CN110985633A - Transmission mechanism, harmonic reducer, integrated joint and harmonic transmission method - Google Patents
Transmission mechanism, harmonic reducer, integrated joint and harmonic transmission method Download PDFInfo
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- CN110985633A CN110985633A CN201911345851.9A CN201911345851A CN110985633A CN 110985633 A CN110985633 A CN 110985633A CN 201911345851 A CN201911345851 A CN 201911345851A CN 110985633 A CN110985633 A CN 110985633A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 50
- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 74
- 239000010959 steel Substances 0.000 claims abstract description 74
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- 230000033001 locomotion Effects 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 4
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- 230000005389 magnetism Effects 0.000 abstract description 7
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention provides a transmission mechanism, a harmonic reducer, an integrated joint and a harmonic transmission method, wherein the transmission mechanism comprises: the flexible gear is provided with magnetism and comprises at least one group of N-S poles distributed along the radial direction, and the flexible gear deforms under the action of a changing magnetic field to change the meshing contact point of the flexible gear and the steel gear, so that the flexible gear and the steel gear move relatively; the harmonic reducer comprises an output shaft and a transmission mechanism, wherein the output shaft is connected with the flexible gear; the integrated joint comprises at least one joint limb, and the joint limb is connected with a harmonic reducer. This scheme can save high-speed pivoted rotor and each connecting piece in the motor to reduce inertia and frictional force, be favorable to improving drive mechanism's control accuracy and transmission efficiency, simultaneously, can make drive mechanism's structure more simple, weight, volume are littleer, are favorable to drive mechanism's nimble use.
Description
Technical Field
The invention relates to the technical field of transmission mechanisms, in particular to a transmission mechanism, a harmonic reducer, an integrated joint and a harmonic transmission method.
Background
The joints of the robot are generally controlled by a harmonic reducer, the harmonic reducer usually uses a motor stator (coil) to generate a changing magnetic field to drive a rotor (magnet) to rotate, and the rotor is fixedly connected with a wave generator of the harmonic reducer in a certain form. The wave generator is a rod-shaped component, its both ends are equipped with rolling bearings to form the roller, and press with the inner wall of the flexible gear mutually, the flexible gear is a thin-wall gear capable of producing large elastic deformation, its inner hole diameter is slightly less than the total length of the wave generator, after the wave generator is mounted in the flexible gear, the section of the flexible gear can be forced to change from original circular to elliptical, and the teeth near both ends of major axis of the flexible gear are completely engaged with the teeth of the rigid gear, and the teeth near both ends of minor axis are completely disengaged from the rigid gear. When the motor rotates, the wave generator can generate harmonic wave motion in the same period to drive the flexible gear to deform continuously, so that the meshing state of the flexible gear and the steel gear is changed continuously, the flexible gear rotates slowly relative to the steel gear along the opposite direction of the wave generator, and finally the purposes of reducing the rotating speed and increasing the output torque are achieved.
However, the conventional transmission mechanism such as the harmonic reducer usually needs the motor to drive the wave generator to move at a high speed, and a large rotational inertia is generated, so that adverse effects are brought to the control of the transmission mechanism, and the rotor of the motor also generates a large friction force when rotating, which affects the transmission efficiency.
Disclosure of Invention
The invention aims to provide a transmission mechanism, a harmonic reducer, an integrated joint and a harmonic transmission method, which can save a rotor rotating at a high speed in a motor and connecting pieces, thereby reducing rotational inertia and friction force, being beneficial to improving the control precision and the transmission efficiency of the transmission mechanism, and simultaneously enabling the structure of the transmission mechanism to be simpler, the weight and the volume to be smaller, and being beneficial to flexible use of the transmission mechanism.
The technical scheme provided by the invention is as follows:
the present invention provides a transmission mechanism, comprising: magnetic field generating means for generating a varying magnetic field; a steel wheel; the flexible gear is arranged in the steel gear, and the flexible gear and the steel gear have at least one meshing contact point when deformed; wherein the flexible gear is magnetic and comprises at least one group of N-S poles distributed along the radial direction; the flexible gear is deformed under the action of the variable magnetic field, so that the meshing contact point of the flexible gear and the steel gear is changed, and the flexible gear and the steel gear move relatively.
In the prior art, the inside of the flexible gear is usually provided with a wave generator, the wave generator is connected with a rotor of the motor and an output shaft, so that the wave generator can rotate along with the rotor, thereby realizing the relative motion of the flexible gear and the steel gear, the scheme sets the flexible gear to be magnetic and directly sleeves the outside of an electromagnetic coil of a magnetic field generating device such as the motor, so that the magnetic field generating device can directly deform the flexible gear after generating a changing magnetic field, thereby realizing the relative motion of the flexible gear and the steel gear The volume is smaller, which is beneficial to the flexible use of the transmission mechanism.
Further, the N-S poles are uniformly distributed on the flexible gear along the circumferential direction.
Further, the flexible gear comprises a flexible ring and a plurality of magnets; the outer wall of the flexible ring is provided with an outer gear, and the inner wall of the steel wheel is provided with an inner gear matched with the outer gear; the magnets are distributed along the inner side of the flexible ring, and the inner sides of the magnets have the same polarity and the polarities point to the axis.
The flexible gear can be formed by arranging the external gear outside the flexible ring, and meanwhile, the flexible gear can have magnetism by arranging a plurality of magnets inside the flexible ring, so that the flexible gear can deform in a variable magnetic field; through the inboard evenly distributed with magnet along flexible circle, the inboard polarity of magnet is the same and the directional axle center of polarity, can make the flexbile gear when warping, and is more regular, and the shape is more regular, is favorable to guaranteeing the steady rotation of flexbile gear.
Further, the inner side of the flexible ring is provided with a flexible filling layer, and the magnet is fixed on the flexible filling layer.
Because magnet does not possess the flexibility, consequently, in order to guarantee that the deformation shape of flexible circle is more regular, the volume of magnet will be less, and a large amount, simultaneously, through setting up flexible filling layer, protection magnet that can be better avoids magnet and flexible circle to damage, and can make the deformation effect of flexible circle better.
Furthermore, the magnetic field generating device is an electromagnetic coil which is electrified with variable current; the outer diameter of the electromagnetic coil is smaller than the inner diameter of the flexible gear, and the outer diameter of the flexible gear is smaller than the inner diameter of the steel gear, so that gaps are reserved among the steel gear, the flexible gear and the electromagnetic coil.
Because the flexible gear needs to deform in the changing magnetic field, the flexible gear is not meshed with the steel gear initially, and the flexible gear and the steel gear only have a meshed contact point when deforming, gaps need to be reserved between the flexible gear and the steel gear and between the flexible gear and the electromagnetic coil, and the size of the gaps is adjusted according to actual conditions, such as the size of gear teeth of the flexible gear and the steel gear, the number of pole pairs of the changing magnetic field and the like.
Furthermore, the variable magnetic field generated by the magnetic field generating device is a single-stage pair magnetic field, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 1; or the variable magnetic field generated by the magnetic field generating device is a two-stage magnetic field pair, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 2; or the variable magnetic field generated by the magnetic field generating device is a three-level counter magnetic field, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 3.
In the scheme, the flexible gear needs to be deformed in a variable magnetic field, but the number of pole pairs of the magnetic field is not required, and 1-3 pole pairs are generally selected, for example, when the variable magnetic field is a single-stage pair magnetic field, the flexible gear can be deformed into an ellipse, and the gap between the flexible gear and the steel gear is changed in a sine waveform with the periodicity of 1; when the variable magnetic field is a two-stage magnetic field, the flexible gear can be deformed into an oval shape, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 2; when the changing magnetic field is a three-level opposite magnetic field, the flexible gear can be deformed into a sine wave shape with the periodicity of 3. In addition, the variable magnetic field can be five-stage pair, six-stage pair, eight-stage pair and the like, the more the pole pair number of the magnetic field is, the higher the transmission precision is, but the higher the quality requirement of the flexible gear is, therefore, the pole pair number of the magnetic field can be selected according to the actual situation when the flexible gear is actually used.
Further, still include the shell, magnetic field generating device fixes in the shell, the flexbile gear with the steel wheel all with shell swing joint.
The invention also provides a harmonic reducer, which comprises an output shaft and the transmission mechanism; wherein the output shaft is connected with the flexible gear or the steel gear.
The transmission mechanism is connected with the output shaft, so that the output shaft can smoothly and stably rotate, the effect of a speed reducer is realized, and the transmission mechanism can be applied to high-precision control occasions, such as the occasions of joint rotation of a robot and the like.
The invention further provides an integrated joint which comprises at least one joint limb, wherein the joint limb is connected with a speed reducing motor, and the speed reducing motor is the harmonic reducer.
The output shaft of the harmonic reducer is connected with the joint limbs of the robot, so that the stable rotation of the joints of the robot can be realized, and the robot can work conveniently.
The invention also provides a harmonic drive method, in the harmonic drive, the flexible gear is magnetic and comprises at least one group of N-S poles distributed along the radial direction; and placing the flexible gear in a variable magnetic field, wherein the flexible gear is deformed under the action of the variable magnetic field, and the meshing contact point of the flexible gear and the steel gear is changed to generate relative motion.
Through setting up the flexbile gear into possessing magnetism, and directly arrange the magnetic field of change in, can make the flexbile gear directly warp, realize the relative motion of flexbile gear and steel wheel, compare in prior art, this scheme is actual high-speed pivoted is the magnetic field, but not actual physical structure, high-speed pivoted rotor and each connecting piece in can saving the motor, thereby reduce inertia and frictional force, be favorable to improving drive mechanism's control accuracy and transmission efficiency, and simultaneously, can make drive mechanism's structure more simple, weight, the volume is littleer, be favorable to drive mechanism's nimble use.
Furthermore, a plurality of magnets are uniformly arranged on the inner side of the flexible gear, and the polarities of the inner sides of the magnets are the same and point to the axis.
Through the inboard evenly distributed with magnet along the flexbile gear, the inboard polarity of magnet is the same and the directional axle center of polarity, can make the flexbile gear possess magnetism, and can make the flexbile gear when warping, more regular, the shape is more regular, is favorable to guaranteeing the steady rotation of flexbile gear.
The invention has the following technical effects:
according to the transmission mechanism, the harmonic reducer, the integrated joint and the harmonic transmission method, the flexible wheel is magnetic and is directly sleeved outside the electromagnetic coil of the magnetic field generating device such as a motor, so that the magnetic field generating device can directly deform the flexible wheel after generating a changing magnetic field, and the relative motion of the flexible wheel and the steel wheel is realized; the transmission mechanism is connected with the output shaft, so that the output shaft can smoothly and stably rotate, the effect of a speed reducer is realized, and the speed reducer can be suitable for high-precision control, such as different occasions of joint rotation of a robot and the like; the output shaft of the harmonic reducer is connected with the joint limbs of the robot, so that the stable rotation of the joints of the robot can be realized, and the robot is favorable for working.
Drawings
The foregoing features, technical features, advantages and embodiments of the present invention will be further explained in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of a transmission mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a flexspline of an embodiment of the present invention when undeformed;
FIG. 3 is a schematic structural view of a flexspline of an embodiment of the present invention as deformed;
FIG. 4 is a schematic view of the overall structure of the integrated joint according to the embodiment of the present invention;
fig. 5 is a schematic cross-sectional structure view of an integrated joint according to an embodiment of the invention.
In the figure: 10-a magnetic field generating device; 20-a steel wheel; 21-internal gear; 30-a flexible gear; 31-a flexible loop; 32-a magnet; 33-an external gear; 34-a flexible filler layer; 40-joint shell; 41-coil mounting face; 42-a screw assembly; 43-coil holder; 44-a flange; 45-flexible wheel fixing frame; 46-knuckle mounting threaded hole.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
Example 1
In one embodiment of the present invention, as shown in fig. 1 to 3, a transmission mechanism includes a magnetic field generating device 10, a steel wheel 20, a flexible wheel 30 and a housing, wherein the magnetic field generating device 10 is fixed in the housing, and the flexible wheel 30 and the steel wheel 20 are movably connected with the housing.
The flexspline 30 is disposed within the steel spline 20, and the steel spline 20 and the flexspline 30 are mounted in the same manner as the prior art speed reducer, such that the flexspline 30 and the steel spline 20 are not initially in contact, and the flexspline 30 has at least one point of meshing contact with the steel spline 20 when deformed. In addition, in order to ensure that the meshing of the flexspline 30 with the steel spline 20 is more regular, the flexspline 30 is present in pairs with the meshing contact points of the steel spline 20 when deformed, and is symmetrical about the center of the flexspline.
The magnetic field generating device 10 is used for generating a changing magnetic field. The flexspline 30 is magnetic and includes at least one set of radially disposed N-S poles; the flexible gear 30 is deformed by the action of the variable magnetic field, so that the meshing contact point of the flexible gear 30 and the steel gear 20 is changed, and the flexible gear 30 and the steel gear 20 move relatively. The radial distribution means that the distances between the N pole and the S pole from the geometric center of the flexible gear have difference, and the flexible gear can realize the deformation effect by the arrangement mode under the action of a changing magnetic field according to the action principle that like poles repel and opposite poles attract, so that the meshing contact point of the flexible gear and the steel gear is changed.
Preferably, the variable magnetic field rotates at a fixed direction and a fixed rotation speed, and the magnetic field generated by the magnetic field generating device 10 can stably change and stably rotate, so that the stable rotation of the flexible gear 30 and the steel gear 20 can be better ensured. If there is no or a particular demand for the rotation direction and speed of the flexspline 30, the rotation direction, rotation speed, and the like of the magnetic field generated by the magnetic field generating device 10 can be adjusted as needed.
Preferably, the N-S poles are uniformly distributed on the flexible gear along the circumferential direction.
In the present embodiment, in order to ensure that the deformation of the flexspline 30 is more regular, the N-S poles are paired and symmetrical with respect to the center of the flexspline 30, or the number of N-S poles is greater and is uniformly distributed on the flexspline 30 in the circumferential direction. The polarity of the inside of the flexspline 30 is not particularly limited, and may be N-stage or S-stage.
In the prior art, the flexible gear 30 is usually provided with a wave generator inside, the wave generator is connected with the rotor of the motor and the output shaft, so that the wave generator can rotate along with the rotor, thereby realizing the relative motion of the flexible gear 30 and the steel gear 20, and the scheme sets the flexible gear 30 to be magnetic and directly sleeved outside the magnetic field generating device 10 such as the electromagnetic coil of the motor, so that the flexible gear 30 can be directly deformed after the magnetic field generating device 10 generates a changing magnetic field, thereby realizing the relative motion of the flexible gear 30 and the steel gear 20, compared with the prior art, the scheme actually rotates the magnetic field at a high speed instead of an actual physical structure, and can save the rotor rotating at a high speed and each connecting piece in the motor, thereby reducing the rotational inertia and the friction force, being beneficial to improving the control precision and the transmission efficiency of the transmission mechanism, and simultaneously, the structure of the transmission mechanism can be simpler, the weight and the volume are smaller, and the flexible use of the transmission mechanism is facilitated.
Example 2
In an embodiment of the present invention, as shown in fig. 1 to 3, on the basis of embodiment 1, a flexible wheel 30 includes a flexible ring 31 and a plurality of magnets 32; the outer wall of the flexible ring 31 is provided with an external gear 33, and the inner wall of the steel wheel 20 is provided with an internal gear 21 matched with the external gear 33; the magnets 32 are evenly distributed along the inside of the flexible ring 31, and the inside polarities of the magnets 32 are the same and point to the axis.
The flexible gear 30 can be formed by arranging the external gear 33 outside the flexible ring 31, and the flexible gear 30 can be provided with magnetism by arranging a plurality of magnets 32 inside the flexible ring 31, so that the flexible gear 30 can be deformed in a changing magnetic field; by distributing the magnets 32 along the inner side of the flexible ring 31, the polarities of the inner sides of the magnets 32 are the same and the polarities point to the axis, so that the flexible gear 30 is more regular and more regular in shape when deformed, and the stable rotation of the flexible gear 30 is guaranteed.
Preferably, the magnets 32 are evenly distributed along the inside of the flexible loop 31, so that the flexspline 30 is more regular when deformed.
Further, the flexible ring 31 has a flexible filling layer 34 on the inner side, and the magnet 32 is fixed on the flexible filling layer 34.
Because magnet 32 itself does not have the flexibility, consequently, in order to avoid magnet 32 not to influence the deformation of flexible circle 31 to and guarantee that the deformation shape of flexible circle 31 is more regular, magnet 32's volume will be less, and more, simultaneously, through setting up flexible filling layer 34, protection magnet 32 that can be better avoids magnet 32 and flexible circle 31 to damage, and can make the deformation effect of flexible circle 31 better.
Example 3
In one embodiment of the present invention, as shown in fig. 1 to 3, the magnetic field generating device 10 is an electromagnetic coil to which a variable current is supplied, in addition to any of the above embodiments. Because this scheme does not have the rotor mechanism of traditional motor, can't use hall signal or high-speed end encoder as feedback, consequently, need control with the help of other feedback signals when changing magnetic field directional control, can but not only be limited to the electric angle etc. of motor noninductive control, low-speed end encoder resolving return coil electromagnetic field.
The outer diameter of the electromagnetic coil is smaller than the inner diameter of the flexible gear 30, and the outer diameter of the flexible gear 30 is smaller than the inner diameter of the steel gear 20, so that gaps are reserved among the steel gear 20, the flexible gear 30 and the electromagnetic coil.
Because the flexible gear 30 needs to be deformed in the changing magnetic field, the flexible gear 30 is not meshed with the steel gear 20 initially, and only when the flexible gear 30 is deformed, the flexible gear 20 has a meshing contact point with the steel gear 20, gaps need to be reserved between the flexible gear 30 and the steel gear 20 and between the flexible gear 30 and the electromagnetic coil, and the size of the gaps is adjusted according to actual conditions, such as the size of gear teeth of the flexible gear 30 and the steel gear 20, the number of pole pairs of the changing magnetic field, and the like.
Further, the variable magnetic field generated by the magnetic field generating device 10 is a single-stage pair magnetic field, the flexible gear 30 deforms in the variable magnetic field, and the gap between the flexible gear 30 and the steel gear 20 changes in a sine waveform with the cycle number of 1; or the variable magnetic field generated by the magnetic field generating device 10 is a two-stage magnetic field, the flexible gear 30 deforms in the variable magnetic field, and the gap between the flexible gear 30 and the steel gear 20 changes in a sine waveform with the periodicity of 2; or the variable magnetic field generated by the magnetic field generating device 10 is a three-level counter magnetic field, the flexible gear 30 deforms in the variable magnetic field, and the gap between the flexible gear 30 and the steel gear 20 changes in a sine waveform with the periodicity of 3.
In the scheme, the flexible gear 30 needs to be deformed in the changing magnetic field, but there is no requirement on the number of pole pairs of the magnetic field, and 1-3 pole pairs are generally selected, for example, when the changing magnetic field is a single-stage pair magnetic field, the flexible gear 30 can be deformed into an ellipse, and the gap between the flexible gear 30 and the steel gear 20 is changed in a sine waveform with the periodicity of 1; when the variable magnetic field is a two-stage magnetic field, the flexible gear 30 can be deformed into an oval shape, and the gap between the flexible gear 30 and the steel gear 20 changes in a sine waveform with the periodicity of 2; when the varying magnetic field is a three-level counter magnetic field, the flexspline 30 can be deformed into a sine wave shape with a cycle number of 3. The number of pole pairs of the magnetic field is increased to increase the transmission accuracy, but the mass requirement of the flexspline 30 is also increased, so that the number of pole pairs of the magnetic field can be selected according to actual conditions in actual use.
Example 4
In an embodiment of the present invention, based on any of the above embodiments, the present invention further provides a harmonic drive method, in which the flexspline 30 is made magnetic and includes at least one set of N-S poles distributed along the radial direction; the flexible gear 30 is placed in the changing magnetic field, the flexible gear 30 is deformed under the action of the changing magnetic field, and the meshing contact point of the flexible gear 30 and the steel gear 20 is changed to generate relative movement.
Through setting up the flexbile gear 30 into possessing magnetism, and directly arrange the magnetic field that changes in, can make flexbile gear 30 directly warp, realize the relative motion of flexbile gear 30 and steel wheel 20, compare in prior art, this scheme is actual high-speed pivoted is the magnetic field, rather than actual physical structure, can save high-speed pivoted rotor and each connecting piece in the motor, thereby reduce inertia and frictional force, be favorable to improving drive mechanism's control accuracy and transmission efficiency, and simultaneously, can make drive mechanism's structure more simple, weight, the volume is littleer, be favorable to drive mechanism's nimble use.
Further, a plurality of magnets 32 are uniformly installed inside the flexible gear 30, and the polarities of the inside of the magnets 32 are the same and the polarities are directed to the axis.
Through the inboard evenly distributed with magnet 32 along flexbile gear 30, the inboard polarity of magnet 32 is the same and the directional axle center of polarity, can make flexbile gear 30 possess magnetism, and can make flexbile gear 30 when warping, more regular, the shape is more regular, is favorable to guaranteeing flexbile gear 30's stable rotation.
Example 5
The invention further provides an embodiment of the harmonic reducer, which is based on any one of the above embodiments, and comprises an output shaft and the transmission mechanism; wherein the output shaft is connected with the flexible gear 30 or the steel gear 20.
The transmission mechanism is connected with the output shaft, so that the output shaft can smoothly and stably rotate, the speed reduction effect of the speed reducer is realized, and the speed reducer is suitable for high-precision control occasions, such as the occasions of joint rotation of a robot and the like.
Example 6
An embodiment of the present invention, as shown in fig. 4 and 5, on the basis of embodiment 5, the present invention further provides an integrated joint, which includes at least one joint limb, and the joint limb is connected with a reduction motor, and the reduction motor is the above-mentioned harmonic reducer.
The output shaft of the harmonic reducer is connected with the joint limbs of the robot, so that the stable rotation of the joints of the robot can be realized, and the stable work of the robot is facilitated.
The specific installation mode of the integrated joint can be adjusted according to requirements, for example, in this embodiment, the flexible wheel 30 and the steel wheel 20 are sequentially sleeved outside the magnetic field generating device 10, the joint housing 40 is arranged outside the steel wheel 20, the joint housing 40 is provided with the coil installation surface 41, the coil installation surface 41 is connected with the coil fixing frame 43 through the screw component 42, the magnetic field generating device 10 is installed on the coil fixing frame 43, the magnetic field generating device 10 and the flexible wheel 30 are connected through the flange 44, the flexible wheel 30 and the joint housing 40 are fixed through the flexible wheel fixing frame 45, and the joint housing 40 is provided with the joint installation threaded hole 46, so that the transmission mechanism can constitute the integrated joint of the robot, and the stable motion of the robot joint is realized.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A transmission mechanism, comprising:
magnetic field generating means for generating a varying magnetic field;
a steel wheel;
the flexible gear is arranged in the steel gear, and the flexible gear and the steel gear have at least one meshing contact point when deformed;
wherein the flexible gear is magnetic and comprises at least one group of N-S poles distributed along the radial direction;
the flexible gear is deformed under the action of the variable magnetic field, so that the meshing contact point of the flexible gear and the steel gear is changed, and the flexible gear and the steel gear move relatively.
2. A transmission mechanism as claimed in claim 1, wherein: the N-S poles are uniformly distributed on the flexible gear along the circumferential direction.
3. A transmission mechanism as claimed in claim 1, wherein: the flexible gear comprises a flexible ring and a plurality of magnets;
the outer wall of the flexible ring is provided with an outer gear, and the inner wall of the steel wheel is provided with an inner gear matched with the outer gear;
the magnets are distributed along the inner side of the flexible ring, and the inner sides of the magnets have the same polarity and the polarities point to the axis.
4. A transmission mechanism as claimed in claim 3, wherein: the inner side of the flexible ring is provided with a flexible filling layer, and the magnet is fixed on the flexible filling layer.
5. A transmission according to any one of claims 1 to 4, wherein: the magnetic field generating device is an electromagnetic coil which is electrified with variable current;
the outer diameter of the electromagnetic coil is smaller than the inner diameter of the flexible gear, and the outer diameter of the flexible gear is smaller than the inner diameter of the steel gear, so that gaps are reserved among the steel gear, the flexible gear and the electromagnetic coil.
6. A transmission according to any one of claims 1 to 4, wherein: the variable magnetic field generated by the magnetic field generating device is a single-stage magnetic field, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 1;
or;
the variable magnetic field generated by the magnetic field generating device is a two-stage magnetic field pair, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 2;
or;
the variable magnetic field generated by the magnetic field generating device is a three-level opposite magnetic field, the flexible gear deforms in the variable magnetic field, and the gap between the flexible gear and the steel gear changes in a sine waveform with the periodicity of 3.
7. A transmission according to any one of claims 1 to 4, wherein: the magnetic field generating device is fixed in the shell, and the flexible wheel and the steel wheel are movably connected with the shell.
8. A harmonic reducer, characterized in that: comprising an output shaft and a transmission according to any of claims 1-7;
wherein the output shaft is connected with the flexible gear or the steel gear.
9. The utility model provides an integral type joint, includes at least one joint limbs, just joint limbs are connected with gear motor, its characterized in that: the reduction motor is a harmonic reducer as set forth in claim 8.
10. A method of harmonic drive, characterized by: in harmonic drive, the flexspline is made magnetic and includes at least one set of radially distributed N-S poles;
and placing the flexible gear in a variable magnetic field, wherein the flexible gear is deformed under the action of the variable magnetic field, and the meshing contact point of the flexible gear and the steel gear is changed to generate relative motion.
11. A method of driving according to claim 10, wherein: and uniformly installing a plurality of magnets on the inner side of the flexible gear, wherein the polarities of the inner sides of the magnets are the same and the polarities point to the axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911345851.9A CN110985633A (en) | 2019-12-24 | 2019-12-24 | Transmission mechanism, harmonic reducer, integrated joint and harmonic transmission method |
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| CN201911345851.9A CN110985633A (en) | 2019-12-24 | 2019-12-24 | Transmission mechanism, harmonic reducer, integrated joint and harmonic transmission method |
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| CN110985633A true CN110985633A (en) | 2020-04-10 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003230266A (en) * | 2002-02-01 | 2003-08-15 | Sofutoronikusu Kk | Motor with reducer |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN101209556A (en) * | 2006-12-30 | 2008-07-02 | 浙江工业大学 | Robot smart arm joint drive and reduction device thereof |
| CN101332752A (en) * | 2007-06-27 | 2008-12-31 | 丰田自动车株式会社 | Vehicle suspension system |
| CN211648959U (en) * | 2019-12-24 | 2020-10-09 | 上海岭先机器人科技股份有限公司 | Transmission mechanism, harmonic reducer and integrated joint |
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2019
- 2019-12-24 CN CN201911345851.9A patent/CN110985633A/en active Pending
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| JP2003230266A (en) * | 2002-02-01 | 2003-08-15 | Sofutoronikusu Kk | Motor with reducer |
| CN101209556A (en) * | 2006-12-30 | 2008-07-02 | 浙江工业大学 | Robot smart arm joint drive and reduction device thereof |
| CN101332752A (en) * | 2007-06-27 | 2008-12-31 | 丰田自动车株式会社 | Vehicle suspension system |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN211648959U (en) * | 2019-12-24 | 2020-10-09 | 上海岭先机器人科技股份有限公司 | Transmission mechanism, harmonic reducer and integrated joint |
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