CN219673222U - Wave generator, harmonic reducer and robot - Google Patents
Wave generator, harmonic reducer and robot Download PDFInfo
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- CN219673222U CN219673222U CN202321387894.5U CN202321387894U CN219673222U CN 219673222 U CN219673222 U CN 219673222U CN 202321387894 U CN202321387894 U CN 202321387894U CN 219673222 U CN219673222 U CN 219673222U
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 29
- 230000002093 peripheral effect Effects 0.000 claims abstract description 25
- 230000004323 axial length Effects 0.000 claims description 5
- 230000002035 prolonged effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a wave generator, a harmonic reducer and a robot, and relates to the technical field of harmonic reducers; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam so as to reduce the notch of the groove, and the peripheral wall of the outer ring of the flexible bearing is obliquely arranged towards the axis of the cam along the opening direction of the groove.
Description
Technical Field
The utility model relates to the technical field of harmonic reducers, in particular to a wave generator, a harmonic reducer and a robot.
Background
In the assembly of harmonic reducer, need with wave generator and flexbile gear interference fit, the gear section of flexbile gear is loudspeaker form and expands the deformation this moment, and because wave generator wholly has very big rigidity in radial, is the line contact state with flexbile gear inner wall, flexbile gear can appear stress concentration phenomenon, takes place to split or fracture easily, has reduced flexbile gear's life.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the wave generator which is used for being matched with the flexible gear and can prolong the service life of the flexible gear.
The utility model also provides a harmonic reducer with the wave generator and a robot.
According to the wave generator, the wave generator comprises a cam and a flexible bearing, wherein a groove is formed in one end face of the cam along the axial direction of the cam, the groove is annular, and an elastic part positioned on the outer side of the groove along the radial direction of the cam is arranged on the cam; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam so that the elastic part elastically deforms towards the groove, and the outer peripheral wall of the flexible bearing inclines towards the axis of the cam along the opening direction towards the groove.
The wave generator according to the embodiment of the utility model has at least the following beneficial effects: because one end face of the cam along the axial direction of the cam is provided with a groove which is annular, the cam is provided with an elastic part positioned at the outer side of the groove along the radial direction of the cam; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam so that the elastic part elastically deforms towards the groove, and the outer peripheral wall of the flexible bearing inclines towards the axis of the cam along the direction of the opening of the groove. Therefore, when the wave generator and the flexible gear are assembled, the gear section of the flexible gear expands outwards to deform and is matched with the inclined direction of the peripheral wall of the flexible bearing, so that the peripheral wall of the flexible bearing is attached to the inner wall of the gear section which expands outwards, the wave generator and the flexible gear are in a surface contact state, the stress concentration phenomenon between the wave generator and the flexible gear is reduced, and the service life of the flexible gear is prolonged.
According to one embodiment of the utility model, the elastic portion is in a free state, and the groove is rectangular, triangular or trapezoidal in a longitudinal section of the cam.
According to one embodiment of the utility model, the axial length of the cam is L 0 The elastic part is in a free state, the maximum depth of the groove along the axial direction of the cam is L, and the maximum depth is as follows: l is less than or equal to (L) 0 -5mm)。
According to one embodiment of the utility model, the cam is provided with an inner hole, the distance from the side wall of the inner hole to the outer peripheral wall of the cam is H, the elastic part is in a free state, the maximum width of the groove along the radial direction of the cam is H, and the requirements are that: h is more than or equal to 2mm and less than or equal to (H-4 mm).
According to one embodiment of the present utility model, in the free state of the elastic portion, the minimum distance from the groove to the outer peripheral wall of the cam in the radial direction of the cam is b, satisfying: b is more than or equal to 2mm.
According to one embodiment of the present utility model, the groove includes a first groove portion provided with the opening, and a second groove portion communicating with an end of the first groove portion remote from the opening, the elastic portion being in a free state, and a maximum width of the second groove portion being larger than a maximum width of the first groove portion in a radial direction of the cam.
According to an embodiment of the present utility model, the elastic portion is in a free state, and the thickness of the elastic portion in the circumferential direction of the cam is equal in any cross section of the cam.
According to one embodiment of the utility model, the recess is oval-shaped in cross-section of the cam.
According to the harmonic reducer of the embodiment of the utility model, the harmonic reducer comprises a flexible gear, a rigid gear and the wave generator of the embodiment of the utility model, the peripheral wall of the flexible bearing is in interference fit with the inner wall of the flexible gear, the opening of the groove faces one end of a gear section port facing away from the flexible gear, and the flexible gear is meshed with the rigid gear.
The harmonic reducer provided by the embodiment of the utility model has at least the following beneficial effects: because the wave generator can improve the life of flexbile gear, simultaneously, when the outer peripheral wall of flexbile bearing outer lane personally submits the face contact state with the inner wall face of gear section, the outer inclination that expands of gear section diminishes, and flexbile gear and rigid gear's effective meshing tooth width grow has further improved flexbile gear's life. Overall, the service life of the harmonic reducer is also improved.
The robot comprises the harmonic reducer according to the embodiment of the utility model.
The robot provided by the embodiment of the utility model has at least the following beneficial effects: because the service life of the harmonic reducer is prolonged, the service life of the robot is prolonged, and the requirements of customers are met better.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The utility model is further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a cross-sectional view of a cam of a wave generator according to one embodiment of the present utility model;
FIG. 2 is a cross-sectional view of a cam of a wave generator according to another embodiment of the present utility model;
FIG. 3 is a cross-sectional view of a cam of a wave generator according to another embodiment of the present utility model;
FIG. 4 is a cross-sectional view of a cam of a wave generator according to another embodiment of the present utility model;
FIG. 5 is a cross-sectional view of a harmonic reducer of one embodiment of the utility model;
fig. 6 is an enlarged view at B in fig. 5.
Reference numerals:
a harmonic reducer 1000;
a wave generator 100; a cam 110; a groove 111; a first groove 1111; a second groove portion 1112; an elastic portion 112; an inner bore 113; a flexible bearing 120;
a flexspline 200; a gear segment 210; a transition section 220; flange section 230.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be understood that references to orientation, such as the orientation or positional relationship indicated above, below, inside, outside, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The harmonic reducer has the unique advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission, high transmission precision and the like, and is widely applied to the fields of industrial robots and the like. In the assembly of the harmonic reducer, the wave generator is required to be in interference fit with the flexspline, and the gear section of the flexspline is required to be meshed with the inner teeth of the rigid spline.
When the wave generator and the flexible gear are in interference fit, the wave generator is in a line contact state with the inner wall of the flexible gear due to the fact that the whole wave generator has large rigidity in the radial direction, so that the outward expansion inclination angle of the flexible gear is overlarge, stress concentration phenomenon of the flexible gear is caused, and the flexible gear is easy to crack or break, and the service life of the flexible gear is shortened. In addition, because the outer expansion dip angle of the flexible gear is too large, when the gear section of the flexible gear is meshed with the inner teeth of the rigid gear, the effective meshing tooth width is smaller, so that the stress between the flexible gear and the rigid gear is large, and the service life of the flexible gear is further influenced. Obviously, the service life of the flexible gear can influence the service life of the harmonic reducer, and further influence the service life of the industrial robot.
To this end, an embodiment of the present utility model proposes a wave generator 100, particularly with reference to fig. 1 to 6 of the drawings of the description.
Referring to fig. 1, a wave generator 100 according to an embodiment of the present utility model includes a cam 110, the cam 110 being provided with a groove 111, the groove 111 being located at one end face of the cam 110 in an axial direction of the cam 110. The groove 111 may be located at any end face of the cam 110 in the axial direction of the cam 110, that is, the end face of the cam 110 where the groove 111 is located is not specifically limited herein. The recess 111 is annular. It will be appreciated that the cam 110 is actually an elliptical cylinder structure, i.e., the cam 110 is cylindrical and the cross-section of the cam 110 is elliptical. The cross section refers to a plane perpendicular to the axial direction of the cam 110. Obviously, the annular shape of the recess 111 is in fact matched to the specific configuration of the cam 110. In one embodiment, the groove 111 is elliptically annular in cross-section of the cam 110 to better match the particular configuration of the cam 110.
With continued reference to fig. 1, the cam 110 is provided with an elastic portion 112, wherein the elastic portion 112 is located radially outward of the groove 111 along the cam 110. In practice, the elastic portion 112 defines one of the structures defining the recess 111, i.e. the elastic portion 112 and the cam 110 together define the recess 111. It should be noted that, the elastic portion 112 may be understood as a cantilever structure, and the elastic member may be elastically deformed. In the embodiment of the present utility model, the free state of the elastic portion 112 is understood to be a state when the elastic portion 112 is not elastically deformed, for example, a state in which the cam 110 is not assembled with the flexible bearing 120, or a state in which the cam 110 is disassembled from the flexible bearing 120. The state in which the elastic portion 112 is elastically deformed is referred to as a deformed state. In the free state of the elastic portion 112, the elastic portion 112 extends in the axial direction of the cam 110. Since the elastic portion 112 and the cam 110 are integrally formed, the elastic portion 112 is not easily broken at the connection with the cam 110 to be separated from the cam 110 when being elastically deformed.
In one embodiment, the elastic portion 112 is in a free state, and the thickness of the elastic portion 112 in the circumferential direction of the cam 110 is equal in any cross section of the cam 110. According to the above arrangement, when receiving the same amount of force in the radial direction of the cam 110, the elastic deformation of the elastic portion 112 in any position in the circumferential direction of the cam 110 is the same.
Referring to fig. 1, a wave generator 100 according to an embodiment of the present utility model has a longitudinal section in the axial direction of a cam 110. The elastic portion 112 is in a free state, and the groove 111 is rectangular in a longitudinal section of the cam 110. One side of the rectangle corresponds to the opening of the recess 111. In one embodiment, the rectangle is a rectangle, the rectangle includes two long sides with equal length and two short sides with equal length, one long side of the rectangle corresponds to the outline of the elastic portion 112, and one short side of the rectangle corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 is uniform along the axial direction of the cam 110.
Referring to fig. 1, the axial length of the cam 110 is L 0 In the free state of the elastic portion 112, the maximum depth of the groove 111 in the axial direction of the cam 110 is L, satisfying: l is less than or equal to (L) 0 -5 mm). In this embodiment, L is the length of two long sides. The cam 110 is provided with an inner hole 113, the inner hole 113 communicates with both end surfaces of the cam 110 in the axial direction of the cam 110, and a distance from a side wall of the inner hole 113 to an outer peripheral wall of the cam 110 is H. The size of the inner hole 113 is not particularly limited here. The cross section of the inner hole 113Is elliptical. In the free state of the elastic portion 112, the maximum width of the groove 111 from the radial direction of the cam 110 to the outer circumferential wall of the cam 110 is h, which satisfies the following conditions: h is more than or equal to 2mm and less than or equal to (H-4 mm). In this embodiment, h is the distance between two long sides, i.e., h is the length of the short side. In addition, in the free state of the elastic portion 112, the minimum distance from the groove 111 to the outer peripheral wall of the cam 110 in the radial direction of the cam 110 is b, satisfying: b is more than or equal to 2mm. In this embodiment, b is a distance from the long side corresponding to the contour line of the elastic portion 112 to the outer peripheral wall of the cam 110, and in this embodiment, b is understood to be a thickness of the elastic portion 112 in the radial direction of the cam 110. It should be noted that, the above-mentioned range of values of L, h, and b can make the structure of the groove 111 more reasonable, and the elastic portion 112 can be elastically deformed better. In another embodiment, the rectangle is a square, one side of the square corresponds to the contour line of the elastic portion 112, and one side of the square corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 is uniform along the axial direction of the cam 110. In another embodiment, the rectangle is a rectangle, one of the short sides of the rectangle corresponds to the contour line of the elastic portion 112, and one of the long sides of the rectangle corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 is uniform along the axial direction of the cam 110.
Referring to fig. 2, in another embodiment, the elastic portion 112 is in a free state, and the groove 111 is triangular in a longitudinal section of the cam 110. One of the sides of the triangle corresponds to the opening of the recess 111. In one embodiment, the triangle is an isosceles triangle, the isosceles triangle includes two long sides and one short side with equal length, one long side of the isosceles triangle corresponds to the contour line of the elastic portion 112, and the short side of the isosceles triangle corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 gradually becomes smaller in the axial direction of the cam 110.
Referring to fig. 2, the axial length of the cam 110 is L 0 In the free state of the elastic portion 112, the maximum depth of the groove 111 in the axial direction of the cam 110 is L, satisfying: l is less than or equal to (L) 0 -5 mm). It should be noted that the number of the substrates,in this embodiment, L is the distance from the intersection of two long sides to the short side. The cam 110 is provided with an inner hole 113, the inner hole 113 communicates with both end surfaces of the cam 110 in the axial direction of the cam 110, and a distance from a side wall of the inner hole 113 to an outer peripheral wall of the cam 110 is H. The size of the inner hole 113 is not particularly limited here. The cross section of the inner hole 113 is elliptical. In the free state of the elastic portion 112, the maximum width of the groove 111 from the radial direction of the cam 110 to the outer circumferential wall of the cam 110 is h, which satisfies the following conditions: h is more than or equal to 2mm and less than or equal to (H-4 mm). In this embodiment, h is the distance between two intersections of the short side and the two long sides, that is, h is the length of the short side. In addition, in the free state of the elastic portion 112, the minimum distance from the groove 111 to the outer peripheral wall of the cam 110 in the radial direction of the cam 110 is b, satisfying: b is more than or equal to 2mm. In this embodiment, b is the minimum distance from the long side corresponding to the contour line of the elastic portion 112 to the outer peripheral wall of the cam 110, and in this embodiment, b is the distance from the intersection point of the long side and the short side corresponding to the contour line of the elastic portion 112 to the outer peripheral wall of the cam 110. It should be noted that, the above-mentioned range of values of L, h, and b can make the structure of the groove 111 more reasonable, and the elastic portion 112 can be elastically deformed better. In another embodiment, the triangle is an equilateral triangle, one side of the equilateral triangle corresponds to the contour line of the elastic portion 112, and the other side of the equilateral triangle corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 gradually becomes smaller in the axial direction of the cam 110. In another embodiment, the triangle is a scalene triangle, and the angles of the three angles of the triangle are all smaller than 90 degrees, one side of the scalene triangle corresponds to the contour line of the elastic portion 112, and the other side of the scalene triangle corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 gradually becomes smaller in the axial direction of the cam 110.
Referring to fig. 3, in another embodiment, the elastic portion 112 is in a free state, and the groove 111 has a trapezoid shape in a longitudinal section of the cam 110. The trapezoid comprises two parallel sides and two oblique sides, wherein one parallel side corresponds to the opening of the groove 111. In one embodiment, one of the oblique sides corresponds to the contour line of the elastic portion 112, and the shorter one of the parallel sides corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 gradually increases in the axial direction of the cam 110. The shape of the recess 111 is not particularly limited in the longitudinal section of the cam 110.
Referring to fig. 3, the axial length of the cam 110 is L 0 In the free state of the elastic portion 112, the maximum depth of the groove 111 in the axial direction of the cam 110 is L, satisfying: l is less than or equal to (L) 0 -5 mm). In this embodiment, L is the distance between two parallel sides. The cam 110 is provided with an inner hole 113, the inner hole 113 communicates with both end surfaces of the cam 110 in the axial direction of the cam 110, and a distance from a side wall of the inner hole 113 to an outer peripheral wall of the cam 110 is H. The size of the inner hole 113 is not particularly limited here. The cross section of the inner hole 113 is elliptical. In the free state of the elastic portion 112, the maximum width of the groove 111 from the radial direction of the cam 110 to the outer circumferential wall of the cam 110 is h, which satisfies the following conditions: h is more than or equal to 2mm and less than or equal to (H-4 mm). In this embodiment, h is the distance between two intersections of the longer parallel edge and the two oblique edges, i.e., h is the length of the longer parallel edge. In addition, in the free state of the elastic portion 112, the minimum distance from the groove 111 to the outer peripheral wall of the cam 110 in the radial direction of the cam 110 is b, satisfying: b is more than or equal to 2mm. In this embodiment, b is the minimum distance from the oblique side corresponding to the contour line of the elastic portion 112 to the outer peripheral wall of the cam 110, and in this embodiment, b is the distance from the intersection point of the oblique side corresponding to the contour line of the elastic portion 112 and the longer parallel side to the outer peripheral wall of the cam 110. It should be noted that, the above-mentioned range of values of L, h, and b can make the structure of the groove 111 more reasonable, and the elastic portion 112 can be elastically deformed better. In another embodiment, one of the oblique sides corresponds to the contour line of the elastic portion 112, and the longer parallel side corresponds to the opening of the groove 111. At this time, the thickness of the elastic portion 112 gradually becomes smaller in the axial direction of the cam 110.
Referring to fig. 4, in the wave generator 100 according to an embodiment of the present utility model, the groove 111 includes a first groove 1111 and a second groove 1112, wherein the first groove 1111 is provided with an opening, and the second groove 1112 is connected to an end of the first groove 1111 remote from the opening. In the free state, the maximum width of the second groove 1112 is larger than the maximum width of the first groove 1111 in the radial direction of the cam 110. It will be appreciated that the second groove portion 1112 is actually an enlarged portion and that the second groove portion 1112 is actually located at the junction of the resilient portion 112 and the cam 110. When the elastic portion 112 is elastically deformed, a large stress is generated at the connection portion between the elastic portion 112 and the cam 110. In addition, the second groove 1112 can greatly reduce the stress at this point, so that the elastic portion 112 has better elasticity and is less likely to break when deformed.
Referring to fig. 5, the wave generator 100 according to an embodiment of the present utility model, the wave generator 100 further includes a flexible bearing 120. Wherein the flexible bearing 120 is sleeved outside the cam 110. The flexible bearing 120 is in interference fit with the cam 110, so that the elastic portion 112 elastically deforms toward the groove 111. It will be appreciated that the resilient portion 112 is now transformed from a free state to a deformed state. In addition, if the cam 110 is detached from the flexible bearing 120, the elastic portion 112 is changed from the deformed state to the free state. The outer peripheral wall of the flexible bearing 120 is inclined toward the axis of the cam 110 in the opening direction toward the groove 111. The compliant bearing 120 is a ball bearing, and includes an inner ring, an outer ring, and balls. Here, the outer circumferential wall of the flexible bearing 120 is inclined toward the axis of the cam 110 in the opening direction toward the groove 111, specifically, the inner ring is inclined toward the axis of the cam 110 in the opening direction toward the groove 111; the outer race is inclined toward the axis of the cam 110 in the opening direction toward the groove 111.
With continued reference to fig. 5, the wave generator 100 is adapted to cooperate with a flexspline 200. When the wave generator 100 is assembled with the flexspline 200, the opening of the groove 111 is directed toward the end facing away from the end of the gear segment 210 of the flexspline 200, and the gear segment 210 of the flexspline 200 expands outwardly. Referring to fig. 6, since the outer peripheral wall of the outer ring of the flexible bearing 120 is inclined, it is attached to the inner wall of the gear segment 210, and the two are in a surface contact state, so that the outer expansion angle β of the gear segment 210 of the flexible gear 200 is reduced, that is, the stress concentration phenomenon between the wave generator 100 and the flexible gear 200 is reduced, and the service life of the flexible gear 200 is prolonged.
An embodiment of the present utility model proposes a harmonic reducer 1000, particularly referring to fig. 5 and 6 of the drawings of the specification, which includes a flexspline 200, a rigid spline, and a wave generator 100 according to an embodiment of the present utility model. It should be noted that the flexspline 200 includes a gear section 210, a transition section 220, and a flange section 230. The gear segment 210, the transition segment 220, and the flange segment 230 are connected in this order, the flange segment 230 is used for mounting the harmonic reducer 1000, and the gear segment 210 is used for meshing with the internal teeth of the rigid gear. The outer circumferential wall of the flexible gear 200 is in interference fit with the inner wall of the flexible gear 200, and the opening of the groove 111 faces towards one end facing away from the port of the gear section 210 of the flexible gear 200, i.e. towards one end facing away from the port of the gear section 210 in the flexible gear 200.
According to the harmonic reducer 1000 of the embodiment of the utility model, since the wave generator 100 can improve the service life of the flexspline 200, and meanwhile, when the outer peripheral wall of the outer ring of the flexible bearing 120 is in surface contact with the inner wall surface of the gear section 210, the outer expansion inclination angle of the gear section 210 becomes smaller, the effective meshing tooth width of the flexspline 200 and the rigid gear becomes larger, and the service life of the flexspline 200 is further improved. Overall, the service life of the harmonic reducer 1000 is also improved. Since the harmonic reducer 1000 adopts all the technical solutions of the wave generator 100 in the above embodiments, at least all the beneficial effects brought by the technical solutions in the above embodiments are provided, and will not be described in detail herein.
An embodiment of the present utility model proposes a robot including the harmonic reducer 1000 of the embodiment of the present utility model.
According to the robot provided by the embodiment of the utility model, the service life of the harmonic reducer 1000 is prolonged, so that the service life of the robot is prolonged, and the robot meets the requirements of customers. Since the robot adopts all the technical solutions of the harmonic reducer 1000 in the above embodiments, at least the beneficial effects brought by the technical solutions in the above embodiments are provided, and will not be described in detail here.
The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, and finally, it should be described that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present utility model.
Claims (10)
1. A wave generator, comprising:
a cam, wherein a groove is formed along one axial end surface of the cam, the groove is annular, and the cam is provided with an elastic part positioned at the outer side of the groove along the radial direction of the cam;
the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam so that the elastic part elastically deforms towards the groove, and the outer peripheral wall of the flexible bearing inclines towards the axis of the cam along the opening direction of the groove.
2. The wave generator according to claim 1, wherein the elastic portion is in a free state, and the groove is rectangular, triangular or trapezoidal in a longitudinal section of the cam.
3. The wave generator according to claim 1 or 2, wherein the axial length of the cam is L 0 The elastic part is in a free state, the maximum depth of the groove along the axial direction of the cam is L, and the maximum depth is as follows: l is less than or equal to (L) 0 -5mm)。
4. The wave generator according to claim 1 or 2, wherein the cam is provided with an inner hole, the distance from the side wall of the inner hole to the outer peripheral wall of the cam is H, the elastic portion is in a free state, and the maximum width of the groove along the radial direction of the cam is H, satisfying: h is more than or equal to 2mm and less than or equal to (H-4 mm).
5. The wave generator according to claim 1 or 2, wherein the minimum distance of the groove from the outer circumferential wall of the cam in the radial direction of the cam is b in a free state, satisfying: b is more than or equal to 2mm.
6. The wave generator according to claim 1 or 2, wherein the groove comprises a first groove portion provided with the opening and a second groove portion communicating with an end of the first groove portion remote from the opening, the elastic portion being in a free state, in a radial direction of the cam, a maximum width of the second groove portion being larger than a maximum width of the first groove portion.
7. A wave generator according to claim 1 or 2, wherein the elastic parts are in a free state, and the elastic parts have equal thickness in the circumferential direction of the cam at any cross section of the cam.
8. A wave generator according to claim 1 or 2, wherein the groove is elliptical in cross-section of the cam.
9. The harmonic reducer, characterized by, including flexspline, rigid gear and the ripples generator of any one of claims 1 to 8, the periphery wall of flexible bearing with flexspline's inner wall interference fit, the opening of recess is facing away from the one end of flexspline's gear segment port, flexspline with rigid gear meshing.
10. A robot comprising the harmonic reducer of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321387894.5U CN219673222U (en) | 2023-06-01 | 2023-06-01 | Wave generator, harmonic reducer and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321387894.5U CN219673222U (en) | 2023-06-01 | 2023-06-01 | Wave generator, harmonic reducer and robot |
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| CN219673222U true CN219673222U (en) | 2023-09-12 |
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| CN202321387894.5U Active CN219673222U (en) | 2023-06-01 | 2023-06-01 | Wave generator, harmonic reducer and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117145946A (en) * | 2023-10-30 | 2023-12-01 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
-
2023
- 2023-06-01 CN CN202321387894.5U patent/CN219673222U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117145946A (en) * | 2023-10-30 | 2023-12-01 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
| CN117145946B (en) * | 2023-10-30 | 2024-02-09 | 浙江万里扬新能源驱动有限公司杭州分公司 | Flexible gear structure capable of avoiding warping interference generated after wave generator assembly |
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