WO2012103786A1

WO2012103786A1 - Flexspline, harmonic reducer and robot joint structure

Info

Publication number: WO2012103786A1
Application number: PCT/CN2012/070541
Authority: WO
Inventors: 孙尚传; 孙剑
Original assignee: 配天(安徽)电子技术有限公司; 北京配天大富精密机械有限公司
Priority date: 2011-02-01
Filing date: 2012-01-18
Publication date: 2012-08-09

Abstract

A flexspline comprises an outer layer (2), an accumulation layer, and an output shaft (3) that are sleeved together outside-in sequentially. The outer layer (1) has external teeth (4) disposed on an external surface thereof. The accumulation layer comprises at least two layers of layer structure that can be deformed in the radial direction, and the innermost layer of the accumulation layer is fixed on the output shaft (3). Connection between the outer layer (1) and the outermost layer of the accumulation layer and connection between every two layers of the accumulation layer are achieved through connection portions. The deformation of the outermost layer of the flexspline is provided by multi-layer deformation accumulation, and the deformation amount provided by each intermediate layer may be reduced, so that the length of the cylindrical body is reduced, that is, the axial dimension of the flexspline is reduced, and therefore, a harmonic reducer adopting the flexspline may be made more compact. At the same time, the output shaft (3) and the flexspline are integrated into one piece or secured rigidly, saving the tooth-engagement output of the circular flexspline, thereby facilitating reduction of the backlash of the reducer and increase of the transmission efficiency.

Description

一种柔轮、谐波减速器及机器人关节结构 Flexible wheel, harmonic reducer and robot joint structure

【技术领域】[Technical Field]

本发明涉及一种柔轮、谐波减速器及机器人关节结构。 The invention relates to a flexible wheel, a harmonic reducer and a robot joint structure.

【背景技术】【Background technique】

谐波减速传动是一种依靠柔性齿轮所产生的可控弹性变形来传递运动和力的新型机械传动。如图1和图2所示，其基本构件包括椭圆形的波发生器1，薄壁筒体状的柔轮2和有很好刚性的刚轮3。当波发生器1转动时，迫使柔轮2产生弹性变形，使它的齿与刚轮3齿相互作用，从而实现传动的目的。 Harmonic reduction transmission is a new type of mechanical transmission that relies on the controllable elastic deformation generated by flexible gears to transmit motion and force. As shown in FIGS. 1 and 2, the basic members thereof include an elliptical wave generator 1, a thin-walled cylindrical flexible wheel 2, and a very rigid rigid wheel 3. When the wave generator 1 rotates, the flexible wheel 2 is forced to elastically deform so that its teeth interact with the teeth of the rigid wheel 3, thereby achieving the purpose of transmission.

谐波减速传动的固有特点需要和制造的需要，通常先将柔轮制造成薄壁圆筒桶状。当柔轮与波发生器，刚轮组合装配完毕后，柔轮的圆形啮合端将会被椭圆形的波发生器迫使变为椭圆形。 The inherent characteristics of the harmonic reduction drive need and the need for manufacturing. Usually, the flexible wheel is first made into a thin-walled cylindrical barrel. When the flex wheel and the wave generator are assembled, the circular meshing end of the flex wheel will be forced into an elliptical shape by the elliptical wave generator.

在对现有技术的研究和实践过程中，本发明的发明人发现，上述现有技术中：杯形柔轮的输出端由于采用闭合结构，具有很高的径向刚度，难于变形，而柔轮的啮合端具有径向柔性，易于变形，因此在柔轮结构中连接两端的薄壁圆筒必须具备较大长度，才能使得啮合端具有变形能力。这对谐波减速器整体轴向尺寸进一步减小产生限制，使得减速器难于适应对结构紧凑要求很高的场合。 In the research and practice of the prior art, the inventors of the present invention have found that the above-mentioned prior art: the output end of the cup-shaped flexible wheel has a high radial stiffness due to the closed structure, is difficult to deform, and is soft. The meshing end of the wheel is radially flexible and easily deformed, so the thin-walled cylinder connecting the two ends in the flexible wheel structure must have a large length in order to make the engaging end have the deformability. This limits the overall axial dimension of the harmonic reducer, making it difficult to adapt the reducer to situations where the structure is very compact.

【发明内容】[Summary of the Invention]

为了解决现有技术中柔轮结构中连接两端的薄壁圆筒必须具备较大长度，才能使得啮合端具有变形能力的问题，以及柔轮齿根承受的弯矩加大，最终加速齿根的疲劳裂纹产生的问题，本发明实施例提供了一种柔轮、谐波减速器及机器人关节结构。 In order to solve the problem that the thin-walled cylinders at the two ends of the flexible wheel structure in the prior art must have a large length, the deformation end of the meshing end can be made, and the bending moment of the root of the flexible wheel is increased, and the fatigue crack of the root is finally accelerated. The invention provides a flexible wheel, a harmonic reducer and a robot joint structure.

本发明实施例提供一种柔轮，包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起。 Embodiments of the present invention provide a flex wheel comprising an outer layer, an accumulation layer and an output shaft which are sequentially sleeved together from the outside to the inside, the outer surface of the outer layer is provided with external teeth, and the accumulation layer comprises at least two layers of diameter To the deformed layered structure, the innermost layer of the accumulation layer is fixed on the output shaft, and the outer layer and the outermost layer of the accumulation layer and the accumulation layer layers are connected together by a joint.

本发明实施例还提供一种谐波减速器，包括：刚轮、柔轮以及波形发生器， The embodiment of the invention further provides a harmonic reducer, comprising: a rigid wheel, a flexible wheel and a waveform generator.

所述柔轮包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起； The flex wheel includes an outer layer, a cumulative layer and an output shaft that are sequentially sleeved together from the outside to the inside, the outer surface of the outer layer is provided with external teeth, and the accumulation layer comprises at least two layers of radially deformable layered structure The innermost layer of the accumulation layer is fixed on the output shaft, and the outer layer and the outermost layer of the accumulation layer and the layers of the accumulation layer are connected together by a connecting portion;

所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。 The waveform generator is configured to bend the flex wheel into an elliptical shape to engage the rigid wheel.

本发明实施例还提供一种机器人关节结构，包括壳体，电机和上述的谐波减速器，所述电机和所述谐波减速器位于所述壳体内，所述电机与谐波减速器的输入轴相连，驱动所述谐波减速器通过输出轴实现机器人关节转动。 An embodiment of the present invention further provides a robot joint structure, comprising a housing, a motor and the harmonic reducer, wherein the motor and the harmonic reducer are located in the housing, and the motor and the harmonic reducer The input shaft is connected, and the harmonic reducer is driven to realize the rotation of the robot joint through the output shaft.

本发明实施例采用多层变形累积来提供柔轮最外层的变形，中间每一层所提供的变形量可以减小，使得筒体长度得到减小，亦即柔轮轴向尺寸减小，故采用这种柔轮的谐波减速器可以做到更加紧凑；同时输出轴与柔轮为一体结构或刚性固结，没有环形柔轮的齿啮输出环节，有利于减小减速器的回差，增加传动效率。 The embodiment of the invention adopts multi-layer deformation accumulation to provide deformation of the outermost layer of the flexible wheel, and the deformation amount provided by each layer in the middle layer can be reduced, so that the length of the cylinder body is reduced, that is, the axial dimension of the flexible wheel is reduced, The harmonic reducer adopting the flexible wheel can be more compact; at the same time, the output shaft and the flexible wheel are integrated or rigidly consolidated, and there is no tooth-shaped output link of the circular flexible wheel, which is beneficial to reduce the return of the reducer. Increase transmission efficiency.

为了解决现有技术中柔轮结构中柔轮齿根承受的弯矩加大，最终加速齿根的疲劳裂纹产生的问题，本发明实施例提供了一种柔轮、谐波减速器及机器人关节结构。 In order to solve the problem that the bending moment of the root of the flexible wheel in the prior art is increased, and finally the fatigue crack of the root is accelerated, the embodiment of the invention provides a flexible wheel, a harmonic reducer and a robot joint. structure.

本发明实施例提供一种柔轮，包括径向可弯曲的柔轮体、外部齿和固定台，所述柔轮体一端开口，另一端连接用于固定输出轴或输入轴的所述固定台；所述外部齿位于所述柔轮体开口端外缘表面；所述柔轮体和所述固定台之间通过弹性部过渡。 Embodiments of the present invention provide a flex wheel including a radially bendable flexible wheel body, an external tooth and a fixed table, the flexible wheel body having one end open and the other end connected to the fixed table for fixing an output shaft or an input shaft The external tooth is located at an outer edge surface of the open end of the flexible wheel body; and the elastic wheel body and the fixed table are transitioned by an elastic portion.

本发明实施例还提供一种谐波减速器，包括： The embodiment of the invention further provides a harmonic reducer, comprising:

刚轮、柔轮以及波形发生器， Ring wheel, soft wheel and waveform generator,

所述柔轮包括径向可弯曲的柔轮体、外部齿和固定台，所述柔轮体一端开口，另一端连接用于固定输出轴的所述固定台；所述外部齿位于所述柔轮体开口端外缘表面；所述柔轮体和所述固定台之间通过弹性部过渡， The flex wheel includes a radially bendable flexible wheel body, an external tooth and a fixed table, the flexible wheel body is open at one end, and the other end is connected to the fixed table for fixing the output shaft; the external tooth is located at the soft An outer edge surface of the open end of the wheel body; a transition between the flexible wheel body and the fixed table through the elastic portion,

本发明实施例在柔轮的柔轮体和固定台之间增加弹性部，通过弹性部过渡形成的弹性缓冲，可以有效地改善因椭圆形发生器迫使的柔轮柔轮体开口端与另一端形成的凸锥面和凹锥面发生的严重程度，因而能产生很大的承载能力，并且提高柔轮的使用寿命。 In the embodiment of the invention, an elastic portion is added between the flexible wheel body and the fixed table of the flexible wheel, and the elastic buffer formed by the transition of the elastic portion can effectively improve the open end and the other end of the flexible wheel body forced by the elliptical generator. The convex and concave tapered surfaces formed are so severe that they can generate a large load carrying capacity and increase the service life of the flexible wheel.

【附图说明】[Description of the Drawings]

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中 In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work. among them

图1显示了现有技术中一种谐波减速器的主视图； Figure 1 shows a front view of a harmonic reducer in the prior art;

图2显示了图1的侧面剖视图； Figure 2 shows a side cross-sectional view of Figure 1;

图3显示了本发明一种实施例的柔轮侧面结构剖视图； Figure 3 is a cross-sectional view showing the side structure of the flex wheel of an embodiment of the present invention;

图4显示了本发明图3中柔轮的主视图； Figure 4 shows a front view of the flex wheel of Figure 3 of the present invention;

图5显示了本发明另一实施例的柔轮侧面结构剖视图； Figure 5 is a cross-sectional view showing the side structure of a flex wheel according to another embodiment of the present invention;

图6显示了本发明图5中柔轮的主视图； Figure 6 shows a front view of the flex wheel of Figure 5 of the present invention;

图7显示了本发明又一实施例的柔轮侧面结构剖视图； Figure 7 is a cross-sectional view showing the side structure of a flex wheel according to still another embodiment of the present invention;

图8显示了本发明图7中柔轮的主视图； Figure 8 shows a front view of the flex wheel of Figure 7 of the present invention;

图9显示了本发明又一实施例的柔轮侧面结构剖视图； Figure 9 is a cross-sectional view showing the side structure of a flex wheel according to still another embodiment of the present invention;

图10显示了本发明图9中柔轮的主视图； Figure 10 is a front elevational view of the flex wheel of Figure 9 of the present invention;

图11显示了本发明又一实施例的柔轮侧面结构剖视图； Figure 11 is a cross-sectional view showing the side structure of a flex wheel according to still another embodiment of the present invention;

图12显示了本发明图11中柔轮的主视图； Figure 12 is a front elevational view of the flex wheel of Figure 11 of the present invention;

图13显示了本发明又一实施例的柔轮累积层主视图； Figure 13 is a front elevational view showing a cumulative layer of a flex wheel according to still another embodiment of the present invention;

图14显示了本发明图13中柔轮一种实施方式的主视图； Figure 14 is a front elevational view showing an embodiment of the flex wheel of Figure 13 of the present invention;

图15显示了本发明图13中柔轮另一种实施方式的主视图。 Figure 15 is a front elevational view showing another embodiment of the flex wheel of Figure 13 of the present invention.

图16显示了图1中谐波减速器工作过程示意图； Figure 16 is a schematic view showing the working process of the harmonic reducer of Figure 1;

图17显示了图1的局部放大图； Figure 17 shows a partial enlarged view of Figure 1;

图18显示了图1的局部放大图； Figure 18 shows a partial enlarged view of Figure 1;

图19显示了现有技术谐波减速器中柔轮与刚轮啮合受力示意图； Figure 19 is a schematic view showing the force of engagement between the flex wheel and the rigid wheel in the prior art harmonic reducer;

图20显示了本发明又一实施例的柔轮结构示意图。 Fig. 20 is a view showing the structure of a flex wheel according to still another embodiment of the present invention.

图21显示了本发明又一实施例的谐波减速器剖视图； Figure 21 is a cross-sectional view showing a harmonic reducer according to still another embodiment of the present invention;

图22显示了图21局部放大图； Figure 22 shows a partial enlarged view of Figure 21;

图23显示了本发明图21中谐波减速器的柔轮与刚轮啮合受力示意图； Figure 23 is a view showing the force of engagement between the flex wheel and the rigid wheel of the harmonic reducer of Figure 21 of the present invention;

图24显示了本发明又一实施例的柔轮结构示意图。 Fig. 24 is a view showing the structure of a flex wheel according to still another embodiment of the present invention.

图25显示了本发明又一实施例的谐波减速器剖视图； Figure 25 is a cross-sectional view showing a harmonic reducer according to still another embodiment of the present invention;

图26显示了图25局部放大图； Figure 26 shows a partial enlarged view of Figure 25;

图27显示了本发明图25中谐波减速器的柔轮与刚轮啮合受力示意图。 Fig. 27 is a view showing the force of engagement between the flex wheel and the rigid wheel of the harmonic reducer of Fig. 25 of the present invention.

【具体实施方式】【detailed description】

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。 The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

一种柔轮，包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起。 A flexible wheel comprising an outer layer, an accumulation layer and an output shaft which are sequentially sleeved together from the outside to the inside, the outer surface of the outer layer being provided with external teeth, the accumulation layer comprising at least two layers of radially deformable layers The structure, the innermost layer of the accumulation layer is fixed on the output shaft, and the outer layer and the outermost layer of the accumulation layer are connected together by the connection portion between the layers of the accumulation layer.

所述外层和累积层之间以及累积层各层之间均匀分布至少三个连接部。 At least three connections are evenly distributed between the outer layer and the accumulation layer and between the accumulation layer layers.

根据本发明的一种实施例，柔轮包括外层1、累积层和输出轴3，所述外层外表面上设有外部齿4，所述累积层包括至少两层相互平行的同轴圆筒，所述累积层套在所述输出轴上，所述外层和累积层之间以及累积层各层之间通过连接部连接在一起。 According to an embodiment of the invention, the flex wheel comprises an outer layer 1, an accumulating layer and an output shaft 3, the outer surface of the outer layer being provided with external teeth 4, the accumulating layer comprising at least two coaxial circles parallel to each other a cartridge, the accumulation layer is sleeved on the output shaft, and the outer layer and the accumulation layer and the layers of the accumulation layer are connected together by a joint.

所述外层和累积层之间以及累积层各层之间的圆环上均匀分布三个连接部，所述连接部逐层交替连接在各层之间圆环的边缘处。 Three connecting portions are evenly distributed on the circular ring between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer at the edge of the ring between the layers.

所述累积层包括五层相互平行且套在一起的同轴圆筒，如图3和图4所示，包括第一层圆筒21、第二层圆筒22、第三层圆筒23、第四层圆筒24和第五层圆筒25，所述第一层圆筒21的一端和外层1的一端所形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第一连接部31，所述第二层圆筒22位于所述第一层圆筒21内，所述第一层圆筒21远离第一连接部31的一端和第二层圆筒22的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第二连接部32，所述第二层圆筒22远离第二连接部32的一端和第三层圆筒23的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第三连接部33，所述第三层圆筒23远离第三连接部33的一端和第四层圆筒24的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第四连接部34，所述第四层圆筒24远离第四连接部34的一端和第五层圆筒25的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第五连接部35，所述第五层圆筒套在并固定在输出轴3上。 The accumulation layer comprises five coaxial cylinders which are parallel to each other and sleeved together, as shown in FIGS. 3 and 4, including a first layer cylinder 21, a second layer cylinder 22, and a third layer cylinder 23, The fourth layer cylinder 24 and the fifth layer cylinder 25 are uniformly distributed with three identical connecting portions on one end of the first layer cylinder 21 and one end of the outer layer 1, wherein one of the connecting portions is a first connecting portion 31, the second layer cylinder 22 is located in the first layer cylinder 21, and the first layer cylinder 21 is away from one end of the first connecting portion 31 and one end of the second layer cylinder 22. Three identical joints are evenly distributed on the formed ring, one of which is a second joint 32, and the second layer 22 is away from one end of the second joint 32 and one end of the third cylinder 23. Three identical joints are uniformly distributed on the formed ring, one of which is a third joint 33, and the third layer cylinder 23 is away from one end of the third joint portion 33 and one end of the fourth layer cylinder 24. Three identical joints are evenly distributed on the formed ring, one of which is a fourth joint 34, and the fourth cylinder 24 is far away One end of the fourth connecting portion 34 and one end of the fifth layer cylinder 25 are evenly distributed with three identical connecting portions, one of which is a fifth connecting portion 35, and the fifth layer is sleeved And fixed on the output shaft 3.

所述第一连接部31、第二连接部32、第三连接部33、第四连接部34和第五连接部35的中轴线在同一水平面上的投影在同一条直线上。 The central axes of the first connecting portion 31, the second connecting portion 32, the third connecting portion 33, the fourth connecting portion 34, and the fifth connecting portion 35 are projected on the same horizontal line on the same straight line.

所述连接部的中轴线在同一水平面上的投影所形成的三条直线间的夹角为120度。 The angle between the three straight lines formed by the projection of the central axis of the connecting portion on the same horizontal plane is 120 degrees.

根据本发明的另一实施例，柔轮包括外层1、累积层和输出轴3，所述外层外表面上设有外部齿4，所述累积层包括至少两层相互平行的同轴圆筒，所述累积层套在所述输出轴上，所述外层和累积层之间以及累积层各层之间通过连接部连接在一起。 According to a further embodiment of the invention, the flex wheel comprises an outer layer 1, an accumulating layer and an output shaft 3, the outer surface of which is provided with external teeth 4, said accumulating layer comprising at least two coaxial circles parallel to each other a cartridge, the accumulation layer is sleeved on the output shaft, and the outer layer and the accumulation layer and the layers of the accumulation layer are connected together by a joint.

所述外层和累积层之间以及累积层各层之间的圆环上均匀分布四个连接部，所述连接部逐层交替连接在各层之间圆环的边缘处。 Four connecting portions are evenly distributed on the circular ring between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer at the edge of the ring between the layers.

所述累积层包括五层相互平行且套在一起的同轴圆筒，如图5和图6所示，包括第一层圆筒21、第二层圆筒22、第三层圆筒23、第四层圆筒24和第五层圆筒25，所述第一层圆筒21的一端和外层1的一端所形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第一连接部41，所述第二层圆筒22位于所述第一层圆筒21内，所述第一层圆筒21远离第一连接部41的一端和第二层圆筒22的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第二连接部42，所述第二层圆筒22远离第二连接部42的一端和第三层圆筒23的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第三连接部43，所述第三层圆筒23远离第三连接部43的一端和第四层圆筒24的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第四连接部44，所述第四层圆筒24远离第四连接部44的一端和第五层圆筒25的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第五连接部45，所述第五层圆筒套在并固定在输出轴3上。 The accumulation layer comprises five coaxial cylinders which are parallel to each other and sleeved together, as shown in FIGS. 5 and 6, including a first layer cylinder 21, a second layer cylinder 22, and a third layer cylinder 23, The fourth layer cylinder 24 and the fifth layer cylinder 25 are uniformly distributed with four identical connecting portions on one end of the first layer cylinder 21 and one end of the outer layer 1, wherein one of the connecting portions is a first connecting portion 41, the second layer cylinder 22 is located in the first layer cylinder 21, and the first layer cylinder 21 is away from one end of the first connecting portion 41 and one end of the second layer cylinder 22. Four identical joints are evenly distributed on the formed ring, one of which is a second joint portion 42, which is away from one end of the second joint portion 42 and one end of the third layer cylinder 23. Four identical joints are uniformly distributed on the formed ring, one of which is a third joint portion 43 which is away from one end of the third joint portion 43 and one end of the fourth layer cylinder 24. Four identical joints are evenly distributed on the formed ring, one of which is a fourth connecting portion 44, and the fourth layer of cylinder 24 is far away One end of the fourth connecting portion 44 and one end of the fifth layer cylinder 25 are uniformly distributed with four identical connecting portions, one of which is a fifth connecting portion 45, and the fifth layer is sleeved And fixed on the output shaft 3.

所述第一连接部41、第二连接部42、第三连接部43、第四连接部44和第五连接部45的中轴线在同一水平面上的投影在同一条直线上。 The central axes of the first connecting portion 41, the second connecting portion 42, the third connecting portion 43, the fourth connecting portion 44, and the fifth connecting portion 45 are projected on the same horizontal line on the same straight line.

所述连接部中轴线在同一水平面上的投影所形成四条直线间的夹角为90度。 The projection of the central axis of the connecting portion on the same horizontal plane forms an angle of 90 degrees between the four straight lines.

根据本发明的又一实施例，柔轮包括外层1、累积层和输出轴3，所述外层外表面上设有外部齿4，所述累积层包括至少两层相互平行的同轴圆筒，所述累积层套在所述输出轴上，所述外层和累积层之间以及累积层各层之间通过连接部连接在一起。 According to a further embodiment of the invention, the flex wheel comprises an outer layer 1, an accumulation layer and an output shaft 3, the outer surface of which is provided with external teeth 4, said accumulation layer comprising at least two coaxial circles parallel to each other a cartridge, the accumulation layer is sleeved on the output shaft, and the outer layer and the accumulation layer and the layers of the accumulation layer are connected together by a joint.

所述外层和累积层之间以及累积层各层之间的圆环上均匀分布六个连接部，所述连接部交替连接在各层之间圆环的边缘处。 Six connecting portions are evenly distributed on the ring between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected at the edges of the ring between the layers.

所述累积层包括五层相互平行且套在一起的同轴圆筒，如图7和图8所示，包括第一层圆筒21、第二层圆筒22、第三层圆筒23、第四层圆筒24和第五层圆筒25，所述第一层圆筒21的一端和外层1的一端所形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第一连接部51，所述第二层圆筒22位于所述第一层圆筒21内，所述第一层圆筒21远离第一连接部51的一端和第二层圆筒22的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第二连接部52，所述第二层圆筒22远离第二连接部52的一端和第三层圆筒23的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第三连接部53，所述第三层圆筒23远离第三连接部53的一端和第四层圆筒24的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第四连接部54，所述第四层圆筒24远离第四连接部54的一端和第五层圆筒25的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第五连接部55，所述第五层圆筒套在并固定在输出轴3上。 The accumulation layer comprises five coaxial cylinders which are parallel to each other and sleeved together, as shown in FIGS. 7 and 8, including a first layer cylinder 21, a second layer cylinder 22, and a third layer cylinder 23, The fourth layer cylinder 24 and the fifth layer cylinder 25 are uniformly distributed with six identical connecting portions on one end of the first layer cylinder 21 and one end of the outer layer 1 , wherein one of the connecting portions is a first connecting portion 51, the second layer cylinder 22 is located in the first layer cylinder 21, and the first layer cylinder 21 is away from one end of the first connecting portion 51 and one end of the second layer cylinder 22. Six identical joints are uniformly distributed on the formed ring, one of which is a second connecting portion 52, and the second layer of the cylinder 22 is away from one end of the second connecting portion 52 and one end of the third layer cylinder 23. Six identical joints are evenly distributed on the formed ring, one of which is a third connecting portion 53, which is away from one end of the third connecting portion 53 and one end of the fourth layer cylinder 24. Six identical joints are evenly distributed on the formed ring, one of which is a fourth connecting portion 54, and the fourth layer of cylinder 24 is far away One end of the fourth connecting portion 54 and one end of the fifth layer cylinder 25 are uniformly distributed with six identical connecting portions, one of which is a fifth connecting portion 55, and the fifth layer is sleeved And fixed on the output shaft 3.

所述第一连接部51、第二连接部52、第三连接部53、第四连接部54和第五连接部55的中轴线在同一水平面上的投影在同一条直线上。 The central axes of the first connecting portion 51, the second connecting portion 52, the third connecting portion 53, the fourth connecting portion 54, and the fifth connecting portion 55 are projected on the same horizontal line on the same straight line.

所述连接部的中轴线在同一水平面上的投影所形成六条直线间的夹角为60度。 The angle between the six straight lines formed by the projection of the central axis of the connecting portion on the same horizontal plane is 60 degrees.

根据本发明的又一实施例，柔轮包括外层1、累积层2和输出轴3，所述外层外表面上设有外部齿4，所述累积层包括至少两层相互平行的同轴圆筒，所述累积层套在所述输出轴上，所述外层和累积层之间以及累积层各层之间通过连接部连接在一起。 According to a further embodiment of the invention, the flex wheel comprises an outer layer 1, an accumulating layer 2 and an output shaft 3, the outer surface of which is provided with external teeth 4, said accumulating layer comprising at least two layers coaxial with each other a cylinder, the accumulation layer being sleeved on the output shaft, and the outer layer and the accumulation layer and the accumulation layer layers are connected together by a joint.

所述外层和累积层之间以及累积层各层之间的圆环上均匀分布四个连接部，所述连接部交替连接在各层之间圆环的边缘处。 Four connecting portions are evenly distributed on the ring between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected at the edges of the ring between the layers.

所述累积层包括五层相互平行且套在一起的同轴圆筒，如图9和图10所示，包括第一层圆筒21、第二层圆筒22、第三层圆筒23、第四层圆筒24和第五层圆筒25，所述第一层圆筒21的一端和外层1的一端所形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第一连接部61，所述第二层圆筒22位于所述第一层圆筒21内，所述第一层圆筒21远离第一连接部61的一端和第二层圆筒22的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第二连接部62，所述第二层圆筒22远离第二连接部62的一端和第三层圆筒23的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第三连接部63，所述第三层圆筒23远离第三连接部63的一端和第四层圆筒24的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第四连接部64，所述第四层圆筒24远离第四连接部64的一端和第五层圆筒25的一端形成的圆环上均匀分布四个相同的连接部，其中一个连接部为第五连接部65，所述第五层圆筒套在并固定在输出轴3上。 The accumulation layer comprises five coaxial cylinders which are parallel to each other and sleeved together, as shown in FIG. 9 and FIG. 10, comprising a first layer cylinder 21, a second layer cylinder 22, a third layer cylinder 23, The fourth layer cylinder 24 and the fifth layer cylinder 25 are uniformly distributed with four identical connecting portions on one end of the first layer cylinder 21 and one end of the outer layer 1, wherein one of the connecting portions is a first connecting portion 61, the second layer cylinder 22 is located in the first layer cylinder 21, and the first layer cylinder 21 is away from one end of the first connecting portion 61 and one end of the second layer cylinder 22. Four identical joints are evenly distributed on the formed ring, one of which is a second connecting portion 62, and the second layer of the cylinder 22 is away from one end of the second connecting portion 62 and one end of the third layer cylinder 23. Four identical joints are evenly distributed on the formed ring, one of which is a third joint 63, which is away from one end of the third joint 63 and one end of the fourth cylinder 24. Four identical joints are evenly distributed on the formed ring, one of which is a fourth joint 64, and the fourth cylinder is 24 One end of the fourth connecting portion 64 and one end of the fifth layer cylinder 25 are uniformly distributed with four identical connecting portions, one of which is a fifth connecting portion 65, and the fifth layer is sleeved And fixed on the output shaft 3.

所述第一连接部61、第三连接部63和第五连接部65的中轴线在同一水平面上的投影在同一条直线上。 The projections of the central axes of the first connecting portion 61, the third connecting portion 63, and the fifth connecting portion 65 on the same horizontal plane are on the same straight line.

所述第二连接部62和第四连接部64的中轴线在同一水平面上的投影在同一条直线上。 The projections of the central axes of the second connecting portion 62 and the fourth connecting portion 64 on the same horizontal plane are on the same straight line.

所述连接部在同一水平面上的投影所形成八条直线间的夹角为45度。 The angle between the eight straight lines formed by the projection of the connecting portion on the same horizontal plane is 45 degrees.

所述外层和累积层之间以及累积层各层之间的圆环上均匀分布至少三个连接部，所述连接部逐层交替连接在各层之间圆环的边缘处。 At least three connecting portions are evenly distributed on the ring between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer at the edges of the ring between the layers.

所述累积层包括五层相互平行且套在一起的同轴圆筒，如图11和图12所示，包括第一层圆筒21、第二层圆筒22、第三层圆筒23、第四层圆筒24和第五层圆筒25，所述第一层圆筒21的一端和外层1的一端所形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第一连接部71，所述第二层圆筒22位于所述第一层圆筒21内，所述第一层圆筒21远离第一连接部71的一端和第二层圆筒22的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第二连接部72，所述第二层圆筒22远离第二连接部72的一端和第三层圆筒23的一端形成的圆环上均匀分布六个相同的连接部，其中一个连接部为第三连接部73，所述第三层圆筒23远离第三连接部73的一端和第四层圆筒24的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第四连接部74，所述第四层圆筒24远离第四连接部74的一端和第五层圆筒25的一端形成的圆环上均匀分布三个相同的连接部，其中一个连接部为第五连接部75，所述第五层圆筒套在并固定在输出轴3上。 The accumulation layer comprises five coaxial cylinders that are parallel to each other and nested together, as shown in FIGS. 11 and 12, including a first layer cylinder 21, a second layer cylinder 22, and a third layer cylinder 23, The fourth layer cylinder 24 and the fifth layer cylinder 25 are uniformly distributed with six identical connecting portions on one end of the first layer cylinder 21 and one end of the outer layer 1 , wherein one of the connecting portions is a first connecting portion 71, the second layer cylinder 22 is located in the first layer cylinder 21, and the first layer cylinder 21 is away from one end of the first connecting portion 71 and one end of the second layer cylinder 22. Six identical joints are uniformly distributed on the formed ring, one of which is a second joint 72, and the second layer 22 is away from one end of the second joint 72 and one end of the third cylinder 23. Six identical joints are uniformly distributed on the formed ring, one of which is a third joint 73, and the third layer cylinder 23 is away from one end of the third joint portion 73 and one end of the fourth layer cylinder 24. Three identical joints are evenly distributed on the formed ring, one of which is a fourth joint 74, and the fourth cylinder is 24 One end of the fourth connecting portion 74 and one end of the fifth layer cylinder 25 are uniformly distributed with three identical connecting portions, one of which is a fifth connecting portion 75, and the fifth layer is sleeved And fixed on the output shaft 3.

所述第一连接部71、第二连接部72、第三连接部73、第四连接部74和第五连接部75的中轴线在同一水平面上的投影在同一条直线上。 Projections of the central axes of the first connecting portion 71, the second connecting portion 72, the third connecting portion 73, the fourth connecting portion 74, and the fifth connecting portion 75 on the same horizontal plane are on the same straight line.

所述连接部在同一水平面上的投影所形成六条直线间的夹角为60度。 The angle between the six straight lines formed by the projection of the connecting portion on the same horizontal plane is 60 degrees.

根据本发明的又一实施例，柔轮包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起。 According to still another embodiment of the present invention, the flex wheel includes an outer layer, an accumulation layer and an output shaft that are sequentially sleeved together from the outside to the inside, the outer surface of the outer layer is provided with external teeth, and the accumulation layer includes at least two layers. a radially deformed layered structure, the innermost layer of the accumulation layer being fixed on the output shaft, and the outer layer and the outermost layer of the accumulation layer and the accumulation layer layers are connected together by a joint .

如图13所示，所述层状体为椭圆形、方形或者其他可径向变形的不规则图形；其中，如图14所示，所述累积层层状体之间通过圆弧状的连接部连接；其中，如图15所示，所述累积层层状体和连接部呈阶梯状。 As shown in FIG. 13, the layered body is an elliptical shape, a square shape or other radially deformable irregular patterns; wherein, as shown in FIG. 14, the cumulative layered layers are connected by an arc shape. The portion is connected; wherein, as shown in FIG. 15, the cumulative layered body and the connecting portion are stepped.

根据本发明的又一实施例，谐波减速器包括：刚轮、柔轮以及波形发生器，所述柔轮包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起；所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。 According to still another embodiment of the present invention, a harmonic reducer includes: a rigid wheel, a flexible wheel, and a waveform generator, the flexible wheel including an outer layer, a cumulative layer, and an output shaft that are sequentially sleeved together from the outside to the inside, the outer The outer surface of the layer is provided with external teeth, and the accumulation layer comprises at least two layers of radially deformable layered structure, the innermost layer of the accumulation layer being fixed on the output shaft, the outer layer and the accumulation layer The outermost layers and the layers of the accumulation layer are joined together by a joint; the wave generator is used to bend the flex wheel into an elliptical shape to engage the rigid wheel.

根据本发明的又一实施例，一种机器人关节结构，包括壳体，电机和谐波减速器，所述电机和所述谐波减速器位于所述壳体内，所述电机与谐波减速器的输入轴相连，驱动所述谐波减速器通过输出轴实现机器人关节转动； According to still another embodiment of the present invention, a robot joint structure includes a housing, a motor and a harmonic reducer, the motor and the harmonic reducer being located in the housing, the motor and a harmonic reducer The input shaft is connected to drive the harmonic reducer to realize the rotation of the robot joint through the output shaft;

谐波减速器包括：刚轮、柔轮以及波形发生器，所述柔轮包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起；所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。 The harmonic reducer comprises: a rigid wheel, a flexible wheel and a waveform generator, the flexible wheel comprising an outer layer, an accumulation layer and an output shaft which are sleeved together from the outside to the inside, and the outer surface of the outer layer is provided with external teeth, The accumulation layer includes at least two layers of radially deformable layer structures, the innermost layer of the accumulation layer being fixed on the output shaft, the outer layer of the outer layer and the accumulation layer, and the accumulation layer The layers are connected together by a joint; the waveform generator is used to bend the flex wheel into an elliptical shape to engage the rigid wheel.

本发明实施例通过连接部将各个累积层、外层以及输出轴连接起来。连接结构需要保证不限制各累积层产生径向变形的能力，且变形能在各层之间从内向外有效传递。两层之间的连接结构布置在一端，另一端放开使之自由变形；各层之间的连接结构交错布置，使得相邻的累积层之间靠内侧一层的变形能够通过连接结构传递到靠外侧的一层上。各层之间的连接部布置时在圆周上留有空隙，同时连接结构本身应具备一定宽度，以提供传递扭矩的扭转强度和刚度。或者连接部还可以充满整个圆周，由于柔轮工作在较大变形状态，且承受交变应力，为提高其疲劳强度，连接结构与各层相接处应留有较大圆角，减少应力集中。 Embodiments of the present invention connect the respective accumulation layers, outer layers, and output shafts through a joint. The joining structure needs to ensure that the ability of each of the accumulating layers to produce radial deformation is not limited, and the deformation can be effectively transmitted from the inside to the outside between the layers. The connection structure between the two layers is arranged at one end, and the other end is released to be freely deformed; the connection structures between the layers are staggered so that the deformation of the inner layer between adjacent accumulation layers can be transmitted through the connection structure to On the outer layer. The joints between the layers are arranged with a gap on the circumference, while the joint structure itself should have a width to provide the torsional strength and stiffness of the transmitted torque. Or the connecting portion can also fill the entire circumference. Since the flexible wheel works in a large deformation state and is subjected to alternating stress, in order to improve the fatigue strength, the connecting structure and the layers should be left with a large rounded corner to reduce stress concentration.

柔轮在高频率和高次数的弹性变形中，柔轮筒体极易产生疲劳破坏，一般情况下，裂纹起源于柔轮齿根部分，然后沿轴向延伸，进而呈45°斜向扩展。若柔轮旋转方向不断变化，则裂纹还能呈双向45°扩展这是目前公知的谐波减速传动最为主要的失效形式。 In the high frequency and high number of elastic deformation of the flexible wheel, the flexible wheel cylinder is prone to fatigue damage. In general, the crack originates from the root portion of the flexible wheel and then extends in the axial direction, thereby expanding obliquely at 45°. If the rotation direction of the flexible wheel is constantly changing, the crack can also expand in a two-way 45°. This is the most important failure mode of the currently known harmonic reduction transmission.

谐波减速传动的固有特点需要和制造的需要，通常先将柔轮制造成薄壁圆筒桶状。当柔轮与波发生器，刚轮组合装配完毕后，柔轮的圆形开口端将会被椭圆形的波发生器迫使变为椭圆形。 The inherent characteristics of the harmonic reduction drive need and the need for manufacturing. Usually, the flexible wheel is first made into a thin-walled cylindrical barrel. When the flexible wheel is combined with the wave generator and the rigid wheel assembly, the circular open end of the flexible wheel will be forced into an elliptical shape by the elliptical wave generator.

在对现有技术的研究和实践过程中，本发明的发明人发现，上述现有技术中：由于柔轮的圆形截面圆周长不变，必然使得柔轮变形后椭圆形开口的长轴比原来的圆直径长，而短轴比原来的圆直径短，如图16至图18所示，会直接导致椭圆形开口的长轴端与柔轮的另一端形成凸锥面，而短轴端与柔轮的另一端形成凹锥面，而在椭圆形开口的长轴端正是柔轮齿与刚轮齿啮合区域。由于不可避免的凸锥面和凹锥面的形成，直接导致了柔轮与刚轮的齿面啮合面成了锥面。如图19所示，这将使的柔轮和刚轮的齿啮合面积减少，单位啮合面积承受的压力增大，同时因受力点往齿顶方向偏移，齿根承受的弯矩加大，最终加速齿根的疲劳裂纹的产生。 In the research and practice of the prior art, the inventors of the present invention have found that in the above prior art, since the circumference of the circular section of the flexible wheel is constant, the long axis ratio of the elliptical opening after the deformation of the flexible wheel is inevitable. The original circle has a long diameter, and the short axis is shorter than the original circle diameter. As shown in FIGS. 16 to 18, the long axis end of the elliptical opening directly forms a convex cone surface with the other end of the flexible wheel, and the short axis end. The concave end surface is formed with the other end of the flexible wheel, and the long-axis end of the elliptical opening is the area where the soft tooth and the rigid tooth mesh. Due to the inevitable formation of the convex and concave tapered surfaces, the flank surface of the flexible wheel and the rigid wheel directly becomes a tapered surface. As shown in Fig. 19, this will reduce the tooth engagement area of the flex wheel and the rigid wheel, increase the pressure per unit meshing area, and increase the bending moment of the root due to the force point offsetting the tooth tip. , eventually accelerate the generation of fatigue cracks in the root.

为解决以及柔轮齿根承受的弯矩加大，最终加速齿根的疲劳裂纹产生的问题，如图20所示，本发明实施例提供一种柔轮8，包括径向可弯曲的柔轮体5、外部齿6和固定台7，所述柔轮体5一端开口，另一端连接用于固定输出轴或输入轴的所述固定台7；所述外部齿6位于所述柔轮体5开口端外缘表面；所述柔轮体5和所述固定台7之间通过弹性部10过渡。 In order to solve the problem that the bending moment of the root of the flexible tooth is increased, and finally the fatigue crack of the root is accelerated, as shown in FIG. 20, the embodiment of the invention provides a flexible wheel 8, which comprises a radially flexible flexible wheel. The body 5, the external teeth 6 and the fixing table 7, the flexible wheel body 5 is open at one end, and the other end is connected to the fixing table 7 for fixing the output shaft or the input shaft; the external teeth 6 are located at the flexible wheel body 5 An open end outer edge surface; the flexible wheel body 5 and the fixed table 7 are transitioned by the elastic portion 10.

所述弹性部10与柔轮体相连续并沿径向向柔轮的轴心方向延伸到固定台7。 The elastic portion 10 is continuous with the flex wheel body and extends in the radial direction toward the axis of the flex wheel to the fixed table 7.

其中，所述柔轮体5通过双圆弧形弹性部过渡到固定台7，所述弹性部10为双圆弧，所述双圆弧弹性部一端连接柔轮体的一端，另一端连接固定台。 The flexible wheel body 5 is transitioned to the fixed base 7 by a double circular arc-shaped elastic portion, and the elastic portion 10 is a double circular arc. One end of the double circular arc elastic portion is connected to one end of the flexible wheel body, and the other end is connected and fixed. station.

其中，所述柔轮体5通过反S形弹性部过渡到固定台7，所述弹性部10为反S形，所述反S形弹性部一端连接柔轮体的一端，另一端连接固定台。 The flexible wheel body 5 is transitioned to the fixed table 7 through the anti-S-shaped elastic portion. The elastic portion 10 is in an inverted S shape, and one end of the anti-S-shaped elastic portion is connected to one end of the flexible wheel body, and the other end is connected to the fixed table. .

其中，所述柔轮体5通过多圆弧形弹性部过渡到固定台。 The flexible wheel body 5 is transitioned to the fixed table by a multi-arc elastic portion.

本发明实施例在柔轮的柔轮体和固定台之间增加弹性部，通过弹性部过渡形成的弹性缓冲，可以有效地改善因椭圆形发生器迫使的柔轮柔轮体考口端与另一端形成的凸锥面和凹锥面发生的严重程度，因而能产生很大的承载能力，并且提高了柔轮的使用寿命。 In the embodiment of the invention, an elastic portion is added between the flexible wheel body and the fixed table of the flexible wheel, and the elastic buffer formed by the transition of the elastic portion can effectively improve the flexible wheel body and the other end of the flexible wheel body forced by the elliptical generator. The convex cone surface and the concave cone surface formed at one end are severely generated, thereby producing a large load carrying capacity and improving the service life of the flexible wheel.

本发明相应提供一种谐波减速器，如图21所示，谐波减速器包括：刚轮3、柔轮8以及波形发生器1，所述波形发生器1用来将所述柔轮8弯曲成椭圆形使之与所述刚轮3啮合。 The present invention accordingly provides a harmonic reducer. As shown in FIG. 21, the harmonic reducer includes: a rigid wheel 3, a flex wheel 8 and a waveform generator 1 for using the flexible wheel 8 It is bent into an elliptical shape to be engaged with the rigid wheel 3.

所述柔轮8，包括径向可弯曲的柔轮体5、外部齿6和固定台7，所述柔轮体5一端开口，另一端连接用于固定输出轴的所述固定台7；所述外部齿6位于所述柔轮体5开口端外缘表面；所述柔轮体5和所述固定台7之间通过弹性部10过渡。 The flexible wheel 8 includes a radially bendable flexible wheel body 5, an external tooth 6 and a fixed table 7, the flexible wheel body 5 having one end open and the other end connected to the fixing table 7 for fixing the output shaft; The outer teeth 6 are located on the outer edge surface of the open end of the flexible wheel body 5; the flexible wheel body 5 and the fixed table 7 are transitioned by the elastic portion 10.

其中，所述柔轮体5通过反S形弹性部弧过渡到固定台7，所述弹性部10为反S形，所述反S形弹性部一端连接柔轮体的一端，另一端连接固定台。 The elastic wheel body 5 is transitioned to the fixed table 7 through the anti-S-shaped elastic portion. The elastic portion 10 is in the reverse S shape, and one end of the anti-S-shaped elastic portion is connected to one end of the flexible wheel body, and the other end is connected and fixed. station.

本发明实施例在柔轮的柔轮体与固定台之间增加了双圆弧弹性部过渡。通过双圆弧过渡形成弹性缓冲，当波形发生器迫使柔轮柔轮体径向可弯曲端发生椭圆形变时，柔轮的柔轮体与固定台之间的双圆弧就会释放增大，同时圆弧中心点M沿径向跟随向外偏移至M1处，即向外偏移距离B5,如图9，使得柔轮柔轮体开口端的椭圆形的长轴与另一端的圆直径差减少，从而有效地改善因椭圆形发生器迫使的柔轮径向可弯曲端与另一端形成的凸锥面和凹锥面发生的严重程度，更关键的是使形成的凸锥面和凹锥面的锥度减少。柔轮啮合齿与刚轮啮合齿的接触区域面积增大，啮合的齿顶线更接近理论啮合线，啮合传递的力中心点也会向齿根部为靠近，力对啮合齿齿根形成的力矩相应减小(力臂减短)如图10，因而能产生很大的承载能力和提高谐波减速传动机构的使用寿命。 In the embodiment of the invention, a double arc elastic portion transition is added between the flexible wheel body of the flexible wheel and the fixed table. The elastic buffer is formed by the double arc transition. When the waveform generator forces the radial bendable end of the flexible wheel body to be elliptical, the double arc between the flexible wheel body and the fixed table of the flexible wheel is released. At the same time, the arc center point M is offset outward to the M1 in the radial direction, that is, the outward offset distance B5, as shown in FIG. 9, so that the long axis of the elliptical end of the open end of the flexible wheel body is different from the circle diameter of the other end. Reduced, thereby effectively improving the severity of the convex and concave tapered surfaces formed by the elliptical generator forced radial flexible end and the other end, and more importantly, forming the convex and concave cones The taper of the face is reduced. The area of the contact area between the flex wheel meshing teeth and the rigid wheel meshing teeth is increased, the meshing tooth tip line is closer to the theoretical meshing line, and the center point of the force transmitted by the meshing is also approached to the root of the tooth, and the force is formed on the tooth root of the meshing tooth. The corresponding reduction (force arm shortening) is shown in Fig. 10, so that it can generate a large load capacity and improve the service life of the harmonic reduction transmission mechanism.

本发明实施例谐波减速器在柔轮的柔轮体和固定台之间增加双圆弧弹性部，通过双圆弧弹性部过渡形成的弹性缓冲，可以有效地改善因椭圆形发生器迫使的柔轮柔轮体考口端与另一端形成的凸锥面和凹锥面发生的严重程度，因而能产生很大的承载能力，并且提高了柔轮的使用寿命。 In the harmonic reducer of the embodiment of the invention, a double circular arc elastic portion is added between the flexible wheel body and the fixed table of the flexible wheel, and the elastic buffer formed by the transition of the double circular arc elastic portion can effectively improve the forced by the elliptical generator. The convex cone surface and the concave cone surface formed by the end of the flexible wheel body and the other end are severely generated, thereby generating a large load carrying capacity and improving the service life of the flexible wheel.

根据本发明的又一实施例，本发明提供一种柔轮11，如图24所示，柔轮11包括径向可弯曲的柔轮体12、外部齿13和固定台14，所述柔轮体12一端开口，另一端连接用于固定输出轴或输入轴的所述固定台14；所述外部齿13位于所述柔轮体12开口端外缘表面；所述柔轮体12和所述固定台14之间通过弹性部15过渡。 According to a further embodiment of the invention, the invention provides a flex wheel 11, as shown in Fig. 24, the flex wheel 11 comprises a radially bendable flex wheel body 12, external teeth 13 and a fixed table 14, said flex wheel The body 12 is open at one end, and the other end is connected to the fixing table 14 for fixing the output shaft or the input shaft; the external teeth 13 are located at the outer edge surface of the open end of the flexible wheel body 12; the flexible wheel body 12 and the The fixed stages 14 are transitioned by the elastic portion 15.

所述弹性部15与柔轮体相连续并沿径向背离柔轮的轴心方向延伸到固定台14。 The elastic portion 15 is continuous with the flex wheel body and extends radially away from the axial direction of the flex wheel to the fixed table 14.

其中，所述柔轮体12通过双圆弧形弹性部过渡到固定台14，所述弹性部15为双圆弧，所述双圆弧一端连接柔轮体的一端，另一端连接固定台。 The flexible wheel body 12 is transitioned to the fixed table 14 by a double arc-shaped elastic portion. The elastic portion 15 is a double arc, and one end of the double arc is connected to one end of the flexible wheel body, and the other end is connected to the fixed table.

其中，所述柔轮体12通过反S形弹性部过渡到固定台14，所述弹性部15为反S形，所述反S形弹性部一端连接柔轮体的一端，另一端连接固定台。 The elastic wheel body 12 is transitioned to the fixed table 14 through the anti-S-shaped elastic portion, and the elastic portion 15 is in an inverse S shape, and one end of the anti-S-shaped elastic portion is connected to one end of the flexible wheel body, and the other end is connected to the fixed table. .

其中，所述柔轮体12通过多圆弧形弹性部过渡到固定台。 Wherein, the flexible wheel body 12 transitions to the fixed table through the multi-arc elastic portion.

本发明实施例在柔轮的柔轮体和固定台之间增加弹性部，通过弹性部过渡形成的弹性缓冲，可以有效地改善因椭圆形发生器迫使的柔轮径向可弯曲端与柔轮另一端形成的凸锥面和凹锥面发生的严重程度，因而能产生很大的承载能力，并且提高了柔轮的使用寿命。 In the embodiment of the invention, an elastic portion is added between the flexible wheel body and the fixed table of the flexible wheel, and the elastic buffer formed by the transition of the elastic portion can effectively improve the radial flexible end and the flexible wheel of the flexible wheel forced by the elliptical generator. The convex and concave tapered surfaces formed at the other end are severely generated, thereby producing a large load carrying capacity and improving the service life of the flexible wheel.

根据本发明的又一实施例，本发明提供一种谐波减速器，如图25所示，包括：刚轮16、柔轮11以及波形发生器17，所述波形发生器17用来将所述柔轮11弯曲成椭圆形使之与所述刚轮16啮合。 According to still another embodiment of the present invention, the present invention provides a harmonic reducer, as shown in FIG. 25, comprising: a rigid wheel 16, a flex wheel 11 and a waveform generator 17, which is used for The flex wheel 11 is bent into an elliptical shape to engage the rigid wheel 16.

柔轮11包括径向可弯曲的柔轮体12、外部齿13和固定台14，所述柔轮体12一端开口，另一端连接用于固定输出轴或输入轴的所述固定台14；所述外部齿13位于所述柔轮体12开口端外缘表面；所述柔轮体12和所述固定台14之间通过弹性部15过渡。 The flexible wheel 11 includes a radially bendable flexible wheel body 12, an external tooth 13 and a fixed table 14, the flexible wheel body 12 having one end open and the other end connected to the fixing table 14 for fixing the output shaft or the input shaft; The outer teeth 13 are located on the outer edge surface of the open end of the flexible wheel body 12; the flexible wheel body 12 and the fixed table 14 are transitioned by the elastic portion 15.

本发明实施例在柔轮的柔轮体与固定台之间增加了双圆弧弹性部过渡。通过双圆弧弹性部过渡形成弹性缓冲，当波形发生器迫使柔轮柔轮体开口端发生椭圆形变时，柔轮柔轮体另一端与固定台之间的双圆弧弹性部就会释放增大，同时圆弧中心点N沿径向跟随向外偏移至N1处，即向外偏移距离B5,如图12，使得柔轮柔轮体一端的椭圆形的长轴与另一端的圆直径差减少，从而有效地改善因椭圆形发生器迫使的柔轮开口端与另一端形成的凸锥面和凹锥面发生的严重程度，更关键的是使形成的凸锥面和凹锥面的锥度减少。柔轮啮合齿与刚轮啮合齿的接触区域面积增大，啮合的齿顶线更接近理论啮合线，啮合传递的力中心点也会向齿根部为靠近，力对啮合齿齿根形成的力矩相应减小(力臂减短)如图13，因而能产生很大的承载能力和提高谐波减速传动机构的使用寿命。 In the embodiment of the invention, a double arc elastic portion transition is added between the flexible wheel body of the flexible wheel and the fixed table. The elastic buffer is formed by the transition of the double circular arc elastic portion. When the waveform generator forces the open end of the flexible wheel body to be elliptical, the double arc elastic portion between the other end of the flexible wheel body and the fixed table is released. Large, while the arc center point N is radially outwardly offset to N1, that is, offset outward by a distance B5, as shown in Fig. 12, such that the elliptical long axis at one end of the flexible wheel body and the other end of the circle The difference in diameter is reduced, thereby effectively improving the severity of the convex and concave tapered surfaces formed by the open end and the other end of the flexible wheel forced by the elliptical generator, and more importantly, forming the convex and concave tapered surfaces The taper is reduced. The area of the contact area between the flex wheel meshing teeth and the rigid wheel meshing teeth is increased, the meshing tooth tip line is closer to the theoretical meshing line, and the center point of the force transmitted by the meshing is also approached to the root of the tooth, and the force is formed on the tooth root of the meshing tooth. The corresponding reduction (force arm shortening) is as shown in Fig. 13, so that it can generate a large load capacity and improve the service life of the harmonic reduction transmission mechanism.

本发明还提供一种机器人关节结构，包括壳体，电机和谐波减速器，所述电机和所述谐波减速器位于所述壳体内，所述电机与谐波减速器的输入轴相连，驱动所述谐波减速器通过输出轴实现机器人关节转动。谐波减速器包括：刚轮、柔轮以及波形发生器，所述柔轮包括径向可弯曲的柔轮体、外部齿和固定台，所述柔轮体一端开口，另一端连接用于固定输出轴的所述固定台；所述外部齿位于所述柔轮体开口端外缘表面；所述柔轮体和所述固定台之间通过弹性部过渡，所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。 The invention also provides a robot joint structure, comprising a casing, a motor and a harmonic reducer, wherein the motor and the harmonic reducer are located in the casing, and the motor is connected to an input shaft of the harmonic reducer, The harmonic reducer is driven to realize the rotation of the robot joint through the output shaft. The harmonic reducer comprises: a rigid wheel, a flexible wheel and a waveform generator, the flexible wheel comprises a radially bendable flexible wheel body, an external tooth and a fixed table, the flexible wheel body is open at one end and the other end is connected for fixing The fixing table of the output shaft; the external tooth is located at an outer edge surface of the open end of the flexible wheel body; the flexible wheel body and the fixed table are transitioned by an elastic portion, and the waveform generator is used to The flex wheel is curved into an elliptical shape to engage the rigid wheel.

值得一提的是，以上实施例中，不同的结构特征（例如上述的多种连接方式）可以相互组合使用，并不限于各附图所示。 It should be noted that in the above embodiments, different structural features (such as the above various connection modes) may be used in combination with each other, and are not limited to the respective drawings.

在上述实施例，仅对本发明进行示范性描述，但是本领域技术人员在阅读本专利申请后在不脱离本发明的精神和范围的情况下对本发明进行各种修改。 In the above-described embodiments, the present invention is exemplarily described, and various modifications of the present invention are made without departing from the spirit and scope of the invention.

Claims

一种柔轮，其特征在于：包括从外向内依次套在一起的外层、累积层和输出轴，所述外层外表面上设有外部齿，所述累积层包括至少两层可径向变形的层状结构，所述累积层的最内层固定在所述输出轴上，所述外层和累积层的最外层之间以及累积层各层之间通过连接部连接在一起。A flex wheel comprising: an outer layer, an accumulating layer and an output shaft that are sequentially sleeved together from the outside to the inside, the outer surface of the outer layer being provided with external teeth, the accumulating layer comprising at least two layers of radial A deformed layered structure, the innermost layer of the accumulation layer being fixed on the output shaft, and the outer layer and the outermost layer of the accumulation layer and the accumulation layer layers are connected together by a joint.
根据权利要求1所述的柔轮，其特征在于：所述外层和累积层最外层之间以及累积层各层之间均匀分布至少三个连接部。 The flex wheel according to claim 1, wherein at least three connecting portions are evenly distributed between the outer layer and the outermost layer of the accumulation layer and between the layers of the accumulation layer.
根据权利要求2所述的柔轮，其特征在于：所述外层和累积层最外层之间以及累积层各层之间均匀分布三个连接部，所述连接部逐层交替连接在各层之间的边缘处。 The flex wheel according to claim 2, wherein three connecting portions are evenly distributed between the outer layer and the outermost layer of the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer. At the edge between the layers.
根据权利要求3所述的柔轮，其特征在于：所述连接部的中轴线在同一水平面上的投影所形成的夹角为120度。 The flex wheel according to claim 3, wherein the projection of the central axis of the connecting portion on the same horizontal plane forms an angle of 120 degrees.
根据权利要求2所述的柔轮，其特征在于：所述外层和累积层最外层之间以及累积层各层之间均匀分布四个连接部，所述连接部逐层交替连接在各层之间的边缘处。 The flex wheel according to claim 2, wherein four connecting portions are evenly distributed between the outer layer and the outermost layer of the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer. At the edge between the layers.
根据权利要求5所述的柔轮，其特征在于：所述连接部的中轴线在同一水平面上的投影所形成的夹角为90度。 The flex wheel according to claim 5, wherein the projection of the central axis of the connecting portion on the same horizontal plane forms an angle of 90 degrees.
根据权利要求2所述的柔轮，其特征在于：所述外层和累积层之间以及累积层各层之间均匀分布六个连接部，所述连接部逐层交替连接在各层之间的边缘处。 The flex wheel according to claim 2, wherein six connecting portions are evenly distributed between the outer layer and the accumulating layer and between the layers of the accumulating layer, and the connecting portions are alternately connected layer by layer between the layers. At the edge of the.
根据权利要求7所述的柔轮，其特征在于：所述连接部的中轴线在同一水平面上的投影所形成的夹角为60度。 The flex wheel according to claim 7, wherein the projection of the central axis of the connecting portion on the same horizontal plane forms an angle of 60 degrees.
根据权利要求1至8所述的任意一项柔轮，其特征在于：所述层状结构为圆筒。 A flex wheel according to any one of claims 1 to 8, wherein the layered structure is a cylinder.
根据权利要求9所述的柔轮，其特征在于：所述圆筒相互平行且同轴设置。The flex wheel according to claim 9, wherein the cylinders are disposed parallel to each other and coaxially.
一种谐波减速器，其特征在于：包括：A harmonic reducer, comprising:

刚轮、如权1至10任意一项所述的柔轮以及波形发生器，a rigid wheel, a soft wheel as described in any one of claims 1 to 10, and a waveform generator,

所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。 The waveform generator is configured to bend the flex wheel into an elliptical shape to engage the rigid wheel.
一种机器人关节结构，包括壳体，电机和如权11所述的谐波减速器，所述电机和所述谐波减速器位于所述壳体内，所述电机与谐波减速器的输入轴相连，驱动所述谐波减速器通过输出轴实现机器人关节转动。 A robot joint structure comprising a housing, a motor and a harmonic reducer according to claim 11, wherein the motor and the harmonic reducer are located in the housing, and an input shaft of the motor and the harmonic reducer Connected, the harmonic reducer is driven to realize the rotation of the robot joint through the output shaft.
一种柔轮，其特征在于：包括径向可弯曲的柔轮体、外部齿和固定台，所述柔轮体一端开口，另一端连接用于固定输出轴或输入轴的所述固定台；所述外部齿位于所述柔轮体开口端外缘表面；所述柔轮体和所述固定台之间通过弹性部过渡。A flexible wheel, comprising: a radially bendable flexible wheel body, an external tooth and a fixed table, the flexible wheel body being open at one end and the other end being connected to the fixed table for fixing an output shaft or an input shaft; The external tooth is located at an outer edge surface of the open end of the flexible wheel body; and the flexible wheel body and the fixed table are transitioned by an elastic portion.
根据权利要求13所述的柔轮，其特征在于：所述弹性部与柔轮体相连续并沿径向向柔轮的轴心方向延伸到固定台。 The flex wheel according to claim 13, wherein the elastic portion is continuous with the flex wheel body and extends in the radial direction toward the axis of the flex wheel to the fixed table.
根据权利要求13所述的柔轮，其特征在于：所述弹性部与柔轮体相连续并沿径向背离柔轮的轴心方向延伸到固定台。 The flex wheel according to claim 13, wherein the elastic portion is continuous with the flex wheel body and extends radially away from the axial direction of the flex wheel to the fixed table.
根据权利要求14或15所述的柔轮，其特征在于：所述柔轮体通过双圆弧形弹性部过渡到固定台。A flex wheel according to claim 14 or 15, wherein the flexible wheel body is transitioned to the fixed table by a double circular arc-shaped elastic portion.
根据权利要求14或15所述的柔轮，其特征在于：所述柔轮体通过反S形弹性部过渡到固定台。The flex wheel according to claim 14 or 15, wherein the flexible wheel body is transitioned to the fixed table by the anti-S-shaped elastic portion.
根据权利要求14或15所述的柔轮，其特征在于：所述柔轮体通过多圆弧形弹性部过渡到固定台。The flex wheel according to claim 14 or 15, wherein the flexible wheel body is transitioned to the fixed table by the multi-arc elastic portion.
一种谐波减速器，其特征在于：包括：A harmonic reducer, comprising:

刚轮、柔轮以及波形发生器，Ring wheel, soft wheel and waveform generator,

所述柔轮包括径向可弯曲的柔轮体、外部齿和固定台，所述柔轮体一端开口，另一端连接用于固定输出轴的所述固定台；所述外部齿位于所述柔轮体开口端外缘表面；所述柔轮体和所述固定台之间通过弹性部过渡，The flex wheel includes a radially bendable flexible wheel body, an external tooth and a fixed table, the flexible wheel body is open at one end, and the other end is connected to the fixed table for fixing the output shaft; the external tooth is located at the soft An outer edge surface of the open end of the wheel body; a transition between the flexible wheel body and the fixed table through the elastic portion,

所述波形发生器用来将所述柔轮弯曲成椭圆形使之与所述刚轮啮合。The waveform generator is configured to bend the flex wheel into an elliptical shape to engage the rigid wheel.
根据权利要求19所述的谐波减速器，其特征在于：所述弹性部与柔轮体相连续并沿径向向柔轮的轴心方向延伸到固定台。The harmonic reducer according to claim 19, wherein the elastic portion is continuous with the flex wheel body and extends in the radial direction toward the axis of the flex wheel to the fixed table.
根据权利要求19所述的谐波减速器，其特征在于：所述弹性部与柔轮体相连续并沿径向背离柔轮的轴心方向延伸到固定台。The harmonic reducer according to claim 19, wherein the elastic portion is continuous with the flex wheel body and extends in a radial direction away from the axial direction of the flex wheel to the fixed table.
根据权利要求20或21所述的谐波减速器，其特征在于：所述柔轮体通过双圆弧形弹性部过渡到固定台。The harmonic reducer according to claim 20 or 21, wherein the flexible wheel body is transitioned to the fixed stage by the double circular arc-shaped elastic portion.
根据权利要求20或21所述的谐波减速器，其特征在于：所述柔轮体通过反S形弹性部过渡到固定台。The harmonic reducer according to claim 20 or 21, wherein the flexible wheel body is transitioned to the fixed stage by the reverse S-shaped elastic portion.
一种机器人关节结构，包括壳体，电机和如权19至23任意一项所述的谐波减速器，所述电机和所述谐波减速器位于所述壳体内，所述电机与谐波减速器的输入轴相连，驱动所述谐波减速器通过输出轴实现机器人关节转动。 A robot joint structure comprising a housing, a motor and a harmonic reducer according to any one of claims 19 to 23, wherein the motor and the harmonic reducer are located in the housing, the motor and the harmonic The input shaft of the reducer is connected, and the harmonic reducer is driven to realize the rotation of the robot joint through the output shaft.