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The harmonic reducer
Time:2020-06-11 From:admin Hits: 361
The harmonic reducer is mainly composed of three basic components: (the three are indispensable)
1. Rigid gear (rigid wheel) with internal ring gear, which is equivalent to the center wheel in the planetary system;
2. A flexible gear (flexible wheel) with an external ring gear, which is equivalent to a planetary gear;
3. Wave generator, which is equivalent to a planet carrier.
The harmonic reducer is usually used in the form of wave generator active, rigid wheel fixed, and flexible wheel output. Among them, the rigid wheel: the number of teeth is slightly larger than the number of teeth of the flexible wheel; the flexible wheel: the thin-walled gear that can produce large elastic deformation; the wave generator: H is a rod-shaped component, and the rolling bearings are formed at both ends of the flexible wheel, and the flexible wheel The inner walls of 1 are pressed against each other; the length of the wave generator is larger than the diameter of the inner circle of the undeformed flexible wheel: when the wave generator is installed in the inner circle of the flexible wheel, the cross section of the flexible wheel is forced to deform elastically from the original circle. Oval shape, so that the flexwheel teeth near the two ends of the long axis are inserted into the tooth grooves of the rigid wheel to become fully engaged; while the teeth near the two ends of the short axis are not in contact and are in a disengaged state. The teeth of the other sections on the perimeter are in a transitional state of engagement and disengagement. The process from engagement to disengagement is in the state of engagement or disengagement. When the wave generator continuously rotates: the flexible wheel is forced to continuously deform, so that the two wheel teeth continuously change their working states in the process of engaging, engaging, engaging, disengaging, and re-entering, thus achieving The flexible wheel rotates slowly in the opposite direction of the wave generator H relative to the rigid wheel. The so-called staggered tooth motion is generated, thereby realizing the motion transmission of the active wave generator and the flexible wheel. When working, the rigid wheel is fixed, the motor drives the wave generator to rotate, and the flexible wheel acts as the driven wheel, and the output rotates to drive the load movement. In the transmission process, the wave generator makes one revolution, and the number of cycles of deformation at a certain point on the flexible wheel is called the wave number, which is represented by n. Commonly used are two-wave and three-wave.
The principle of wave accelerator transmission is the difference in the number of teeth between the flexible gear and the rigid gear.
Because the number of teeth is different, then when the meshing point is rotated from 0° (here, several teeth of the internal tooth and the external tooth are meshed together), the internal tooth and the external tooth cannot be fully meshed. This can be referred to assuming The number of internal teeth and external teeth are exactly the same. When the wave generator rotates 90° so that the teeth at the 90° position are meshed, the position of the teeth (internal and external) that originally meshed at 0° is unchanged, but the number of teeth of the two gears is different, so 0 The internal teeth of ° will rotate in the opposite direction as the wave generator rotates.
1. Rigid gear (rigid wheel) with internal ring gear, which is equivalent to the center wheel in the planetary system;
2. A flexible gear (flexible wheel) with an external ring gear, which is equivalent to a planetary gear;
3. Wave generator, which is equivalent to a planet carrier.
The harmonic reducer is usually used in the form of wave generator active, rigid wheel fixed, and flexible wheel output. Among them, the rigid wheel: the number of teeth is slightly larger than the number of teeth of the flexible wheel; the flexible wheel: the thin-walled gear that can produce large elastic deformation; the wave generator: H is a rod-shaped component, and the rolling bearings are formed at both ends of the flexible wheel, and the flexible wheel The inner walls of 1 are pressed against each other; the length of the wave generator is larger than the diameter of the inner circle of the undeformed flexible wheel: when the wave generator is installed in the inner circle of the flexible wheel, the cross section of the flexible wheel is forced to deform elastically from the original circle. Oval shape, so that the flexwheel teeth near the two ends of the long axis are inserted into the tooth grooves of the rigid wheel to become fully engaged; while the teeth near the two ends of the short axis are not in contact and are in a disengaged state. The teeth of the other sections on the perimeter are in a transitional state of engagement and disengagement. The process from engagement to disengagement is in the state of engagement or disengagement. When the wave generator continuously rotates: the flexible wheel is forced to continuously deform, so that the two wheel teeth continuously change their working states in the process of engaging, engaging, engaging, disengaging, and re-entering, thus achieving The flexible wheel rotates slowly in the opposite direction of the wave generator H relative to the rigid wheel. The so-called staggered tooth motion is generated, thereby realizing the motion transmission of the active wave generator and the flexible wheel. When working, the rigid wheel is fixed, the motor drives the wave generator to rotate, and the flexible wheel acts as the driven wheel, and the output rotates to drive the load movement. In the transmission process, the wave generator makes one revolution, and the number of cycles of deformation at a certain point on the flexible wheel is called the wave number, which is represented by n. Commonly used are two-wave and three-wave.
The principle of wave accelerator transmission is the difference in the number of teeth between the flexible gear and the rigid gear.
Because the number of teeth is different, then when the meshing point is rotated from 0° (here, several teeth of the internal tooth and the external tooth are meshed together), the internal tooth and the external tooth cannot be fully meshed. This can be referred to assuming The number of internal teeth and external teeth are exactly the same. When the wave generator rotates 90° so that the teeth at the 90° position are meshed, the position of the teeth (internal and external) that originally meshed at 0° is unchanged, but the number of teeth of the two gears is different, so 0 The internal teeth of ° will rotate in the opposite direction as the wave generator rotates.