Harmonic transmission speed reducing mechanism

Abstract

The invention discloses a harmonic transmission speed reducing mechanism. The mechanism comprises a wave generator, a flexible gear, a connecting pin, a rigid gear and an output plate, wherein an accommodating space capable of accommodating the wave generator and the flexible gear is arranged in the rigid gear in an up and down penetrating mode, the wave generator comprises a cam and a cam shaft bearing connected on the outer side of the cam in a sleeving mode, the flexible gear is connected to the outer side of the cam shaft bearing in a sleeving mode, an outer gear ring of the flexible gearis meshed with an inner gear ring of the rigid gear, a set of kidney-shaped grooves are uniformly distributed on the surface of the output plate along the axis, eccentric vertical wheels are arrangedin the kidney-shaped grooves, eccentric holes used for accommodating one end of the connecting pin to be inserted and fixed is formed in the top of the eccentric vertical wheels, connecting convex columns corresponding to the eccentric vertical wheels are distributed on the inner side wall of the flexible gear along the axis, the connecting convex columns are provided with connecting inserting holes used for accommodating the other end of the connecting pin to be inserted and fixed, and the connecting pin, the connecting convex columns and the eccentric vertical wheels are connected and matched with each other, so that the flexible gear and the output plate form a synchronous connection motion.

Description

technical field [0001] The invention relates to the field of reducers, in particular to a harmonic drive reduction mechanism. Background technique [0002] At present, with the progress of scientific and technological development, reducers are increasingly widely used in various fields. Among them, the harmonic reducer is a new type of reducer developed by using the principle of planetary gear transmission. It adopts the principle of harmonic gear transmission and passes through the wave generator ( Cam) is equipped with a flexible bearing so that the flexible gear produces controllable elastic deformation, and meshes with the rigid gear to transmit motion and power. The gear transmission forces the cross section of the flexible gear to change from the original circle to an ellipse, and its long axis is two The teeth near the end of the short shaft are completely meshed with the teeth of the rigid wheel, while the teeth near both ends of the short shaft are completely diseng...

AI Technical Summary

Problems solved by technology

Although the harmonic reducer has the advantages of small size, large speed ratio, large torque and high transmission precision, most of the existing harmonic reducers have complex structures, and most of them use cup-shaped or hat-shaped flexible gears, the bottom of which is connected to the output end , its stress is mostly concentrated at the bottom, often due to excessive stress concentration and deformation, which affects its life. Because the existing harmonic reducer has many parts and the overall structure is not compact enough, it not only results in a larger volume of the harmonic reducer, but also increases the The raw materials are produced, and the output is not stable and accurate enough, which affects the stability and accuracy of the harmonic reducer.

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