CN212331034U

CN212331034U - Novel harmonic reducer and driver

Info

Publication number: CN212331034U
Application number: CN202020864643.1U
Authority: CN
Inventors: 贾瑞清
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-21
Filing date: 2020-05-21
Publication date: 2021-01-12
Anticipated expiration: 2030-05-21

Abstract

The utility model provides a novel harmonic reducer and a driver, wherein the harmonic reducer comprises a flexible gear, a fixed gear and an output part, the fixed gear is provided with internal teeth, and the flexible gear comprises a meshing part and a pusher dog; the meshing part is cylindrical with external teeth; the tooth forms of the outer teeth and the inner teeth are the same, and the number of teeth of the outer teeth is smaller than that of the inner teeth; after the meshing part is actuated and deformed, the external teeth and the internal teeth are meshed and transmitted; the pusher dog sets up in the one end of meshing portion to with output piece transmission connection. The utility model provides a harmonic speed reducer ware only produces two dimension deformation during flexbile gear transmission, has reduced the internal stress among the transmission process, has improved life and transmission efficiency. The utility model also provides a driver. The utility model provides a harmonic speed reducer ware and driver has transmission efficiency height, long service life, big and with low costs advantage of output moment of torsion concurrently simultaneously.

Description

Novel harmonic reducer and driver

Technical Field

The utility model relates to the technical field of robot, concretely relates to novel harmonic speed reducer ware and driver.

Background

At present, the key joint parts of the robot are all provided with harmonic reducers, and compared with other reducers, the harmonic reducers have the advantages of stable transmission, highest precision, small structural size and light mechanism weight under the condition of the same speed ratio and the same load, and are widely applied to precision industries such as robots, numerical control machines, semiconductor equipment and the like. The harmonic reducer generally comprises a fixed gear, a flexible gear, a wave generator comprising a flexible bearing and other parts. The torque output is transmitted through a thin-wall deformable flexible gear; the flexspline is usually cup-shaped or silk hat-shaped, and is thin-walled and has a right-angled part approaching 90 degrees. The flexible gear with the structure has higher requirements on the performance of steel, the hardness of the flexible gear needs to be ensured while the requirement on elasticity needs to be ensured, and the flexible gear generally adopts imported alloy steel and has higher requirements on the processing precision. Because of the special material and high production process requirement, the cost and price of the speed reducer are far higher than those of other types of speed reducers. The cost of the harmonic reducer is high due to the complex manufacturing process of the harmonic reducer, and the harmonic reducer becomes one of the barriers for the popularization and application of robots.

The harmonic reducer with the cylindrical flexible gear has no 90-degree thin-wall structure, so that stress concentration is eliminated, the load capacity and the shock resistance of the harmonic reducer are enhanced, the fatigue life of the harmonic reducer is greatly prolonged, and the processing difficulty and the cost of the harmonic reducer are greatly reduced. However, in the harmonic reducer, the flexible gear is dynamically deformed in a three-dimensional curved surface in the output rotation process, and the flexible gear with a thin wall can reduce internal stress, so that the transmission efficiency is high, but the output torque capacity is reduced; the flexible gear with the wall thickness can improve the output torque, but increases the internal stress and reduces the transmission efficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above-mentioned technical problem at least, an object of the utility model is to provide a have harmonic speed reducer ware and driver that transmission efficiency is high, long service life, output torque are big and with low costs concurrently. Meanwhile, the harmonic reducer and the driver are simple to manufacture, low in cost and convenient for large-scale production and application.

In order to realize the purpose, the utility model discloses a technical scheme be:

the harmonic reducer comprises a flexible gear, a fixed gear and an output piece, wherein the fixed gear is provided with internal teeth, and the flexible gear comprises a meshing part and a shifting claw; the meshing part is cylindrical with external teeth; the tooth forms of the outer teeth and the inner teeth are the same, and the number of teeth of the outer teeth is smaller than that of the inner teeth; after the meshing part is actuated and deformed, the external teeth and the internal teeth are meshed; the pusher dog sets up in the one end of meshing portion to with output piece transmission connection.

Further, the external teeth are teeth which are arranged on the outer circumferential surface of the meshing part, extend along the axial direction and are uniformly distributed at intervals in a circumferential ring shape, and the inner circumferential surface of the meshing part is a smooth surface.

Furthermore, the pusher dog is a plurality of, and evenly the interval is circular distribution.

Further, the pusher dog is the cylinder.

Further, the wave generator assembly actuates the meshing part to deform, so that the cross section of the meshing part is changed from a circle to an ellipse; after the meshing part is deformed, the external teeth and the internal teeth in the major axis direction of the ellipse and the external teeth and the internal teeth in the minor axis direction of the ellipse have certain gaps.

Further, the output part comprises a driving plate and an output shaft, and a driving groove is formed in the driving plate; the shifting claw is in transmission connection with the output piece through the shifting groove.

Furthermore, the shifting groove is a strip hole arranged along the radial direction of the shifting plate, and the extension line of the strip hole is converged with the central axis of the shifting plate; the number of the shifting grooves is the same as that of the shifting claws, the shifting grooves are matched with the shifting claws in shape, and the shifting claws can slide in the shifting grooves along the radial direction of the driving plate.

Further, after the engaging portion is deformed, the plurality of fingers are distributed in the elliptical manner.

Further, the device also comprises a shell assembly, wherein the shell assembly comprises a shell and a shell cover; the shell and the shell cover are connected to form a mounting cavity; the flexible gear, the fixed gear and the wave generator assembly are arranged in the mounting cavity.

Further, the shifting claw slides relative to the shifting groove along the radial direction of the driving plate during transmission; the motion track of the pusher dog relative to the shell component is a small elliptical track of the pusher dog itself formed along with the rotation motion of a large ellipse generated by the flexible wheel relative to the drive plate.

The utility model also provides a driver, including motor and foretell harmonic speed reducer ware, the harmonic speed reducer ware is installed the output of motor.

Compared with the prior art, the utility model provides a harmonic speed reducer ware and driver, beneficial effect lies in: the application provides a harmonic speed reducer ware, flexbile gear are at harmonic speed reduction transmission in-process, because the pusher dog can be in the groove of dialling radial slip, the flexbile gear is whole only to present for the cross section is oval deformation rotation, only produces the two-dimensional deformation of cylinder promptly, can not appear wholly for the three-dimensional distortion of cylindric flexbile gear. The two-dimensional deformation during the flexible gear transmission reduces the internal stress in the transmission process, can protect the elasticity of the flexible gear, and prolongs the service life of the harmonic reducer; meanwhile, the deformation is reduced, and the transmission efficiency is improved.

According to the harmonic reducer, the shell and the fixed wheel are arranged in a split mode, so that the processing difficulty of the inner teeth on the fixed wheel is reduced, and the cost is lower; the flexible gear is composed of the meshing part and the shifting claw, so that the structure is simple, the number of materials is less, and the cost is lower.

The application provides a harmonic speed reducer ware flexbile gear forms through the meshing portion and the pusher dog complex that adopt different elastic material, can overcome the relative low defect of pusher dog intensity at the transmission in-process, forms elasticity and the complementary flexbile gear of intensity, can improve whole harmonic speed reducer ware's transmission efficiency and life.

When the flexible wheel pusher dog provided by the application is engaged with the drive plate, the motion trail of each cylindrical pusher dog is a small elliptical trail of the pusher dog self formed along with the rotation motion of a large ellipse generated by the flexible wheel relative to the drive plate. Through setting up the diameter of pusher dog cylinder and the width of dialling the groove, can adjust the elasticity cooperation degree that both are different. Because the width of the shifting groove is a fixed value, the shifting claw slides relative to the shifting groove along the radial direction of the driving plate in the transmission process, and the shifting claw moves relative to a small elliptical track of the shell component to generate corresponding deformation stress, so that the shifting claw extrudes the side wall of the shifting groove in the transmission process, the shifting claw and the shell component are tightly combined, and the transmission return difference is eliminated.

The application provides a structure of band-pawl in flexbile gear, flexbile gear can bear bigger elliptical deformation in transmission process, so the reduction ratio of harmonic speed reducer machine that this application provided can be less than 35, more is fit for the application in the service robot field of light weight type.

The application provides a flexbile gear structure can set up the flexbile gear into having sufficient thickness to can not arouse the too big change of internal stress, so have great coupling scope when designing fatigue life, be favorable to carrying out the design that improves fatigue life. Meanwhile, the structure design of the fatigue life of the pusher dog and the service life of the flexible gear are prolonged.

In a word, the utility model provides a have transmission efficiency height, long service life, big and with low costs harmonic speed reducer ware of output moment of torsion simultaneously concurrently and driver. Meanwhile, the harmonic reducer and the driver are simple to manufacture, low in cost and convenient for large-scale production and application.

Drawings

Fig. 1 schematically shows an overall structure view of a drive with a harmonic reducer according to an embodiment of the present invention;

FIG. 2 schematically illustrates an exploded view of a drive with a harmonic reducer according to one embodiment of the present invention;

FIG. 3 schematically illustrates an internal block diagram of one perspective of a drive with a harmonic reducer according to an embodiment of the present invention;

FIG. 4 schematically illustrates an internal block diagram of another perspective of a drive with a harmonic reducer according to an embodiment of the present invention;

fig. 5 schematically illustrates a view-angle structure of a flexspline according to an embodiment of the present invention;

fig. 6 schematically illustrates another perspective view of a flexspline in accordance with an embodiment of the present invention;

FIG. 7 schematically illustrates a partial internal structure view of a harmonic reducer according to one embodiment of the present invention;

figure 8 schematically illustrates the cooperation of a finger and a dial according to one embodiment of the present invention.

Wherein the reference numerals are as follows:

the device comprises a motor 1, a shell 2, a fixed wheel 2-1, a shell cover 3, a wave generator component 4, a connecting frame 4-1, a roller 4-2, a supporting shaft 4-3, a flexible wheel 5, a meshing part 5-1, a pusher dog 5-2, an output part 6, a driver plate 6-1, a driver groove 6-11 and an output shaft 6-2.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments. It should be noted that the following described embodiments are exemplary only, and are not to be construed as limiting the invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Hereinafter, the harmonic reducer and the driver of the present invention will be described in detail by specific embodiments, respectively: as shown in fig. 1 to 8, the drive according to the present embodiment includes a motor 1 and a harmonic reducer.

The specific structure of the harmonic reducer provided by the embodiment is as follows:

the harmonic reducer comprises a shell assembly, a wave generator assembly 4, a flexible gear 5, an output piece 6 and other parts. The housing assembly comprises a housing 2 and a housing cover 3. The shell 2 is arranged at the output end of the motor 1 through a screw, and one end of the shell 2 is provided with a positioning hole matched with the motor, so that the assembly is convenient; the other end is provided with a connecting threaded hole. A fixed wheel 2-1 is fixedly connected in the shell 2, and preferably the fixed wheel 2-1 is connected with the shell 2 in an interference fit manner; the inner circumferential surface of the fixed wheel 2 is provided with internal teeth. The shell 2 and the fixed wheel 2-1 are arranged in a split mode, so that the processing difficulty of the fixed wheel 2-1 is reduced, and the cost is lower.

The shell cover 3 is mounted in the connecting threaded holes through screws to connect the shell cover 3 and the shell 2. The outer end face of the shell cover 3 is provided with a boss, so that the harmonic reducer can be conveniently positioned and installed; and the outer end face is also provided with a mounting threaded hole for mounting and fixing the harmonic reducer.

After the shell 2 and the shell cover 3 are connected, a mounting cavity is formed inside. And parts such as a wave generator assembly 4, a flexible gear 5, an output piece 6 and the like are arranged in the mounting cavity. The wave generator assembly 4 comprises a connecting frame 4-1, a roller 4-2 and a supporting shaft 4-3, and is integrally arranged in the mounting cavity. The wave generator assembly 4 is entirely of a double-contact vertical type structure.

The central part of the connecting frame 4-1 is provided with a motor shaft hole, and an output shaft of the motor 1 penetrates through the motor shaft hole. The connecting frame 1 is further provided with a jackscrew hole, and the connecting frame 1 is fixedly connected with an output shaft of the motor 1 through a jackscrew. Two sides of the connecting frame 4-1 are respectively provided with a U-shaped opening, and a roller avoiding part is arranged between the two U-shaped openings. The supporting shaft 4-2 is arranged in mounting holes arranged at two sides of the connecting frame 4-1, the roller 4-3 is arranged in the middle of the supporting shaft 4-2, and the roller is preferably a standard bearing.

The flexible gear 5 comprises an engaging part 5-1 and a finger 5-2. The meshing part 5-1 is in a shape of a cylinder with a certain number of teeth on the outer circumferential surface and capable of deforming; the outer circumference of the meshing part 5-1 is provided with outer teeth which extend along the axial direction and are in a circumferential ring shape and are uniformly distributed at intervals, and the inner circumference of the meshing part 5-1 is a smooth surface.

The plurality of pusher dogs 5-2 are evenly distributed on one end surface of the meshing part 5-1 at intervals and are distributed in a circle. Preferably, said finger 5-2 is cylindrical. The engaging part 5-1 and the pusher dog 5-2 can be integrally processed and manufactured, or the engaging part and the pusher dog can be compositely processed and manufactured by different materials; the materials of the engaging part 5-1 and the pusher dog 5-2 can be reasonably selected according to actual working conditions and requirements. Preferably, the meshing part 5-1 and the shifting claw 5-2 are compounded by materials with different elasticity, the flexible gear 5 with the structure can overcome the defect that the strength of the shifting claw 5-2 is relatively low in the transmission process, the flexible gear 5 with the complementary elasticity and strength is formed, and the transmission efficiency and the service life of the whole harmonic reducer can be improved.

The external teeth on the flexible gear 5 are fewer than the internal teeth on the fixed gear 2-1 by a certain number; the tooth profiles of the internal teeth and the external teeth are the same. Because the number of teeth of the inner teeth on the fixed gear 2-1 is more than that of the outer teeth on the flexible gear 5, the outer diameter of the flexible gear 5 is smaller than the inner diameter of the fixed gear 2-1 and the flexible gear 5 are not in contact when the fixed gear and the flexible gear are coaxially arranged in a normal state. After the wave generator component 4 is arranged in the fixed wheel 2-1, the wave generator component 4 extrudes the flexible wheel 5 to deform to form an elliptical shape, so that the external teeth on the long axis direction of the elliptical flexible wheel 5 are meshed with the internal teeth of the fixed wheel 2-1; a certain gap is formed between the elliptical flexible gear 5 and the fixed gear 2-1 in the minor axis direction; the two-point contact meshing state of the flexible wheel 5 and the fixed wheel 2-1 is formed.

The output member 6 comprises a drive plate 6-1 and an output shaft 6-2, and the drive plate 6-1 and the output shaft 6-2 can be of an integral structure or a split structure. The dial 6-1 is provided with dial grooves 6-11 with the same number as the dials 5-2, the dial grooves 6-11 are strip holes and are arranged along the radial direction of the dial, and the extension lines of the dial grooves 6-11 are intersected with the central axis of the dial.

A finger 5-2 is inserted into the finger groove 6-11 for driving the dial 6-1 to rotate. The motion trajectory of each finger 5-2 relative to the housing assembly is the small elliptical trajectory of the finger 5-2 itself, following the large elliptical rotational motion of the flexspline 5 relative to the dial 6. The different tightness degree of the shifting claw 5-2 can be adjusted by setting the diameter of the cylinder and the width of the shifting groove 6-11. Preferably, the finger 6-11 is form-fit to the finger 5-2, i.e. the diameter of the cylinder of the finger 5-2 is the same as the width of the finger 6-11.

The driving plate 6-1 is also provided with a bearing installation cavity and a motor shaft avoiding hole, and a bearing in the bearing installation cavity is used for supporting the motor shaft and simultaneously providing support and positioning for the whole output part 6. The output shaft 6-2 is rotatably supported on the housing cover 3 by two output bearings 3-1 and extends out of the housing cover 3.

The utility model provides a harmonic speed reducer ware and driver's theory of operation introduces as follows in detail:

the fixed wheel 2-1, the flexible wheel 5 and the output member 6 of the harmonic reducer are coaxially arranged, and the meshing part 5-1 of the flexible wheel 5 is deformed into an elliptical shape under the support of the wave generator assembly 4 and is in contact meshing with the fixed wheel 2-1 at two points. When the wave generator component 4 is driven by the motor 1 to continuously rotate, the meshing point of the meshing part 5-1 of the flexible gear 5 and the fixed gear 2-1 is also continuously changed, because the number of teeth of the meshing part 5-1 is less than that of the fixed gear 2-1, the flexible gear 5 rotates along the opposite direction of the rotation of the wave generator component 4 relative to the fixed gear 2-1, and when the wave generator component 4 rotates for one circle, the flexible gear 5 reversely rotates for a certain angle.

Since the fingers 5-2 of the flexspline 5 are adapted in shape and slidably inserted into the grooves 6-11 of the dial 6-1 of the output member 6, when the engaging portion 5-1 is deformed into an elliptical shape, the fingers 5-2 slide relative to the grooves 6-11 in the radial direction of the dial under the actuation of the engaging portion 5-1, and the distribution of the fingers 5-2 also becomes elliptical correspondingly with the engaging portion 5-1. When the meshing point of the meshing part 5-1 and the fixed wheel 2-1 is changed continuously, the pusher dog 5-2 slides relative to the pusher dog 6-11 along the radial direction continuously and deforms into a corresponding elliptical distribution state; at the same time, the pusher dog 5-2 rotates with the engaging part 5-1 and actuates the catch plate 6-1 to rotate in the same direction by the same angle. Thereby causing the output member 6 to obtain a counter-decelerated rotational output with respect to the motor shaft.

In the transmission process, the pusher dog 5-2 slides along the radial direction of the drive plate 6-1 relative to the pusher dog 6-11, and the pusher dog 5-2 moves along a small self-elliptic track generated by the shell component relative to the shell component, so that the pusher dog 5-2 extrudes the side wall of the pusher dog 6-11 in the transmission process to generate corresponding deformation stress, the pusher dog and the shell component are tightly combined, and the transmission return difference is eliminated.

The application provides a harmonic speed reducer ware, including meshing portion 5-1 and 5-2 flexible wheel 5 of pusher dog in harmonic speed reduction transmission process, because pusher dog 5-2 can slide in the groove radial direction, flexible wheel 5 wholly only presents the deformation rotation that the cross section is the ellipse, only produces the two-dimensional deformation of cylinder promptly, can not appear wholly the three-dimensional distortion deformation of cylindric flexible wheel. The two-dimensional deformation of the flexible gear 5 during transmission reduces the internal stress in the transmission process, can protect the elasticity of the flexible gear, and prolongs the service life of the harmonic reducer; meanwhile, the deformation is reduced, and the transmission efficiency is improved.

The reduction ratio of the industrial harmonic reducer cannot be less than 35 generally, and the reduction ratio is too small, so that the flexible gear generates larger elliptical deformation, and the fatigue life of the flexible gear is seriously reduced. The application provides a structure of band-pawl in flexbile gear, flexbile gear can bear bigger elliptical deformation in transmission process, so the reduction ratio of harmonic speed reducer machine that this application provided can be less than 35, more is fit for the application in the service robot field of light weight type.

The application provides a flexbile gear structure can set up the flexbile gear into having sufficient thickness to can not arouse the too big change of internal stress, so have great coupling scope when designing flexbile gear fatigue life, be favorable to carrying out the design that improves fatigue life. Meanwhile, the structure design of the fatigue life of the pusher dog and the service life of the flexible gear are prolonged.

In a word, the utility model provides a have transmission efficiency height, long service life, big and with low costs harmonic speed reducer ware of output moment of torsion simultaneously concurrently and driver, it has extensive application prospect in the robot field.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Claims

1. The utility model provides a harmonic speed reducer ware, includes flexbile gear, fixed wheel and output, its characterized in that: the fixed wheel is provided with internal teeth, and the flexible wheel comprises an engaging part and a shifting claw; the meshing part is cylindrical with external teeth; the tooth forms of the outer teeth and the inner teeth are the same, and the number of teeth of the outer teeth is smaller than that of the inner teeth; after the meshing part is actuated and deformed, the external teeth and the internal teeth are meshed; the pusher dog sets up in the one end of meshing portion to with output piece transmission connection.

2. The harmonic reducer of claim 1, wherein: the external teeth are arranged on the outer circumferential surface of the meshing part, extend along the axis direction and are uniformly distributed at intervals in a circumferential ring shape, and the inner circumferential surface of the meshing part is a smooth surface.

3. The harmonic reducer of claim 1, wherein: the pusher dog is a plurality of, and evenly the interval is circular distribution.

4. The harmonic reducer of claim 1, wherein: the pusher dog is the cylinder.

5. The harmonic reducer of claim 3 wherein: the wave generator component actuates the meshing part to deform, so that the cross section of the meshing part is changed from a circle to an ellipse; after the meshing part is deformed, the external teeth and the internal teeth in the major axis direction of the ellipse and the external teeth and the internal teeth in the minor axis direction of the ellipse have certain gaps.

6. The harmonic reducer of claim 5 wherein: the output part comprises a drive plate and an output shaft, and a drive groove is formed in the drive plate; the shifting claw is in transmission connection with the output piece through the shifting groove.

7. The harmonic reducer of claim 6 wherein: the shifting groove is a strip hole arranged along the radial direction of the shifting plate, and the extension line of the strip hole is intersected with the central axis of the shifting plate; the number of the shifting grooves is the same as that of the shifting claws.

8. The harmonic reducer of claim 7 wherein: after the meshing part is deformed, the plurality of pusher dogs are distributed in the elliptical mode.

9. The harmonic reducer of claim 8, wherein: the shell assembly comprises a shell and a shell cover; the shell and the shell cover are connected to form a mounting cavity; the flexible gear, the fixed gear and the wave generator assembly are arranged in the mounting cavity.

10. The harmonic reducer of claim 9, wherein: the shifting claw slides along the radial direction of the driving plate relative to the shifting groove during transmission; the motion track of the pusher dog relative to the shell component is a small elliptical track of the pusher dog itself formed along with the rotation motion of a large ellipse generated by the flexible wheel relative to the drive plate.

11. A drive comprising a motor and a harmonic reducer according to any of claims 1-10, wherein: the harmonic reducer is installed at the output end of the motor.