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Working Principle and Main Structure of Harmonic Speed Reducer

1. Working principle of harmonic speed reducer


The wave generator and the harmonic speed reducer are a rod-shaped component. Both ends are equipped with rolling bearings and V-shaped rollers which are mutually pressed against the inner wall of the elastic wheel. The elastic wheel is a thin-walled gear that can produce large elastic deformation. The diameter of the inner hole is slightly smaller than the total length of the wavelength generator. The wave generator is an element that makes the elastic wheel produce controllable elastic deformation.


When the harmonic drive wave generator is installed in the elastic wheel, one end of the elastic wheel is forced to become an ellipse of the original circle. The teeth at both ends of the long shaft are completely meshed with the teeth of the rigid wheel, and the teeth at both ends of the short shaft are completely separated from the rigid wheel. The teeth are in a transitional state of meshing and separating in other parts of the circumference.


When the harmonic generator and the reducer rotate continuously in the direction shown in the chart, the deformation of the elastic wheel is constantly changing, so that the meshing state of the elastic wheel and the rigid wheel is constantly changing. Through meshing, meshing, meshing, separation, re-engaging, etc., the elastic wheel is slowly rotated in the opposite direction of the wave generator H. When the utility model works, the rigid wheel is fixed, the motor drives the wave generator to rotate, and the elastic wheel drives the output wheel to rotate to drive the load to move. In the transmission process, the wave source rotates around a certain point on the elastic wheel, and the number of deformation cycles is called the wave number N.


Harmonic speed reducers generally use two waves and three waves. The utility model has the advantages of small force, simple structure, high transmission ratio and the like. Therefore, the present utility model is currently the most widely used.


2. What are the main structures of a harmonic speed reducer?


Harmonic speed reducer (harmonic drive reducer) is mainly composed of three basic components: rigid wheel, flexible wheel and waveform generator.


Main features: high motion accuracy, large transmission ratio, small size, light weight, high transmission efficiency and long life. It is widely used in industrial robots, aerospace and so on. The application of harmonic drive reducer generally adopts the form of active waveform generator, rigid fixed wheel and flexible output wheel.


When the wave generator is loaded in the inner cavity of the elastic wheel, the elastic wheel is forced to produce an elliptical elastic deformation, so that the elastic gear on the long axis is inserted into the tooth groove of the elastic wheel. The wheels are rigid and therefore fully in working condition. The two sprockets on the short shaft are not in complete contact and are in a separated state.


Participate in the process of separating or participating in the state. When the harmonic speed reducer and the reducer rotate continuously, the soft wheel is forced to produce continuous deformation, so that the two gears continuously change the working state in the process of meshing, meshing, and separating. This produces the so-called false tooth movement, so as to realize the movement transmission of the active wave generator and the elastic wheel.

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