CN201934620U - Flexible gear, harmonic wave reducer and robot joint structure - Google Patents
Flexible gear, harmonic wave reducer and robot joint structure Download PDFInfo
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- CN201934620U CN201934620U CN201120037683XU CN201120037683U CN201934620U CN 201934620 U CN201934620 U CN 201934620U CN 201120037683X U CN201120037683X U CN 201120037683XU CN 201120037683 U CN201120037683 U CN 201120037683U CN 201934620 U CN201934620 U CN 201934620U
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- flexbile gear
- gear body
- stationary platen
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- flexible gear
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Abstract
The utility model discloses a flexible gear, which comprises a flexible gear body, external teeth and a fixing table, wherein the flexible gear body is flexional in the radial direction; an opening is formed at one end of the flexible gear body, and the other end of the flexible gear body is connected with the fixing table used for fixing an output shaft or an input shaft; the external teeth are positioned on the outer edge surface at the opening end of the flexible gear body; and an elastic part is used for the transition between the flexible gear body and the fixing table. The utility model also discloses a harmonic wave reducer, which comprises a rigidity gear, the flexible gear and a waveform generator, wherein the waveform generator is used for bending the flexible gear into an ellipse, so that the flexible gear can be meshed with the rigidity gear. The elastic part is additionally arranged between the flexible gear body of the flexible gear and the fixing table, through the elastic buffer formed by the transition of the elastic part, the forming degree of a concave conical surface and a convex conical surface formed at the opening end and the other end of the flexible gear body of the flexible gear and generated by being forced by the ellipse generator can be effectively lessened, therefore, great load bearing capability can be generated, and the service life of the flexible gear can be prolonged.
Description
Technical field
The utility model relates to a kind of flexbile gear, harmonic speed reducer and robot joint structure.
Background technique
The harmonic reduction transmission is that a kind of controlled elasticity that relies on flexible gear to produce is out of shape the novel mechanical transmission that comes transmitting movement and power.As depicted in figs. 1 and 2, its basic building block comprises oval-shaped wave-generator 1, the flexbile gear 2 of thin-wall barrel shape and the firm wheel 3 that fine rigidity is arranged.When wave-generator 1 rotates, force flexbile gear 2 to produce resiliently deformable, its tooth is interacted with just taking turns 3 teeth, thereby realize the purpose of transmission.
Flexbile gear is in the resiliently deformable of high frequency and high reps, and the flexbile gear cylindrical shell very easily produces fatigue ruption, and generally speaking, crackle originates from flexbile gear tooth root part, extends vertically then, and then is 45 ° of oblique expansions.If the flexbile gear sense of rotation constantly changes, then crackle can also be two-way 45 ° of expansions this is a present known harmonic reduction transmission main form of invalidation the most.
The needs that the inherent characteristics of harmonic reduction transmission needs and makes manufacture the thin walled cylinder tubbiness with flexbile gear earlier usually.When flexbile gear and wave-generator, just wheel combination join finish after, the circular open ends of flexbile gear will be forced by oval-shaped wave-generator and become ellipse.
In research and practice process to prior art, inventor of the present utility model finds, in the above-mentioned prior art: because the circular cross-section circumference of flexbile gear is constant, must make that the major axis of elliptical openings is longer than original circular diameter behind the deformation of flexible wheel, and minor axis is shorter than original circular diameter, extremely shown in Figure 5 as Fig. 3, can directly cause the longitudinal end of elliptical openings and the other end of flexbile gear to form the convex cone face, and the other end of minor axis end and flexbile gear forms the concave cone face, and at the longitudinal end of elliptical openings flexbile gear tooth and just gear teeth meshing zone just.Because the inevitably formation of convex cone face and concave cone face has directly caused flexbile gear to become the conical surface with the flank engagement face of just taking turns.As shown in Figure 6, this reduces flexbile gear that makes and the tooth area of contact of just having taken turns, and the pressure that the unit area of contact bears increases, and because of force bearing point is offset toward the tooth top direction, the moment of flexure that tooth root bears strengthens, and finally quickens the generation of the fatigue crack of tooth root simultaneously.
The model utility content
Strengthen in order to solve the moment of flexure that the flexbile gear tooth root bears in the prior art, finally quicken the problem of the fatigue crack generation of tooth root, the utility model embodiment provides a kind of flexbile gear, harmonic speed reducer and robot joint structure.
The utility model embodiment provides a kind of flexbile gear, comprises radially flexible flexbile gear body, external teeth and stationary platen, described flexbile gear body one end opening, and the other end connects the described stationary platen that is used for fixing output shaft or input shaft; Described external teeth is positioned at described flexbile gear body opening end outer fringe surface; Pass through the spring section transition between described flexbile gear body and the described stationary platen.
The utility model embodiment also provides a kind of harmonic speed reducer, comprising:
Firm wheel, flexbile gear and waveform generator,
Described flexbile gear comprises radially flexible flexbile gear body, external teeth and stationary platen, described flexbile gear body one end opening, and the other end connects the described stationary platen that is used for fixing output shaft; Described external teeth is positioned at described flexbile gear body opening end outer fringe surface; Pass through the spring section transition between described flexbile gear body and the described stationary platen,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
The utility model embodiment also provides a kind of robot joint structure, comprise housing, motor and above-mentioned harmonic speed reducer, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
The utility model embodiment increases spring section between the flexbile gear body of flexbile gear and stationary platen, elastic buffer by spring section transition formation, can improve the flexbile gear flexbile gear body opening end and the convex cone face of the other end formation and the order of severity that the concave cone face takes place that force because of oval generator effectively, thereby can produce very big bearing capacity, and improve the working life of flexbile gear.
Description of drawings
In order to be illustrated more clearly in the technological scheme among the utility model embodiment, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is embodiments more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.Wherein
Fig. 1 has shown a kind of plan view of harmonic speed reducer in the prior art;
Fig. 2 has shown the side sectional view of Fig. 1;
Fig. 3 has shown harmonic speed reducer working procedure schematic representation;
Fig. 4 has shown the partial enlarged drawing of Fig. 1;
Fig. 5 has shown the partial enlarged drawing of Fig. 1;
Fig. 6 has shown flexbile gear and firm wheel engaging stress schematic representation in the prior art harmonic speed reducer;
Fig. 7 has shown the utility model embodiment one flexbile gear structural representation.
Fig. 8 has shown the utility model embodiment two harmonic speed reducer sectional views;
Fig. 9 has shown Fig. 8 partial enlarged drawing;
Figure 10 has shown flexbile gear and firm wheel engaging stress schematic representation in the utility model embodiment two harmonic speed reducers;
Figure 11 has shown the utility model embodiment three flexbile gear structural representations.
Figure 12 has shown the utility model embodiment four harmonic speed reducer sectional views;
Figure 13 has shown Figure 12 partial enlarged drawing;
Figure 14 has shown flexbile gear and firm wheel engaging stress schematic representation in the utility model embodiment four harmonic speed reducers.
Embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technological scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is a part of embodiment of the present utility model, rather than whole embodiments.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment who is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment one
The utility model embodiment provides a kind of flexbile gear 8, as shown in Figure 7, comprises radially flexible flexbile gear body 5, external teeth 6 and stationary platen 7, described flexbile gear body 5 one end openings, and the other end connects the described stationary platen 7 that is used for fixing output shaft or input shaft; Described external teeth 6 is positioned at described flexbile gear body 5 opening end outer fringe surfaces; Pass through spring section 10 transition between described flexbile gear body 5 and the described stationary platen 7.
Described spring section 10 and flexbile gear body continuously and radially extend to stationary platen 7 to the axis direction of flexbile gear mutually.
Preferably, described flexbile gear body 5 carries out the transition to stationary platen 7 by the Gothic spring section, and described spring section 10 is two circular arcs, and described pair of circular arc spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Preferably, described flexbile gear body 5 carries out the transition to stationary platen 7 by anti-S shape spring section, and described spring section 10 is anti-S shape, and described anti-S shape spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Another kind of mode of execution, described flexbile gear body carries out the transition to stationary platen by many arc-shaped elastics portion.
The utility model embodiment increases spring section between the flexbile gear body of flexbile gear and stationary platen, elastic buffer by spring section transition formation, the flexbile gear flexbile gear body that forces because of oval generator be can improve effectively and mouthful end and the convex cone face of the other end formation and the order of severity of concave cone face generation examined, thereby can produce very big bearing capacity, and the working life of having improved flexbile gear.
Embodiment two
The utility model embodiment provides a kind of harmonic speed reducer, as shown in Figure 8, comprising: just taken turns 3, flexbile gear 8 and waveform generator 1, described waveform generator 1 is used for described flexbile gear 8 bent to that ellipse makes it and 3 engagements of described firm wheel.
Described flexbile gear 8 comprises radially flexible flexbile gear body 5, external teeth 6 and stationary platen 7, described flexbile gear body 5 one end openings, and the other end connects the described stationary platen 7 that is used for fixing output shaft; Described external teeth 6 is positioned at described flexbile gear body 5 opening end outer fringe surfaces; Pass through spring section 10 transition between described flexbile gear body 5 and the described stationary platen 7.
Described spring section 10 and flexbile gear body continuously and radially extend to stationary platen 7 to the axis direction of flexbile gear mutually.
Preferably, described flexbile gear body 5 carries out the transition to stationary platen 7 by the Gothic spring section, and described spring section 10 is two circular arcs, and described pair of circular arc spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Preferably, described flexbile gear body 5 carries out the transition to stationary platen 7 by anti-S shape spring section arc, and described spring section 10 is anti-S shape, and described anti-S shape spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Another kind of mode of execution, described flexbile gear body carries out the transition to stationary platen by many arc-shaped elastics portion.
The utility model embodiment has increased the transition of two circular arc spring section between the flexbile gear body of flexbile gear and stationary platen.Form elastic buffer by two arc transition, when waveform generator forces the radially flexible end generation of flexbile gear flexbile gear body elliptical deformation, the flexbile gear body of flexbile gear and the two circular arcs between the stationary platen will discharge increase, center of arc's point M radially follows and outwards is offset to the M1 place simultaneously, be outside offset distance B5, as Fig. 9, make the oval-shaped major axis of flexbile gear flexbile gear body opening end and the circular diameter difference of the other end reduce, thereby improve the convex cone face of the radially flexible end of the flexbile gear that forces because of oval generator and the other end formation and the order of severity that the concave cone face takes place effectively, more crucial is that the convex cone face of formation and the tapering of concave cone face are reduced.Flexbile gear engaging tooth and the contact area area increase of wheel engaging tooth just, the addendum line of engagement is more near theoretical line of action, the power central point that engagement is transmitted can be close to tooth root portion also, corresponding the reducing of moment (arm of force shortens) that power forms the engaging tooth tooth root is as Figure 10, thereby the working life that can produce very big bearing capacity and raising harmonic reduction driving mechanism.
The utility model embodiment harmonic speed reducer increases two circular arc spring section between the flexbile gear body of flexbile gear and stationary platen, elastic buffer by two circular arc spring section transition formation, the flexbile gear flexbile gear body that forces because of oval generator be can improve effectively and mouthful end and the convex cone face of the other end formation and the order of severity of concave cone face generation examined, thereby can produce very big bearing capacity, and the working life of having improved flexbile gear.
Embodiment three
The utility model embodiment provides a kind of flexbile gear 11, as shown in figure 11, comprises radially flexible flexbile gear body 12, external teeth 13 and stationary platen 14, described flexbile gear body 12 1 end openings, and the other end connects the described stationary platen 14 that is used for fixing output shaft or input shaft; Described external teeth 13 is positioned at described flexbile gear body 12 opening end outer fringe surfaces; Pass through spring section 15 transition between described flexbile gear body 12 and the described stationary platen 14.
Described spring section 15 extends to stationary platen 14 with the axis direction that the flexbile gear body also radially deviates from flexbile gear mutually continuously.
Preferably, described flexbile gear body 12 carries out the transition to stationary platen 14 by the Gothic spring section, and described spring section 15 is two circular arcs, and described pair of circular arc one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Preferably, described flexbile gear body 12 carries out the transition to stationary platen 14 by anti-S shape spring section, and described spring section 15 is anti-S shape, and described anti-S shape spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Another kind of mode of execution, described flexbile gear body carries out the transition to stationary platen by many arc-shaped elastics portion.
The utility model embodiment increases spring section between the flexbile gear body of flexbile gear and stationary platen, elastic buffer by spring section transition formation, can improve the convex cone face of the radially flexible end of the flexbile gear that forces because of oval generator and flexbile gear the other end formation and the order of severity that the concave cone face takes place effectively, thereby can produce very big bearing capacity, and the working life of having improved flexbile gear.
Embodiment four
The utility model embodiment provides a kind of harmonic speed reducer, as shown in Figure 8, comprising: just taken turns 16, flexbile gear 11 and waveform generator 17, described waveform generator 17 is used for described flexbile gear 11 bent to that ellipse makes it and 16 engagements of described firm wheel.
The utility model embodiment provides a kind of flexbile gear 11, as shown in figure 11, comprises radially flexible flexbile gear body 12, external teeth 13 and stationary platen 14, described flexbile gear body 12 1 end openings, and the other end connects the described stationary platen 14 that is used for fixing output shaft; Described external teeth 13 is positioned at described flexbile gear body 12 opening end outer fringe surfaces; Pass through spring section 15 transition between described flexbile gear body 12 and the described stationary platen 14.
Described spring section 15 extends to stationary platen 14 with the axis direction that the flexbile gear body also radially deviates from flexbile gear mutually continuously.
Preferably, described flexbile gear body 12 carries out the transition to stationary platen 14 by the Gothic spring section, and described spring section 15 is two circular arcs, and described pair of circular arc one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Preferably, described flexbile gear body 12 carries out the transition to stationary platen 14 by anti-S shape spring section, and described spring section 15 is anti-S shape, and described anti-S shape spring section one end connects an end of flexbile gear body, and the other end is connected and fixed platform.
Another kind of mode of execution, described flexbile gear body carries out the transition to stationary platen by many arc-shaped elastics portion.
The utility model embodiment has increased the transition of two circular arc spring section between the flexbile gear body of flexbile gear and stationary platen.Form elastic buffer by two circular arc spring section transition, when waveform generator forces flexbile gear flexbile gear body opening end generation elliptical deformation, two circular arc spring section between the flexbile gear flexbile gear body the other end and the stationary platen will discharge increase, center of arc's point N radially follows and outwards is offset to the N1 place simultaneously, be outside offset distance B5, as Figure 12, make the oval-shaped major axis of flexbile gear flexbile gear body one end and the circular diameter difference of the other end reduce, thereby improve the flexbile gear opening end and the convex cone face of the other end formation and the order of severity that the concave cone face takes place that force because of oval generator effectively, more crucial is that the convex cone face of formation and the tapering of concave cone face are reduced.Flexbile gear engaging tooth and the contact area area increase of wheel engaging tooth just, the addendum line of engagement is more near theoretical line of action, the power central point that engagement is transmitted can be close to tooth root portion also, corresponding the reducing of moment (arm of force shortens) that power forms the engaging tooth tooth root is as Figure 13, thereby the working life that can produce very big bearing capacity and raising harmonic reduction driving mechanism.
The utility model embodiment harmonic speed reducer increases two circular arc spring section between the flexbile gear body of flexbile gear and stationary platen, elastic buffer by two circular arc spring section transition formation, the flexbile gear flexbile gear body that forces because of oval generator be can improve effectively and mouthful end and the convex cone face of the other end formation and the order of severity of concave cone face generation examined, thereby can produce very big bearing capacity, and the working life of having improved flexbile gear.
Embodiment five
A kind of robot joint structure, comprise housing, motor and as embodiment two or embodiment's four described harmonic speed reducers, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
What deserves to be mentioned is that among the above embodiment, different structure characteristic (for example above-mentioned multiple Placement) can be used in combination mutually, is not limited to shown in each accompanying drawing.
At the foregoing description, only the utility model is carried out exemplary description, but those skilled in the art carry out various modifications to the utility model after reading present patent application under the situation that does not break away from spirit and scope of the present utility model.
Claims (12)
1. flexbile gear is characterized in that: comprise radially flexible flexbile gear body, external teeth and stationary platen, and described flexbile gear body one end opening, the other end connects the described stationary platen that is used for fixing output shaft or input shaft; Described external teeth is positioned at described flexbile gear body opening end outer fringe surface; Pass through the spring section transition between described flexbile gear body and the described stationary platen.
2. flexbile gear according to claim 1 is characterized in that: described spring section and flexbile gear body continuously and radially extend to stationary platen to the axis direction of flexbile gear mutually.
3. flexbile gear according to claim 1 is characterized in that: described spring section extends to stationary platen with the axis direction that the flexbile gear body also radially deviates from flexbile gear mutually continuously.
4. according to claim 2 or 3 described flexbile gears, it is characterized in that: described flexbile gear body carries out the transition to stationary platen by the Gothic spring section.
5. flexbile gear according to claim 4 is characterized in that: described flexbile gear body carries out the transition to stationary platen by anti-S shape spring section.
6. according to claim 2 or 3 described flexbile gears, it is characterized in that: described flexbile gear body carries out the transition to stationary platen by many arc-shaped elastics portion.
7. harmonic speed reducer is characterized in that: comprising:
Firm wheel, flexbile gear and waveform generator,
Described flexbile gear comprises radially flexible flexbile gear body, external teeth and stationary platen, described flexbile gear body one end opening, and the other end connects the described stationary platen that is used for fixing output shaft; Described external teeth is positioned at described flexbile gear body opening end outer fringe surface; Pass through the spring section transition between described flexbile gear body and the described stationary platen,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
8. harmonic speed reducer according to claim 7 is characterized in that: described spring section and flexbile gear body continuously and radially extend to stationary platen to the axis direction of flexbile gear mutually.
9. harmonic speed reducer according to claim 7 is characterized in that: described spring section extends to stationary platen with the axis direction that the flexbile gear body also radially deviates from flexbile gear mutually continuously.
10. according to Claim 8 or 9 described harmonic speed reducers, it is characterized in that: described flexbile gear body carries out the transition to stationary platen by the Gothic spring section.
11. harmonic speed reducer according to claim 10 is characterized in that: described flexbile gear body carries out the transition to stationary platen by anti-S shape spring section.
12. robot joint structure, comprise housing, motor and as power 7 to 11 any described harmonic speed reducers, described motor and described harmonic speed reducer are positioned at described housing, described motor links to each other with the input shaft of harmonic speed reducer, drives described harmonic speed reducer and realizes that by output shaft joint of robot rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120037683XU CN201934620U (en) | 2011-02-01 | 2011-02-01 | Flexible gear, harmonic wave reducer and robot joint structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120037683XU CN201934620U (en) | 2011-02-01 | 2011-02-01 | Flexible gear, harmonic wave reducer and robot joint structure |
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| CN201934620U true CN201934620U (en) | 2011-08-17 |
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| CN201120037683XU Expired - Fee Related CN201934620U (en) | 2011-02-01 | 2011-02-01 | Flexible gear, harmonic wave reducer and robot joint structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| CN102889344A (en) * | 2012-09-14 | 2013-01-23 | 苏州绿的谐波传动科技有限公司 | Short barrel high-load hollow harmonic speed reducer |
| TWI650497B (en) * | 2017-12-18 | 2019-02-11 | 國立虎尾科技大學 | Hollow harmonic gearbox structure |
-
2011
- 2011-02-01 CN CN201120037683XU patent/CN201934620U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| CN102889344A (en) * | 2012-09-14 | 2013-01-23 | 苏州绿的谐波传动科技有限公司 | Short barrel high-load hollow harmonic speed reducer |
| TWI650497B (en) * | 2017-12-18 | 2019-02-11 | 國立虎尾科技大學 | Hollow harmonic gearbox structure |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110817 Termination date: 20180201 |