Novel harmonic speed reducer of wave generator

A technology of harmonic reducer and wave generator, which is applied in the direction of mechanical equipment, transmission parts, gear transmission, etc., can solve the problem of the small number of meshing teeth, the lack of detailed expression of the cam shape curve of the wave generator, and the bottom of the tooth of the flexible wheel. Large force and other problems, to achieve reasonable structure, reduce force, improve the effect of force distribution

Active Publication Date: 2013-12-18
上海鑫君传动科技有限公司
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Problems solved by technology

[0005] To sum up, although there have been some researches and inventions on the cam shape of the wave generator of the harmonic reducer at home and abroad, there are two shortcomings: First, the given curve expression of the cam shape of the wave genera

Method used

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  • Novel harmonic speed reducer of wave generator
  • Novel harmonic speed reducer of wave generator
  • Novel harmonic speed reducer of wave generator

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Embodiment Construction

[0039] A harmonic reducer of a new type of wave generator, comprising an annular rigid wheel 1, the inner surface of the annular rigid wheel is provided with rigid internal teeth 7, and a wave generator 3 is arranged inside the annular rigid wheel; the wave generator The generator is composed of a rigid cam 4 with an elliptical profile and a flexible bearing 5 embedded in the outer ring of the rigid cam; a flexible wheel 2 is set on the outer bearing ring of the wave generator, and the outer surface of the flexible wheel is set to match the inner ring of the circular rigid wheel. The outer teeth 5 with matching teeth; the flexible wheel and the ring-shaped rigid gear are coaxially arranged; the wave generator is driven by a motor as the rotational driving source; the expression of the cam shape curve of the wave generator is:

[0040] R ( θ ) = ( a + ...

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Abstract

The invention discloses a novel harmonic speed reducer of a wave generator. The inner surface of a circular rigid wheel is provided with rigid internal teeth; a wave generator is arranged in the circular rigid wheel; the wave generator consists of an oval rigid cam and a flexible bearing embedded into the outer ring of the rigid cam; a flexible wheel is sleeved on the outer circle of the bearing of the wave generator; the outer surface of the flexible wheel is provided with outer teeth which are matched with the inner teeth of the circular rigid wheel; the flexible wheel and a circular rigid gear are configured coaxially; the wave generator is driven by a motor, and is taken as a rotary driving source; and the shape curve of the wave generator cam has a specific expression. According to the novel harmonic speed reducer, the specific expression of the shape curve of the wave generator cam is provided, and the flexible wheel and the rigid wheel are better meshed via the wave generator, so that the stress distribution on a meshed tooth surface between the flexible bearing and the gear is improved, and the bottom stress of the flexible gear is reduced.

Description

technical field [0001] The invention relates to a harmonic reducer. Background technique [0002] The harmonic reducer has the characteristics of high precision, small size and high load torque, and is widely used in the field of industrial robots. [0003] The wave generator is composed of two parts: a rigid body wave generator cam and a wave generator bearing embedded in its outer ring. The shape of the wave generator cam has a great influence on the performance of the harmonic reducer, especially has a direct impact on the rated torque, efficiency and service life. [0004] Regarding the shape design of the wave generator cam of the harmonic reducer, most of the harmonic reducers in the world use elliptic curve wave generator cams. The advantage is that the design is simple and the manufacture is not complicated. The disadvantage is that the reducer has The tooth bottom of the flexible wheel bears a large force, which affects the life of the flexible wheel of the harmon...

Claims

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Application Information

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IPC IPC(8): F16H1/32F16H57/00
Inventor 张瑞华
Owner 上海鑫君传动科技有限公司
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