 16, first tooth; 17, second tooth; 18, u-shaped part. the

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. the

A kind of ultra-short harmonic reducer of the present invention as shown in accompanying drawing 2, comprises wave generator 11, flexspline 12, outer wheel 13; Described flexspline 12, comprises flexspline body 14, flexspline circle Ring 15; the flexspline body 14 is roughly disc-shaped, and the outside of the flexspline body 14 is provided with a u-shaped portion 18 along the circumferential direction; the ends of the opening of the u-shaped portion 18 are respectively connected to the flexspline body 14 so that an annular groove is formed on the surface of the flexspline body 14; the flexspline ring 15 is concentrically arranged on the outer circumference of the flexspline body 14; the outer circumference of the flexspline ring 15 is provided with a second A tooth 16; the outer wheel 13, the outer wheel 13 is arranged in an annular shape; the inner circumference of the outer wheel 13 is provided with a second tooth 17; on the circumference; the outer circumference of the flexspline ring 15 is set on the inner circumference of the outer wheel 13, and the first teeth 16 and the second teeth 17 are meshed with each other; the outer wheel 13 deforms together with the flexspline ring 15; The bottom of the u-shaped portion 18 points towards the wave generator 11 .

Of course, the bottom of the u-shaped portion 18 can also face away from the wave generator 11 .

In the ultra-short harmonic reducer of the present invention, the flexspline body is roughly disc-shaped, and the outside of the flexspline body is provided with a U-shaped portion along the circumferential direction; on the basis of maintaining the flexibility of the flexspline ring, The rigidity of the flexible spline is increased, so that the deformation of the flexible spline is easier, the strength is better, the bearing capacity is stronger, and the transmission efficiency is higher; the scheme of the present invention can not only increase the output load but also increase the rigidity, and the service life is also long.

The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention. Substantial equivalent changes or modifications shall fall within the protection scope of the present invention.

Claims (4)

1. a super-short harmonic speed reducer comprises wave-generator, flexbile gear, foreign steamer; Said flexbile gear comprises flexbile gear body, flexbile gear annulus; It is characterized in that: said flexbile gear body is roughly in the form of annular discs, and the outside of said flexbile gear body along the circumferential direction is provided with u shape portion; Said flexbile gear annulus is arranged on the excircle of flexbile gear body with one heart; The excircle of said flexbile gear annulus is provided with first tooth; Said foreign steamer, said foreign steamer is into circular setting; The inner circumference of said foreign steamer is provided with second tooth; Said wave-generator is located on the inner circumference of flexbile gear annulus; The excircle of said flexbile gear annulus is located on the inner circumference of foreign steamer, and said first tooth and second tooth are meshing with each other; Said foreign steamer is out of shape with the flexbile gear annulus.

2. super-short harmonic speed reducer according to claim 1 is characterized in that: the end of the opening portion of said u shape portion is connected with the flexbile gear body respectively, so that forms a circular groove on the surface of flexbile gear body.

3. super-short harmonic speed reducer according to claim 1 and 2 is characterized in that: the bottom beacon generator of said u shape portion.

4. super-short harmonic speed reducer according to claim 1 and 2 is characterized in that: the bottom of said u shape portion is wave-generator dorsad.

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