A harmonic reducer and its input drive structure

A technology of harmonic reducer and transmission structure, applied in the direction of transmission, gear transmission, belt/chain/gear, etc., can solve the problem of the working life of the easily damaged harmonic reducer, the unstable operation of the reducer, and the large bearing assembly stress. and other problems to achieve the effect of eliminating stress in the working process, compact structure and improving stability

Active Publication Date: 2019-06-18
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the bearing is placed on the cam, the cam stretches the bearing into an oval shape, which makes the assembly stress of the bearing very large, and the bearing, especially the inner ring of the bearing, is easily damaged during the rotation process, which shortens the working life of the harmonic reducer. Greatly reduced
In addition, since the flexspline needs to achieve power output, a certain output connection stiffness is required, and the deformation of the flexspline requires a certain degree of flexibility. Therefore, the existing flexspline is usually made of alloy metal, but its hardness is relatively high. Therefore, in order to alleviate the stress of the teeth between the flexible spline and the rigid spline, the fit between the teeth is often set as a fit with a gap to reduce the stress during rotation, but this will easily cause the reducer to run unevenly

Method used

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  • A harmonic reducer and its input drive structure
  • A harmonic reducer and its input drive structure
  • A harmonic reducer and its input drive structure

Examples

Experimental program
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Effect test

Embodiment 1

[0043] Such as figure 1 and figure 2 As shown, an input transmission structure of a harmonic reducer includes a cam 4 connected to the input shaft, and a flexible spline 9 is provided outside the cam 4; a rigid spline 1 is meshed with the flexible spline 9; There are internal teeth on the wheel 1, and the flex spline 9 and the rigid spline 1 are meshed through the external teeth and the internal teeth; a cage 3 is provided between the flex spline 9 and the cam 4, and a cylindrical roller 2 is installed in the cage 3; the flex spline The inside of 9 and the outside of cam 4 are both protrudingly formed with annular convex circle 19, on which a C-shaped groove 20 matching with cylindrical roller 2 is formed; annular convex circle 19 is on the outer tooth side of flexspline 9.

[0044] The present invention cancels the setting of the bearing by changing the structure of the cam 4 and the flexible spline 9, thereby completely eliminating the assembly stress generated during the ...

Embodiment 2

[0046]The fatigue failure of the harmonic reducer mostly occurs in the flex spline and the bearing, so the meshing degree and mode of the flex spline and the rigid spline have a great influence on the stability and life of the harmonic reducer. In the present invention, the flexible spline is made of PA12 plastic. Because its elasticity is better than the elastic metal used for the original flexible spline, the external teeth on the flexible spline that are opposite to the long axis of the cam can completely mesh with the internal teeth of the rigid spline. Backlash, if attached Figure 5 shown. Among them, the tooth profile curve is composed of R1, R2, R3 three-segment curves and R1', R2', R3' three-segment curves that are symmetrical to it, and the starting or adjacent curves of the curve intersect at P 1 ,P 2 ,P 3 ,P 4 (P' 4 ),P' 3 ,P' 2 ,P' 1 . In Cartesian coordinates, the curve equations of R1, R2, and R3 are shown below. This design method can improve the stab...

Embodiment 3

[0060] The PA 12 used in the flexible wheel of the harmonic reducer of the present invention is an engineering plastic with low specific gravity, high tensile strength, wear resistance, good self-lubrication, excellent impact toughness, and both rigidity and flexibility, rather than metal Material. Its elastic modulus is 1.646GPa, and its shrinkage rate can reach 1% to 2%. Such as figure 1 As shown, the harmonic reducer of the present invention is input into a traditional structure, and the cam 4 of the transmission structure is in the shape of an ellipse, and the contour curve satisfies the equation: r=0.5r B +ωcos(2θ), there is a C-shaped groove on the outer surface of the cam. The flexible spline 9 has an annular convex circle 19 with the same width as the gear teeth inside the tooth cylinder, and the inner surface of the convex circle has a C-shaped groove 20.

[0061] 41 cylindrical rollers 2 are evenly arranged between the C-shaped rolling grooves between the cam 4 an...

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Abstract

The invention discloses a novel harmonic-reducer input transmission structure. The novel harmonic-reducer input transmission structure comprises a cam connected with an input shaft, and the cam is sleeved with a flexible gear; a steel gear is engaged with the flexible gear, outer teeth are arranged on the flexible gear, inner teeth are arranged on the steel gear, and the flexible gear is engaged with the steel gear through the outer teeth and the inner teeth; a keeping frame is arranged between the flexible gear and the cam, and a cylinder roller is installed in the keeping frame; annular flanges are formed inside the flexible gear and outside the cam in an outward-protruding mode, and C-shaped grooves matched with the cylinder roller are formed in the annular flanges; the annular flanges are located on the outer-tooth side of the flexible gear. By means of the novel harmonic-reducer input transmission structure, the assembly stress of a key part of a harmonic reducer is reduced or eliminated, the engaging stress of the steel gear and the flexible gear in the movement process is reduced, the input structure and the output structure of the harmonic reducer are newly designed, the movement of the harmonic reducer is more stable during working, and the service life is prolonged.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to an input transmission structure of a harmonic reducer and a harmonic reducer. Background technique [0002] Since C.W. Messer in the United States invented the first harmonic reducer in 1955, major industrial countries all over the world have conducted comprehensive research on it, and have successively prepared many series of harmonic reducers with different types and sizes. With its advantages of simple structure, low noise, large transmission ratio, high transmission precision and high efficiency, harmonic reducers are increasingly widely used in aerospace, bionic machinery, common ordnance, machine tools, instruments, electronic equipment and medical equipment. , especially in the servo system with high dynamic performance, the use of harmonic gear transmission shows its superiority. In particular, the application of harmonic reducers in the field of industrial robots is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16H49/00F16H1/32
CPCF16H1/32F16H49/001F16H2001/327F16H2049/003
Inventor 叶南海邓鑫何韵周清泉
Owner HUNAN UNIV
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