CN116538265B - Flexible gear, harmonic reducer, mechanical arm and robot - Google Patents
Flexible gear, harmonic reducer, mechanical arm and robot Download PDFInfo
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- CN116538265B CN116538265B CN202310543904.8A CN202310543904A CN116538265B CN 116538265 B CN116538265 B CN 116538265B CN 202310543904 A CN202310543904 A CN 202310543904A CN 116538265 B CN116538265 B CN 116538265B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 54
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 159
- 239000010959 steel Substances 0.000 claims abstract description 159
- 230000004323 axial length Effects 0.000 claims abstract description 68
- 238000010168 coupling process Methods 0.000 claims abstract description 60
- 238000005859 coupling reaction Methods 0.000 claims abstract description 60
- 230000008878 coupling Effects 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 46
- 230000002093 peripheral effect Effects 0.000 claims abstract description 21
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000007769 metal material Substances 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
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- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
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- 230000008713 feedback mechanism Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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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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- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0873—Profiling for improving axial engagement, e.g. a chamfer at the end of the tooth flank
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H2055/0893—Profiling for parallel shaft arrangement of toothed members
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
A flexspline, harmonic reducer arm and robot, flexspline includes: the flexible gear comprises a flexible gear transmission gear, a flexible gear first part, a flexible gear second part and a connecting part, wherein the diameter of the flexible gear first part is larger than that of the flexible gear second part; the flexible gear transmission gear is arranged on the peripheral wall of the first part of the flexible gear, one end of the first part of the flexible gear is connected with one end of the second part of the flexible gear through a connecting part, the flexible gear transmission gear further comprises a coupling part, the coupling part is arranged on the outer periphery of the other end of the second part of the flexible gear, and the diameter of the outer ring of the coupling part is larger than that of the first part of the flexible gear. The first part and the second part of the flexible gear are arranged, and the diameters of the first part and the second part are different, so that the bearing capacity of the harmonic flexible gear can be improved, and the service life of the flexible gear can be prolonged; the flexible gear is characterized in that the flexible gear is further provided with a coupling part, the second part of the flexible gear is connected with the second steel gear through the coupling part, the axial length of the harmonic reducer can be further reduced, the purpose of miniaturization is achieved, the space is effectively saved, high strength can be still ensured, the structure is simple, and popularization is facilitated.
Description
Technical Field
The invention belongs to the technical field of transmission speed reduction, and particularly relates to a flexible gear, a harmonic speed reducer, a mechanical arm and a robot.
Background
The harmonic drive speed reducer is a mechanical driver which relies on flexible parts to generate elastic mechanical waves to transmit power and motion. The harmonic reducer has the characteristics of high transmission efficiency, small volume, light weight, stable transmission, low noise and the like, and is widely applied to the field of robots, in particular to cooperative mechanical arms, service robots and the like. With the development of robotics, the size requirements for harmonic reducers are becoming more and more stringent. Harmonic drive comprises three basic components: wave generator, flexspline and steel wheel.
One of the three components is fixed at will, and the other one is driven, so that the speed reduction or the speed increase can be realized, namely, the fixed transmission ratio can be realized, and the three components can also be converted into two inputs, namely, one output, so as to form differential transmission. If the steel wheel is fixed, the wave generator is used as a driving part, the flexible wheel is used as a driven part, the oval cam in the wave generator rotates in the flexible wheel to deform the flexible wheel, and when the flexible wheel gear teeth at the two ends of the major axis of the oval cam of the wave generator and the steel wheel gear teeth enter into engagement, the flexible wheel gear teeth at the two ends of the minor axis are separated from the steel wheel gear teeth. For the gear teeth between the long shaft and the short shaft of the wave generator, the gear teeth are in a semi-meshing state gradually meshing along different sections of the circumferences of the flexible gear and the steel gear, which is called meshing; in a semi-engaged state gradually out of engagement, referred to as engaged. The continuous rotation of the wave generator makes the four movements of engagement, engagement and disengagement continuously change the original working state of each, and the movement is called staggered tooth movement which changes the input rotation into the output movement.
At present, miniaturization of the harmonic speed reducer is a trend, but the miniaturization of the harmonic speed reducer easily causes low quality, such as: the structure strength is reduced, the service life is short due to insufficient bearing capacity, and the like, so that the cost of enterprises is indirectly improved. The miniaturization of the harmonic reducer is influenced by the deformation of the flexible gear, the size of the flexible gear is limited, so that the design barrier exists in the miniaturization of the harmonic reducer, the size can only be reduced by reducing the wall thickness of the flexible gear, the processing difficulty is increased, the integral strength is reduced, the output torque is reduced, the bearing capacity is deficient, and the integral service life of the harmonic reducer is shortened. Greatly improves the manufacturing cost and the use cost of enterprises.
Disclosure of Invention
Object of the invention
One object of the present invention is to provide a flexspline which does not require reduction in wall thickness of the flexspline to reduce the volume while reducing the axial dimension and at the same time not reducing the bearing capacity, and a second object is to provide a small-sized harmonic reducer, a robot arm and a robot which can reduce the radial and axial dimensions at the same time, reduce the overall volume of the same type of harmonic reducer by 70% compared with the conventional harmonic reducer, and can maintain the same strength, output torque and service life as those of the same.
(II) technical scheme
In order to solve the problems, the invention provides a flexible gear, which comprises a flexible gear transmission gear, a flexible gear first part, a flexible gear second part and a connecting part, wherein the diameter of the flexible gear first part is larger than that of the flexible gear second part; the flexible gear transmission gear is arranged on the peripheral wall of the first part of the flexible gear, one end of the first part of the flexible gear is connected with one end of the second part of the flexible gear through the connecting part, the flexible gear transmission gear further comprises a coupling part, the coupling part is arranged on the outer periphery of the other end of the second part of the flexible gear, and the diameter of the outer ring of the coupling part is larger than that of the first part of the flexible gear.
In another aspect of the present invention, preferably, the flexible gear first portion, the connecting portion, the flexible gear second portion and the coupling portion are connected smoothly.
In another aspect of the present invention, preferably, when the first portion of the flexible gear and the connecting portion are set to be connected in a curve, the axial length of the flexible gear satisfies the following formula:
L＝Rsinα+0.4d
Wherein L represents the axial length of the flexible gear, including the axial length of the first part of the flexible gear, the axial length of the second part of the flexible gear, and the axial length of the coupling portion; r represents the radius of an arc when the first part of the flexible gear is in curve connection with the connecting part; sin alpha is the flexible wheel axial length coefficient; d represents the diameter length of the outer ring of the flexible gear transmission gear.
In another aspect of the present invention, preferably, the second part of the flexible gear is configured with a larger diameter at two ends and a smaller diameter in the middle, and when the radius of the circular arc of the smaller diameter part of the second part of the flexible gear satisfies the following formula:
R1＝Rm+R(1-cosα)
Wherein R1 represents the arc radius of the smaller diameter part of the second part of the flexible gear; rm represents the arc radius of a part with a larger diameter at one end of the second part of the flexible gear; r represents the radius of an arc when the first part of the flexible gear is in curve connection with the connecting part; sin alpha is the axial length coefficient of the flexible wheel, cos alpha represents
In another aspect of the present invention, preferably, the axial length of the flexible shaft satisfies:
L＝(1.0～1.25)d
Wherein L represents the axial length of the flexible gear, including the axial length of the first part of the flexible gear, the axial length of the second part of the flexible gear, and the axial length of the coupling portion; d represents the diameter length of the outer ring of the flexible gear transmission gear.
In another aspect of the present invention, preferably, the flexspline is integrated with a data interface.
In another aspect of the present invention, preferably, the coupling portion includes a plurality of sub-coupling portions uniformly surrounding an outer circumference of the second portion of the flexible gear.
In another aspect of the present invention, preferably, a harmonic reducer includes the flexspline according to any one of the above, further includes a first steel wheel, a second steel wheel, and a wave generator;
The first steel wheel and the second steel wheel are of annular structures, the first steel wheel is connected with the second steel wheel, and steel wheel transmission teeth are arranged on the inner peripheral wall of the first steel wheel;
The first part and the second part of the flexible gear are arranged in annular accommodating cavities of the first steel gear and the second steel gear, and steel gear transmission teeth meshed with the flexible gear transmission teeth are arranged on the inner peripheral wall of the first steel gear;
the second steel wheel is connected with the second part of the flexible wheel through the coupling part;
the wave generator comprises a cam and a flexible bearing, and the cam, the flexible bearing and the flexible gear are nested in sequence.
In another aspect of the present invention, preferably, one end of the first steel wheel is provided with an annular extending boss, and the peripheral wall of the boss is provided with a first V-shaped ring groove; the inner ring of the second steel wheel is provided with a first part of the steel wheel and a second part of the steel wheel, and the inner diameter of the first part of the steel wheel is larger than that of the second part of the steel wheel; the inner peripheral wall of the first part of the steel wheel of the second steel wheel is provided with a second V-shaped annular groove which is matched with the first V-shaped annular groove to form a rectangular annular groove; the device also comprises a roller, wherein the roller is arranged in the rectangular ring groove.
In another aspect of the invention, preferably, a robotic arm includes a harmonic reducer as in any of the above.
In another aspect of the invention, preferably, a robot comprises a robotic arm as described above.
(III) beneficial effects
The technical scheme of the invention has the following beneficial technical effects:
according to the invention, the first part and the second part of the flexible gear are adopted, the diameter of the first part of the flexible gear is larger than that of the second part of the flexible gear, and the problems that the flexible gear is easy to damage if the axial length of the flexible gear is too short because the oval cam in the wave generator rotates in the flexible gear to deform when the harmonic reducer is miniaturized are solved, and the manufacturing cost and the using cost of enterprises are greatly improved. According to the invention, the volume is not required to be reduced by reducing the wall thickness of the flexible gear, the production difficulty is reduced, the bearing capacity of the harmonic flexible gear is improved, and the service life of the flexible gear is prolonged; the coupling part is further arranged, so that the connecting part can be reduced, the axial length of the harmonic reducer can be further reduced, the purpose of miniaturization is achieved, the space is effectively saved, high strength can be still ensured, the structure is simple, and the popularization is facilitated.
Drawings
FIG. 1 is a structural elevation view of a flexspline according to one embodiment of the present invention;
FIG. 2 is a cross-sectional view of a flex gear according to another embodiment of the invention;
FIG. 3 is a schematic view of the overall structure of a flexspline according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a harmonic reducer of one embodiment of the invention;
FIG. 5 is a cross-sectional view of the overall structure of a harmonic reducer according to another embodiment of the invention;
FIG. 6 is a schematic view of the overall structure of a harmonic reducer according to another embodiment of the invention;
FIG. 7 is a schematic view of the structure of a first steel wheel and a second steel wheel according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a first steel wheel according to one embodiment of the present invention;
FIG. 9 is a schematic view of a robot/arm configuration according to one embodiment of the present invention;
FIG. 10a is a schematic diagram of a dual arm robot configuration according to one embodiment of the present invention;
FIG. 10b is a schematic diagram of a compound robot configuration according to one embodiment of the present invention;
Reference numerals:
1. A first steel wheel; 2. a second steel wheel; 3. a flexible wheel; 4. a wave generator; 5. a coupling section; 6. a roller; 7. a harmonic reducer; 8. a mechanical arm; 1-1, steel wheel transmission teeth; 1-2, a boss; 2-1, a first part of the steel wheel; 2-2, a second part of the steel wheel; 3-1, a flexible gear transmission gear; 3-2, a first part of the flexible gear; 3-3, a second part of the flexible gear; 3-4, a connecting part; 4-1, cam; 4-2, a flexible bearing.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
A layer structure schematic diagram according to an embodiment of the present invention is shown in the drawings. The figures are not drawn to scale, wherein certain details may be exaggerated and some details may be omitted for clarity. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The embodiment of the invention provides a flexspline, fig. 1 shows a structural front view of the flexspline of one embodiment of the invention and fig. 3 shows an overall structural schematic view of the flexspline of one embodiment of the invention, as shown in fig. 1 and 3, the flexspline comprises a flexspline driving tooth 3-1, a flexspline first part 3-2, a flexspline second part 3-3 and a connecting part 3-4, the diameter of the flexspline first part 3-2 is larger than that of the flexspline second part 3-3, the axial dimensional relationship between the flexspline first part 3-2 and the flexspline second part 3-3 is not limited, the axial length of the flexspline first part 3-2 is larger, the axial length of the flexspline second part 3-3 is larger, and the axial lengths of the flexspline first part and the flexspline second part 3-3 are the same, and fig. 2 shows a cross-sectional view of the flexspline of another embodiment of the invention, as shown in fig. 1 and 2, the radial dimension relationship between the flexspline first part 3-2 and the second part 3-3 is further 0.0.0-9; the arrangement can reduce the damage of the flexible gear in the movement deformation process and prolong the service life of the flexible gear; optionally, in this embodiment, the axial length of the first portion 3-2 of the flexspline is relatively long; the arrangement can reduce the damage of the flexible gear in the movement deformation process and prolong the service life of the flexible gear; the wall thicknesses of the first flexible gear part 3-2 and the second flexible gear part 3-3 are not particularly limited, and the structure can be an integral structure with one thickness or a structure with one thicker end and one thinner end; the diameter of the first flexible gear part 3-2 is larger than that of the second flexible gear part 3-3, the ratio relation of the diameters of the first flexible gear part 3-2 and the second flexible gear part 3-3 is not specifically limited, the specific structures of the first flexible gear part 3-2 and the second flexible gear part 3-3 are not limited, alternatively, the first flexible gear part 3-2 and the second flexible gear part 3-3 are respectively in cylindrical structures with the same diameter, one of the first flexible gear part and the second flexible gear part 3-3 can be in cylindrical structures with the same diameter, the other one of the first flexible gear part and the second flexible gear part is in cylindrical structures with different diameters, the first flexible gear part 3-2 and the second flexible gear part 3-3 are respectively in cylindrical structures with unchanged diameters, and the first flexible gear part and the second flexible gear part 3-3 are respectively in cylindrical structures with unchanged diameters as shown in fig. 1; the flexible gear 3 adopts a hollow structure, so that the internal space is released to the greatest extent, and an operation space is provided for internal wiring and installation; the diameter of the second part 3-3 of the flexspline is smaller than that of the first part 3-2 of the flexspline, namely, the necking structural design can effectively increase the strength of the flexspline, and compared with the traditional structure, the radial and/or axial dimensions of the flexspline 3 can be greatly reduced under the same bearing condition, namely, the overall dimension of the harmonic reducer is reduced, so that the possibility of miniaturization of the harmonic reducer is provided. The flexible gear transmission teeth 3-1 are disposed on the outer circumferential wall of the first flexible gear portion 3-2, where the axial length relation between the flexible gear transmission teeth 3-1 and the outer circumferential wall of the first flexible gear portion 3-2 is not limited, alternatively, the two may have the same axial length, alternatively, the length of the flexible gear transmission teeth 3-1 may be smaller than the axial length of the outer circumferential wall of the first flexible gear portion 3-2, and may be disposed at one end of the first flexible gear portion 3-2 away from the second flexible gear portion 3-3, or may be disposed at one end of the first flexible gear portion 3-2 near the second flexible gear portion 3-3, or may be disposed at the center of the first flexible gear portion 3-2, in this embodiment, as shown in fig. 1 and fig. 2, alternatively, the length of the flexible gear transmission teeth 3-1 is smaller than the axial length of the outer circumferential wall of the first flexible gear portion 3-2, and the flexible gear transmission teeth 3-1 are disposed at one end of the first flexible gear portion 3-2 away from the second flexible gear portion 3-3. One end of the first flexible gear part 3-2 is connected with one end of the second flexible gear part 3-3 through a connecting part 3-4, the specific structure of the connecting part 3-4 is not limited, the connecting part 3-4 is optionally smooth linear connection and can also be curved connection, further, as shown in fig. 2, the connecting part 3-4 is of a micro-bending structure, an opening of the micro-bending structure faces to the coupling part 5, the micro-bending structure can further increase the structural strength of the flexible gear, increase the bearing capacity and prolong the service life of the flexible gear, the center of the coupling part 5 comprises a through hole, the through hole can be an equal-diameter hole, a variable-diameter hole, a stepped hole and the like, the specific size of the through hole is not limited, the through hole is optionally the same as the through hole of the second flexible gear part 3-3, the whole harmonic reducer is of a hollow structure, and the harmonic reducer is convenient to walk in the middle; optionally, the central through hole of the coupling part 5 is a stepped hole, the diameter hole of the step Kong Zhongxiao is the same as the size of the through hole of the second part 3-3 of the flexible wheel, a sensor or an interface circuit, such as a grating encoder, can be installed at the position of the large-diameter hole in the stepped hole, so as to further optimize system integration, reduce the size or volume of a joint of the mechanical arm and even the whole mechanical arm, the coupling part 5 is arranged at the outer periphery of the other end of the second part 3-3 of the flexible wheel, the relation between the maximum diameter of the coupling part 5 and the diameters of the second part 3-3 of the flexible wheel and the first part 3-2 of the flexible wheel is not limited, and optionally, the maximum diameter of the coupling part 5 is larger than the diameter of the first part 3-2 of the flexible wheel, or the maximum diameter of the coupling part 5 is smaller than the diameter of the first part 3-2 of the flexible wheel and the diameter of the second part 3-3 of the flexible wheel, or the maximum diameter of the coupling part 5 is smaller than the diameter of the second part 3-3 of the flexible wheel, as shown in fig. 1 and 2, in this embodiment, the maximum diameter of the coupling part 5 is larger than the diameter of the first part 3-2 of the flexible wheel; the material of the coupling portion 5, optionally a metal material, and the thickness of the coupling portion 5 are not limited, and the axial length of the coupling portion 5 is optionally larger than the wall thickness of the flexspline 3 as shown in fig. 1 and 2. In this embodiment, the coupling part is arranged on the outer periphery of the second part of the flexible gear, so that other parts of the flexible gear and the harmonic reducer are not required to be connected, the connecting parts are reduced, the whole weight of the harmonic reducer can be lightened, the axial length of the connecting parts of the harmonic reducer can be reduced, the whole volume is reduced, and the purpose of miniaturization is further achieved.
In one embodiment of the invention, further, the flexible gear first part 3-2, the connecting part 3-4, the flexible gear second part 3-3 and the coupling part 5 are smoothly connected in pairs; the specific form of smooth connection is not limited herein, alternatively, straight smooth connection and curve connection are adopted, as shown in fig. 1, 2 and 3, the first part 3-2 of the flexspline and the connecting part 3-4 are connected by a first curve, the connecting part 3-4 and the second part 3-3 of the flexspline are connected by a second curve, the second part 3-3 of the flexspline and the coupling part 5 are connected by a third curve, and the curvature of the three curves is not limited herein, and the lengths of the three curves are not limited. The smooth connection can improve structural strength, and the bearing capacity of the flexible gear is improved while miniaturization is achieved. Further, as shown in fig. 2 and 3, the second portion 3-3 of the flexible gear may have a curved structure, and optionally, the peak of the curve faces the central axis of the flexible gear 3; the coupling part 5 can also be of a curve structure, and optionally, the peak of the curve waveform faces the first part 3-2 of the flexspline; in order to meet the process demand during manufacturing of the flexible gear, the wall of the gear end is thinner, the wall of the opposite end of the gear end is thicker, the wall of the opposite end of the gear end is a stress concentration part in the use process of the flexible gear, meanwhile, in order to prolong the service life, the axial size of the flexible gear cannot be too small, otherwise the flexible gear is easy to break, so the flexible gear is a key factor affecting the axial size of the harmonic reducer, in the embodiment, the flexible gear is smoothly connected with the flexible gear through the first part, the connecting part, the second part and the coupling part, so that the flexible gear has better bearing capacity under the condition of the same volume, and the second part of the flexible gear is arranged into a curve structure, so that the bearing capacity is further improved.
In one embodiment of the present invention, further, fig. 4 shows a cross-sectional view of the harmonic reducer according to one embodiment of the present invention, and as shown in fig. 4, L represents the axial length of the flexspline, including the axial length of the flexspline first portion 3-2, the axial length of the flexspline second portion 3-3, and the axial length of the coupling portion 5; l1 represents the axial length of the first part 3-2 of the flexspline, and L3 represents the axial length of the second part 3-3 of the flexspline; l2 represents the diameter dimension difference of the minimum diameter parts of the first part 3-2 and the second part 3-3 of the flexible gear, and L4 represents the diameter dimension difference of the minimum diameter parts of the coupling part 5 and the second part of the flexible gear; when the first part 3-2 of the flexible gear and the connecting part 3-4 are connected in a curve, the axial length of the flexible gear meets the following formula:
L＝Rsinα+0.4d
Wherein L represents the axial length of the flexible gear and comprises the axial length of the first flexible gear part 3-2, the axial length of the second flexible gear part 3-3 and the axial length of the coupling part 5; r represents the radius of an arc when the first part 3-2 of the flexible gear is in curve connection with the connecting part 3-4; sin alpha is the flexible wheel axial length coefficient; d represents the diameter length of the tooth outer ring of the flexible gear transmission tooth 3-1. The value range of alpha is not limited here, and optionally, the value range of alpha is 29-33 degrees. The flexible gear has the advantages that the integral axial size of the flexible gear is reduced, meanwhile, the structural strength of the flexible gear is better, and the bearing capacity is larger.
In one embodiment of the present invention, further, when the second part 3-3 of the flexible gear is configured to have a structure with larger diameters at two ends and smaller diameters in the middle, the radius of the circular arc of the smaller diameter part of the second part 3-3 of the flexible gear satisfies the following formula:
R1＝Rm+R(1-cosα)
wherein R1 represents the arc radius of the smaller diameter part of the flexible gear second part 3-3; rm represents the arc radius of a part with a larger diameter at one end of the flexible gear second part 3-3; r represents the radius of an arc when the first part 3-2 of the flexible gear is in curve connection with the connecting part 3-4; cos alpha represents The second part 3-3 of the flexible gear is divided into three sections, wherein one section is a smaller diameter part of the second part 3-3 of the flexible gear, namely a middle section, and the other two sections are two sections divided by the smaller diameter part of the second part 3-3 of the flexible gear, the specific content of division is not limited, and the flexible gear has the advantages of better structural strength, larger bearing capacity, simple process and convenient implementation while the whole axial size of the flexible gear is reduced.
In one embodiment of the present invention, further, the axial length of the flexspline 3 satisfies:
L＝(1.0～1.25)d
Wherein L represents the axial length of the flexible gear and comprises the axial length of the first flexible gear part 3-2, the axial length of the second flexible gear part 3-3 and the axial length of the coupling part 5; d represents the diameter length of the tooth outer ring of the flexible gear transmission tooth 3-1. The axial length of the flexible gear and the diameter length of the outer ring of the flexible gear transmission gear 3-1 form an equal ratio relationship, the flexible gear with proper axial length can be adaptively selected according to different application scenes, and the flexible gear within the range of the ratio coefficient ensures that the flexible gear has better structural strength and larger bearing capacity.
In one embodiment of the present invention, further,
L1＝(0.4～0.6)d
L2＝(0.1～0.3)d
L3＝(0.1～0.3)d
L1 represents the axial length of the first part 3-2 of the flexspline, and L3 represents the axial length of the second part 3-3 of the flexspline; l2 represents the diameter size difference of the minimum diameter parts of the first part 3-2 and the second part 3-3 of the flexible gear, d represents the diameter length of the outer ring of the flexible gear transmission gear 3-1, the relation between the size of each part of the flexible gear and the diameter length of the outer ring of the flexible gear transmission gear 3-1 is set to a coefficient range, and a proper flexible gear can be adaptively selected according to different application scenes, so that the flexible gear in the ratio range has better structural strength and larger bearing capacity.
Further, the bearing capacity of the flexspline satisfies the following formula:
Wherein T represents the bearing capacity of the flexible gear, K U represents the strength coefficient of the first part of the flexible gear, K V represents the strength coefficient of the second part of the flexible gear, d represents the diameter length of the outer ring of the flexible gear transmission gear 3-1, d 1 represents the minimum diameter of the second part of the flexible gear 3-3, d 2 represents the maximum diameter of the second part of the flexible gear 3-3, S 1 represents the wall thickness of the first part of the flexible gear, S 2 represents the wall thickness of the second part of the flexible gear, W represents the radial variable of the flexible gear, and R1 represents the radius of the circular arc of the smaller diameter part of the second part of the flexible gear 3-3; rm represents the radius of the circular arc of the larger diameter portion of the end of the second flexspline portion 3-3. The flexible gear can be adaptively selected according to different application scenes, so that the application range of the flexible gear is wider, the structural strength of the flexible gear is better, and the bearing capacity is larger.
In one embodiment of the present invention, further, the flexible wheel 3 is integrated with a data interface, the specific location of the integration is not limited, the encoder feedback mechanism and the flexible wheel 3 are integrally designed, optionally, the central through hole of the coupling part 5 is set to be a stepped hole, the diameter hole of the step Kong Zhongxiao is the same as the size of the through hole of the second part 3-3 of the flexible wheel, a sensor or an interface circuit, such as a grating encoder, can be installed at the large diameter hole in the stepped hole, and the integrated data interface can further greatly utilize the space to reduce the volume, the integrated design, improve the control precision and simplify the installation.
In one embodiment of the present invention, the coupling portion 5 further includes a plurality of sub-coupling portions, where the plurality of sub-coupling portions uniformly encircle the outer periphery of the smaller diameter portion 3-3 of the flexspline, and the specific structure of the plurality of sub-coupling portions is not limited herein, and optionally, the coupling portion is semicircular with the same structure, and a threaded opening is provided thereon, and may also be rectangular, and the surrounding design of the plurality of sub-coupling portions can further reduce the weight of the harmonic generator compared with the design of a whole circle, so as to achieve the purpose of light weight.
An embodiment of the present invention provides a harmonic reducer, including a flexspline as set forth in any one of the above, fig. 5 shows a cross-sectional view of an overall structure of the harmonic reducer according to an embodiment of the present invention, fig. 6 shows a schematic view of an overall structure of the harmonic reducer according to an embodiment of the present invention, and as shown in fig. 5 and 6, the harmonic reducer includes: the device comprises a first steel wheel 1, a second steel wheel 2, a flexible wheel 3 and a wave generator 4; the first steel wheel 1 and the second steel wheel 2 are of annular structures, the first steel wheel 1 and the second steel wheel 2 form an annular accommodating cavity, the radial relation between the first steel wheel 1 and the second steel wheel 2 is not limited, the axial relation between the first steel wheel 1 and the second steel wheel 2 is not limited, alternatively, the radial lengths of the first steel wheel 1 and the second steel wheel 2 are the same, the axial lengths of the first steel wheel 1 and the second steel wheel 2 are the same, the first steel wheel 1 and the second steel wheel 2 are connected, the connecting structure between the first steel wheel 1 and the second steel wheel 2 is not limited, the connecting structure can be of a crossed roller bearing structure, fig. 8 shows a cross section of the first steel wheel of one embodiment of the invention, in the embodiment, as shown in fig. 8, one end of the connecting structure is provided with an annular extending boss 1-2, the dimensional ratio relation between the boss 1-2 and the first steel wheel 1 is not limited, alternatively, the boss 1-2 can be arranged at a position biased to the outer ring of the first steel wheel 1, and can also be arranged at a position biased to the first steel wheel 1 or a position which can extend along the first steel wheel 1; the outer peripheral wall of the boss 1-2 is provided with a first V-shaped annular groove, the position relation between the first V-shaped annular groove and the boss 1-2 is not limited, and the specific shape of the first V-shaped annular groove is not limited; as shown in fig. 5, the inner ring of the second steel wheel 2 comprises a first steel wheel part 2-1 and a second steel wheel part 2-2, the dimensional proportion relation between the first steel wheel part 2-1 and the second steel wheel part 2-2 is not limited, a second V-shaped ring groove is arranged on the inner periphery of the first steel wheel part and is matched with the first V-shaped ring groove to form a rectangular ring groove, optionally, in the embodiment, the axial length of the first steel wheel part 2-1 and the axial length of the boss 1-2 are the same, the inner ring of the second steel wheel 2 also comprises a roller 6, the roller 6 is arranged in the rectangular ring groove formed by the first V-shaped ring groove and the second V-shaped ring groove, optionally, the roller 6 is in a cylindrical structure processed by metal materials, and is crossly arranged in the rectangular ring groove formed by the first steel wheel 1 and the second steel wheel 2; optionally, in this embodiment, the first steel wheel 1 is provided with a roller 6 at an in-out position, and a roller stop is provided, and after the roller 6 is installed, the roller stop is placed at the in-out position of the roller 6 and is fixedly connected with the first steel wheel 1, where the first steel wheel 1 may be connected by using an installation screw; the embodiment realizes the power transmission between the axial and radial bearing and input steel wheel and the output steel wheel; compared with the traditional design, the number of structural parts is reduced, the structural thickness is reduced, the weight of the bearing wall is lightened, the harmonic wave weight is lighter, and the structure is simpler; the diameter of the harmonic reducer of the structure is the diameter of the steel wheel, the structure is simple, and the purpose of small size of the harmonic reducer is realized; the first steel wheel 1 and the second steel wheel 2 are connected through the rollers 6, the first steel wheel 1 is used as the outer ring of the roller bearing, the second steel wheel 2 is used as the inner ring of the roller bearing, and then the first steel wheel 1, the second steel wheel 2 and the rollers 6 form a roller bearing and steel wheel integrated structure; the first steel wheel 1 and the second steel wheel 2 are connected to form an input steel wheel or an output steel wheel.
When the first steel wheel 1 is fixed, under the cooperation of the rollers 6, the power is output through the second steel wheel 2; when the second steel wheel 2 is fixed, the power is output through the first steel wheel 1 under the cooperation of the rollers 6. The materials of the first steel wheel 1 and the second steel wheel 2 are not limited, and are optionally metal materials, and further optionally self-lubricating materials; in this embodiment, optionally, threaded holes are uniformly machined on the upper end surfaces and the outer ring of the first steel wheel 1 and the second steel wheel 2, and as the mounting holes of the input steel wheel and the output steel wheel, the end surface mounting or radial mounting mode can be selected according to actual use requirements, and the fixed mounting of the harmonic reducer is realized through standard screws in actual use.
In this embodiment, after the first steel wheel 1 and the second steel wheel 2 are connected with each other, the relationship between the inner and outer dimensions of the two is not limited, and optionally, after the connection, the inner and outer dimensions of the two are the same, because the first steel wheel 1 and the second steel wheel 2 have a ring-shaped structure, after the connection, the first steel wheel 1 and the second steel wheel 2 form a hollow structure, and a ring-shaped accommodating cavity is formed in the middle, so that the internal space is released to the greatest extent, and the possibility is provided for internally installing wires. Fig. 7 shows a schematic structural view of a first steel wheel and a second steel wheel according to an embodiment of the present invention, as shown in fig. 7, the inner peripheral wall of the first steel wheel 1 is provided with steel wheel driving teeth 1-1 meshed with flexible wheel driving teeth 3-1, where the radial dimension relationship between the steel wheel driving teeth 1-1 and the inner peripheral wall of the first steel wheel 1 is not limited, and optionally, the steel wheel driving teeth 1-1 and the inner peripheral wall of the first steel wheel 1 are concentrated at one end of the inner peripheral wall of the first steel wheel 1, or concentrated at the central part of the inner peripheral wall of the first steel wheel 1, and partial spaces are left at two ends, or the axial length of the steel wheel driving teeth 1-1 and the axial length of the inner peripheral wall of the first steel wheel 1 are the same as those of the inner peripheral wall of the first steel wheel 1, as shown in fig. 8.
The first flexible gear part 3-2 and the second flexible gear part 3-3 are arranged in annular accommodating cavities of the first steel gear 1 and the second steel gear 2, the tooth number relation between the flexible gear drive teeth 3-1 and the steel gear drive teeth 1-1 is not limited, alternatively, two tooth numbers of the flexible gear drive teeth 3-1 and the steel gear drive teeth 1-1 are reduced, the harmonic reducer achieves the reduction ratio through the tooth difference between the flexible gear drive teeth 3-1 and the steel gear drive teeth 1-1, the smaller the tooth difference is, the larger the reduction ratio is, the specific structures of the flexible gear drive teeth 3-1 and the steel gear drive teeth 1-1 are not limited, and optionally, the flexible gear drive teeth 3-1 and the steel gear drive teeth 1-1 are involute gears or arc gears; the material of the flexspline 3 is not limited herein, and alternatively, the flexspline 3 is made of a metal material, and the flexspline first portion 3-2 and the flexspline second portion 3-3 are integrally formed.
The wave generator 4 is disposed inside the flexible gear 3, that is, in the annular cavity of the flexible gear 3, optionally, in the annular cavity of the first part 3-2 of the flexible gear, the specific structure of the wave generator 4 is not limited, the relation with the axial length of the first part 3-2 of the flexible gear is not limited, in this embodiment, as shown in fig. 5, the wave generator 4 includes a cam 4-1 and a flexible bearing 4-2, the cam 4-1 is an annular revolving body structure processed by metal materials, the outer wall is an elliptical structure, power is input through the wave generator 4, the power is converted into rotational deformation of the flexible bearing 5 during external power input, the flexible gear 3 is correspondingly deformed, the flexible gear 3 is meshed with the first steel gear 1, the power is transmitted to the steel gear transmission gear 1-1 through the flexible gear transmission gear 3-1, the contact height of the steel gear transmission gear 1-1 of the first steel gear 1 and the flexible gear transmission gear 3-1 of the flexible gear is the same, and the output torque of the harmonic reducer is ensured.
In this embodiment, the number of steel wheel driving teeth 1-1 of the first steel wheel 1 is greater than the number of flexible wheel driving teeth 3-1, because the wave generator 4 has an oval structure, for the teeth between the major axis and the minor axis of the wave generator 4, the teeth along different sections of the circumferences of the flexible wheel 3 and the first steel wheel 1 are in a half-engaged state of gradually engaging, called engaging, and in a half-engaged state of gradually disengaging, called engaging, and the continuous rotation of the wave generator 4 continuously changes the respective original working states, and the movement is caused by a tooth difference, that is, the flexible wheel 3 and the first steel wheel 1 form a staggered tooth movement.
Optionally, an annular boss is machined at one end of the outer ring of the cam 4-1, an annular groove is machined at the other end of the outer ring, a bearing retainer ring is installed in the annular groove, and axial limiting of the flexible bearing 5 is achieved through the annular boss and the bearing retainer ring. The inner ring of the cam 4-1 is provided with a mounting through hole, and is connected with an external power input shaft by using a connecting piece such as a standard screw; the flexible bearing 4-2 is composed of an inner ring, an outer ring and ball rollers, the inner ring of the flexible bearing 4-2 is deformed under the drive of the cam 4-1, then the outer ring of the flexible bearing 4-2 is driven to deform through the ball rollers, and finally the flexible wheel 3 connected with the outer ring is driven to deform, so that power transmission is realized. The flexible gear 3, the flexible bearing 4-2 and the cam 4-1 are sleeved in sequence, the flexible bearing 4-2 is axially limited through a boss of the cam 4-1 and a bearing retainer ring, and the flexible gear 3 is tightly matched with the flexible bearing 4-2.
As shown in fig. 5, the second part 3-3 of the harmonic reducer flexible gear is connected with the second steel wheel 2 through a coupling part 5; the specific structure of the coupling portion 5 is not limited, the connection mode is not limited, screw connection, clamping connection or welding are optional, and a person skilled in the art can understand that the size relationship between the coupling portion 5 and the second steel wheel 2 is not limited as long as the purpose of connection can be achieved, alternatively, the diameter of the outer ring of the coupling portion 5 is the same as the diameter of the outer ring of the second steel wheel 2, and connection of the two is convenient.
According to the embodiment, the first steel wheel and the second steel wheel are arranged to be of annular structures, and the inner dimension and the outer dimension after connection are the same, so that the diameter of the designed harmonic speed reducer is the diameter of the steel wheel, the width of one bearing ring is reduced compared with the same-parameter harmonic speed reducer in the market, the structure of the harmonic speed reducer is simpler, and the realized dimension can be smaller; the steel wheel transmission teeth are arranged on the inner periphery of the first steel wheel and meshed with the flexible wheel transmission teeth of the flexible wheel, so that the meshing length is reduced, the production process is simplified, the manufacturing difficulty is reduced, the manufacturing cost is reduced, the flexible wheel cannot float in the flexible wheel, and the stability of the structure is improved; when the harmonic reducer is miniaturized, as the elliptical cam in the wave generator rotates in the flexible gear to deform the flexible gear, if the radial length of the flexible gear is too short, the flexible gear is easy to damage in the deformation process, and therefore the first part and the second part of the flexible gear are arranged, the diameters of the two parts are different, and the part with concentrated stress points of the flexible gear is arranged as the part with smaller diameter, so that the bearing capacity of the harmonic flexible gear is improved, and the service life of the flexible gear is prolonged; the coupling part is further arranged, the second part of the flexible gear is connected with the second steel gear through the coupling part, so that the radial length of the harmonic reducer can be further reduced, the purpose of miniaturization is achieved, the space is effectively saved, high strength can be still ensured, the structure is simple, and popularization is facilitated.
An embodiment of the invention provides a robot/mechanical arm, as shown in fig. 9, comprising a harmonic reducer 7 as described in any of the above. According to the embodiment, the harmonic reducer with smaller volume and stronger bearing capacity is arranged at the joint of the robot/mechanical arm, so that the whole structure of the joint of the robot/mechanical arm is smaller, wires are routed in the harmonic reducer, the joint space of the robot/mechanical arm is further saved, and the installation is convenient.
An embodiment of the present invention provides a robot, fig. 10a shows a schematic structural diagram of a dual-arm robot according to an embodiment of the present invention, and fig. 10b shows a schematic structural diagram of a composite robot according to an embodiment of the present invention, as shown in fig. 10a and 10b, including a mechanical arm 8 according to any one of the above embodiments, where the overall space of the robot is small, the joints are flexible, and the robot can move in a small range.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (8)
1. The utility model provides a flexbile gear which characterized in that: the flexible gear (3) comprises flexible gear transmission teeth (3-1), a flexible gear first part (3-2), a flexible gear second part (3-3) and a connecting part (3-4), wherein the diameter of the flexible gear first part (3-2) is larger than that of the flexible gear second part (3-3); the flexible gear transmission gear (3-1) is arranged on the outer peripheral wall of the first flexible gear part (3-2), one end of the first flexible gear part (3-2) is connected with one end of the second flexible gear part (3-3) through the connecting part (3-4), the flexible gear transmission gear further comprises a coupling part (5), the coupling part (5) is arranged on the outer peripheral edge of the other end of the second flexible gear part (3-3), the outer ring diameter of the coupling part (5) is larger than the diameter of the first flexible gear part (3-2), the coupling part (5) comprises a plurality of sub-coupling parts, and the plurality of sub-coupling parts uniformly encircle the outer peripheral edge of the second flexible gear part (3-3);
The flexible gear first part (3-2), the connecting part (3-4), the flexible gear second part (3-3) and the coupling part (5) are smoothly connected in pairs;
the axial length of the flexible gear (3) is L1, the axial length of the first part (3-2) of the flexible gear is L3, and the axial length of the second part (3-3) of the flexible gear is L3; l2 represents the diameter dimension difference of the minimum diameter part of the first part (3-2) and the second part (3-3) of the flexible gear, and the following formula is satisfied:
L=(1.0～1.25)d
L1=（0.4～0.6）d
L2=（0.1～0.3）d
Wherein L represents the axial length of the flexible gear and comprises the axial length of the first flexible gear part (3-2), the axial length of the second flexible gear part (3-3) and the axial length of the coupling part (5); l1 represents the axial length of the first part (3-2) of the flexible gear, d represents the diameter length of the outer ring of the flexible gear transmission gear (3-1), and L2 represents the diameter size difference between the first part (3-2) of the flexible gear and the minimum diameter part of the second part (3-3) of the flexible gear;
The bearing capacity of the flexible gear meets the following formula:
Wherein T represents the bearing capacity of the flexible gear, K U represents the strength coefficient of the first part of the flexible gear, K V represents the strength coefficient of the second part of the flexible gear, d represents the diameter length of the outer ring of the flexible gear transmission gear 3-1, d 1 represents the minimum diameter of the second part of the flexible gear 3-3, d 2 represents the maximum diameter of the second part of the flexible gear 3-3, S 1 represents the wall thickness of the first part of the flexible gear, S 2 represents the wall thickness of the second part of the flexible gear, W represents the radial variable of the flexible gear, and R1 represents the radius of the circular arc of the smaller diameter part of the second part of the flexible gear 3-3; rm represents the arc radius of the larger diameter part of one end of the second flexible gear part 3-3, and L3 represents the axial length of the second flexible gear part 3-3.
2. The flexspline of claim 1 wherein: when the first flexible gear part (3-2) and the connecting part (3-4) are connected in a curve, the axial length of the flexible gear meets the following formula:
L=Rsinα+0.4d
Wherein L represents the axial length of the flexible gear and comprises the axial length of the first flexible gear part (3-2), the axial length of the second flexible gear part (3-3) and the axial length of the coupling part (5); r represents the radius of an arc when the first part (3-2) of the flexible gear is in curve connection with the connecting part (3-4); sin alpha is the flexible wheel axial length coefficient; d represents the diameter length of the outer ring of the flexible gear transmission gear.
3. The flexspline of claim 1 wherein: when the flexible gear second part (3-3) is of a structure with larger diameters at two ends and smaller diameter in the middle, the arc radius of the smaller diameter part of the flexible gear second part (3-3) meets the following formula:
R1=Rm+R(1-cosα)
wherein R1 represents the radius of the circular arc of the smaller diameter part of the second part (3-3) of the flexible gear; rm represents the radius of the circular arc of the part with the larger diameter at one end of the flexible gear second part (3-3); r represents the radius of an arc when the first part (3-2) of the flexible gear is in curve connection with the connecting part (3-4); sin alpha is the axial length coefficient of the flexible wheel, cos alpha represents 。
4. The flexspline of claim 1 wherein: the flexible wheel (3) is integrated with a data interface.
5. A harmonic reducer, characterized by comprising a flexspline according to any one of claims 1-4, further comprising a first steel spline (1), a second steel spline (2) and a wave generator (4);
The first steel wheel (1) and the second steel wheel (2) are of annular structures, the first steel wheel (1) is connected with the second steel wheel (2), and steel wheel transmission teeth (1-1) are arranged on the inner peripheral wall of the first steel wheel (1);
The flexible gear comprises a first flexible gear part (3-2) and a second flexible gear part (3-3), wherein the first flexible gear part and the second flexible gear part are arranged in annular accommodating cavities of the first steel gear (1) and the second steel gear (2), and steel gear transmission teeth (1-1) meshed with the flexible gear transmission teeth (3-1) are arranged on the inner peripheral wall of the first steel gear (1);
the second steel wheel (2) is connected with the second flexible wheel part (3-3) through the coupling part (5);
The wave generator (4) comprises a cam (4-1) and a flexible bearing (4-2), wherein the cam (4-1), the flexible bearing (4-2) and the flexible gear (3) are sequentially nested.
6. The harmonic reducer according to claim 5, wherein one end of the first steel wheel (1) is provided with an annularly extending boss (1-2), and the peripheral wall of the boss (1-2) is provided with a first V-shaped ring groove; the inner ring of the second steel wheel (2) is provided with a first steel wheel part (2-1) and a second steel wheel part (2-2), and the inner diameter of the first steel wheel part (2-1) is larger than the inner diameter of the second steel wheel part (2-2); the inner peripheral wall of a first part (2-1) of the steel wheel of the second steel wheel is provided with a second V-shaped annular groove which is matched with the first V-shaped annular groove to form a rectangular annular groove; the novel ring groove also comprises a roller (6), wherein the roller (6) is arranged in the rectangular ring groove.
7. A mechanical arm, characterized in that: a harmonic reducer comprising a device according to any one of claims 5 to 6.
8. A robot, characterized in that: comprising the mechanical arm of claim 7.
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