Double-flexible-wheel harmonic speed reducer

Abstract

Disclosed is a double-flexible-wheel harmonic speed reducer. The double-flexible-wheel harmonic speed reducer comprises a strong flexible wheel, a weak flexible wheel and a wave generator. The strongflexible wheel and the weak flexible wheel are fixed coaxially and axially as well as radially. Teeth capable of being meshed with one another are arranged on the strong flexible wheel and the weak flexible wheel correspondingly. Tooth number difference exists between the strong flexible wheel and the weak flexible wheel. The weak flexible wheel generates non-circular elastic deformation and is partially meshed with the strong flexible wheel under the action of the wave generator, and the portion, making contact with the weak flexible wheel, of the strong flexible wheel is subjected to radialpressure of the weak flexible wheel to generate non-circular elastic deformation. According to the double-flexible-wheel harmonic speed reducer, the strong flexible wheel with the rigidity larger thanthat of a prior harmonic speed reducer flexible wheel is adopted to replace a steel wheel of a prior harmonic speed reducer. Therefore, compared with the traditional steel wheel, the strong flexiblewheel is characterized in that the strong flexible wheel is provided with a flexible thin wall similar to a flexible wheel of a traditional harmonic speed reducer, namely, the strong flexible wheel 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 elasticallydeformed.

Description

technical field [0001] The invention relates to the field of reducers, in particular to a double flexspline harmonic reducer. Background technique [0002] Harmonic gear transmission was invented by American inventor C.W.Musser in 1955. It is a new type of transmission method that uses elastic deformation of flexible working components for motion or power transmission. It breaks through the rigid component mechanism of mechanical transmission. Mode, using a flexible component to achieve mechanical transmission, thus obtaining a series of special functions that other transmissions are difficult to achieve. Because the deformation process of the middle flexible member is basically a symmetrical harmonic, it gets its name. Except that the former Soviet Union called this kind of transmission wave transmission or flexible wheel transmission, the United States, Britain, Germany, Japan and other countries all call it "harmonic transmission". [0003] The principle of harmonic gea...

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Problems solved by technology

[0005] However, the hysteresis of the current harmonic reducer depends on the degree of meshing tightness between the teeth of the elliptical long axis and the teeth of the steel wheel after the elliptical deformation of the flexspline under the action of the wave generator. Yinghui will not be able to assemble or rotate difficult. Whether the flexible wheel and the steel wheel can be accurately meshed depends on the production accuracy of the harmonic reducer. Higher precision requirements increase the production cost and limit some relatively cheap materials and processing techniques. At the same time, the flexspline, steel wheel and wave generator will be worn to a certain extent during operation, and the wear will also cause the meshing tightness between the flexspline and the steel wheel to gradually decrease, and the hysteresis of the reducer will gradually increase. Large, which determines that the precision life of the reducer cannot be too long

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