Harmonic gear reducer

Abstract

The invention discloses a harmonic gear reducer which comprises a flexible gear, a rigid gear and an elliptical cam wave generator. The cup bottom of the flexible gear is connected with an output shaft. The elliptical cam wave generator is connected with an input shaft. The outer wall, along the cup rim, of the flexible gear is provided with an arc-involute-arc-tooth profile. The elliptical cam wave generator is arranged on the inner wall of the cup rim of the flexible gear. The rigid gear is fixedly connected with a shell and the inner wall is provided with an arc-involute-arc-tooth profile matched with the flexible gear tooth profile. The rigid gear is connected with the flexible gear through the tooth profiles in an engaged manner. In the engagement process, the flexible gear is in continuous conjugated engagement with the rigid gear, a convex tooth profile and a concave tooth profile of the flexible gear and a concave tooth profile and a convex tooth profile of the rigid gear are located in the double-conjugation engagement interval of the conjugation motion at the same time. The harmonic gear reducer has the beneficial effects that both arc tooth-shaped harmonic driving and involute-tooth-shaped harmonic driving are achieved; and deflection driving can be achieved, the gear tooth engagement region can be enlarged, and the engagement rigidity, driving efficiency and bearing capacity of the harmonic gear reducer are improved.

Description

technical field [0001] The invention relates to the technical field of harmonic transmission, in particular to a harmonic gear reducer. Background technique [0002] Harmonic transmission has many unique advantages such as simple structure, light weight, large transmission ratio range, high transmission precision, small backlash, large number of meshing teeth at the same time, and the ability to transmit motion and power to confined spaces. In recent decades, harmonic gear transmission technology and transmission devices have been widely used in space technology, machine tools, instruments, robots, automobiles, shipbuilding, textiles, metallurgy, conventional weapons, precision optical equipment, printing and packaging machinery, and medical equipment, etc. field. The application practice at home and abroad has proved that whether it is a precision harmonic drive as a high-sensitivity servo system or a power harmonic drive that transmits high torque, it has shown good perfo...

AI Technical Summary

Problems solved by technology

However, the commonly used involute tooth-shaped harmonic drive has many disadvantages: the stress concentration at the root of the tooth is serious, and it is prone to fatigue fracture; the contact stress of the gear teeth is large, and the meshing interval is small, which affects the bearing capacity; Distortion occurs, it is difficult to achieve high stiffness, and it will cause meshing tooth profile interference or sliding teeth, which seriously restricts the overall load-carrying capacity

Although the ordinary double-arc tooth profile improves the load-carrying capacity to a certain extent, its manufacturing capacity is greatly limited due to the inability to change its position, and it lacks practical use value

The research on the tooth shape, parameters and structural design of harmonic transmission is not deep enough, and it is far behind the performance requirements of harmonic transmission devices for specific working conditions such as robot joints and aerospace servo mechanisms, which restricts the development of robotics and other precision transmission technologies

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