阅读说明：本技术 一种谐波减速器 (Harmonic speed reducer ) 是由 关蕴奇 史正良 胡文祥 李亮 于 2021-09-28 设计创作，主要内容包括：本发明提供一种谐波减速器,其包括：柔性齿轮和波发生器,所述波发生器包括柔性轴承,所述柔性齿轮包括齿圈,所述齿圈的内周壁上设置有第一内齿结构,所述第一内齿结构沿所述齿圈的周向方向延伸布置,所述柔性轴承包括柔性轴承外圈,所述柔性轴承外圈的外周壁上设置有第一外齿结构,所述第一外齿结构沿所述柔性轴承外圈的周向方向延伸布置；所述齿圈套设在所述柔性轴承外圈的外周,且所述第一内齿结构与所述第一外齿结构匹配相啮合,以通过所述柔性轴承外圈驱动所述齿圈转动。根据本发明能防止柔性齿轮和柔性轴承之间发生相对滑动,消除这种相对滑动带来的异常摩擦磨损,提高柔性齿轮的柔性,降低应力集中,提高谐波减速器的使用寿命。(The present invention provides a harmonic speed reducer, including: the flexible gear comprises a gear ring, a first internal tooth structure is arranged on the inner peripheral wall of the gear ring and extends along the circumferential direction of the gear ring, the flexible bearing comprises a flexible bearing outer ring, a first external tooth structure is arranged on the outer peripheral wall of the flexible bearing outer ring and extends along the circumferential direction of the flexible bearing outer ring; the ring gear cover is established the periphery of flexible bearing outer lane, just first internal tooth structure with first external tooth structure matches the meshing mutually, in order to pass through the drive of flexible bearing outer lane the ring gear rotates. According to the invention, the relative sliding between the flexible gear and the flexible bearing can be prevented, the abnormal friction and abrasion caused by the relative sliding can be eliminated, the flexibility of the flexible gear can be improved, the stress concentration can be reduced, and the service life of the harmonic reducer can be prolonged.)

1. A harmonic reducer, characterized in that: the method comprises the following steps:

the flexible gear (2) and the wave generator (3), the wave generator (3) comprises a flexible bearing (31), the flexible gear (2) comprises a gear ring (21), a first internal tooth structure (211) is arranged on the inner peripheral wall of the gear ring (21), the first internal tooth structure (211) extends along the circumferential direction of the gear ring (21), the flexible bearing (31) comprises a flexible bearing outer ring (311), a first external tooth structure (3111) is arranged on the outer peripheral wall of the flexible bearing outer ring (311), and the first external tooth structure (3111) extends along the circumferential direction of the flexible bearing outer ring (311); ring gear (21) cover is established the periphery of flexible bearing outer lane (311), just first internal tooth structure (211) with first external tooth structure (3111) match the looks meshing, in order to pass through flexible bearing outer lane (311) drive ring gear (21) rotate.

2. The harmonic reducer of claim 1, wherein:

the first internal tooth structure (211) comprises first internal tooth crests (211a) and first internal tooth roots (211b), the first internal tooth crests (211a) and the first internal tooth roots (211b) are alternately arranged in the circumferential direction, and the first internal tooth crests (211a) and the first internal tooth roots (211b) adjacent to the first internal tooth crests are in arc surface transition;

first external tooth structure (3111) includes first addendum (3111a) and first addendum (3111b), and in circumferential direction, first addendum (3111a) with first addendum (3111b) arranges in turn, first addendum (3111a) is rather than adjacent be the cambered surface transition between first addendum (3111 b).

3. The harmonic reducer of claim 2 wherein:

in the projection plane of the longitudinal plane, the first internal tooth structure (211) is a wave-shaped tooth;

in the projection plane of the longitudinal plane, the first external tooth arrangement (3111) is a wave-shaped tooth.

4. The harmonic reducer of claim 3 wherein:

an inner wall of the first inner tooth structure (211) of the wave-shaped tooth is made of an elastic material, and an outer wall of the first outer tooth structure (3111) of the wave-shaped tooth is made of an elastic material.

5. The harmonic reducer of claim 2 wherein:

the first inner tooth root (211b) of the first inner tooth structure (211) is an arc groove.

6. The harmonic reducer of claim 2 wherein:

be provided with second outer tooth structure (212) on the periphery wall of ring gear (21), second outer tooth structure (212) includes second outer tooth root (212b) and second outer tooth top (212a), second outer tooth root (212b) with connect through transition region (213) between second outer tooth top (212a), and in radial direction, ring gear (21) is in radial thickness at second outer tooth root (212b) department with ring gear (21) is in radial thickness at transition region (213) department equals.

7. The harmonic reducer of claim 6 wherein:

on the ring gear (21) and in the radial direction, the first internal tooth tip (211a) of the first internal tooth arrangement (211) is opposite to the second external tooth root (212b) of the second external tooth arrangement (212), and the first internal tooth root (211b) of the first internal tooth arrangement (211) is opposite to the second external tooth tip (212a) of the second external tooth arrangement (212).

8. The harmonic reducer of any one of claims 1-7 wherein:

the flexible gear (2) is made of alloy steel subjected to heat treatment through machining, and the flexible bearing outer ring (311) is made of bearing steel subjected to heat treatment through machining.

9. The harmonic reducer of any one of claims 1-8 wherein:

harmonic reducer ware still includes rigid gear (1) and cross roller bearing (4), wave generator (3) still includes cam (32), rigid gear (1) cover is established flexible gear (2) on the periphery of ring gear (21), flexible bearing (31) cover is established on the periphery of cam (32).

10. The harmonic reducer of claim 9, wherein:

the rigid gear (1), the flexible gear (2) and the flexible bearing outer ring (311) are all made of PEEK plastics.

Technical Field

The invention relates to the technical field of speed reducers, in particular to a harmonic speed reducer.

Background

The harmonic reducer with the mainstream structure at present mainly comprises a rigid gear with internal teeth, a flexible gear with external teeth and a thin-wall cylindrical structure and a wave generator assembled on the inner wall of a gear ring of the flexible gear, wherein the wave generator comprises an inner elliptic cam and a flexible bearing assembled on the outer side of the inner elliptic cam, and the cam forces the flexible bearing to deform so that the wave generator is elliptic as a whole. The length of the long axis of the wave generator is larger than the inner diameter of the gear ring of the flexible gear, after the wave generator is assembled into the inner wall of the gear ring of the flexible gear, the gear ring of the flexible gear is deformed into an oval shape, a plurality of external teeth at the long axis part of the gear ring of the flexible gear are meshed with the internal teeth of the rigid gear, and the input motor drives the wave generator to rotate so as to rotate the meshed part, thereby realizing the harmonic transmission function of the whole machine.

The outer ring of the flexible bearing in the wave generator is in interference fit with the inner wall of the gear ring of the flexible gear, and the outer ring of the flexible bearing and the flexible gear are kept relatively static by the generated friction force, so that the outer ring of the flexible bearing cannot slide relative to the flexible gear when the long shaft of the wave generator rotates. However, when the harmonic reducer suffers from sudden heavy-load working conditions, abnormal relative sliding may still occur at the part, and the service life of the flexible gear and the flexible bearing is reduced due to dry friction and fretting wear generated thereby, and finally the service life of the whole harmonic reducer is reduced.

The harmonic reducer in the prior art has the technical problems that the friction and the abrasion are serious due to the relative sliding between the flexible gear and the flexible bearing, the stress concentration exists at the tooth root part of the gear ring of the flexible gear, the service life of the flexible gear, the flexible bearing and the whole harmonic reducer is short, and the like.

Disclosure of Invention

Therefore, the invention aims to overcome the defect that the harmonic reducer in the prior art has serious friction and abrasion due to relative sliding between a flexible gear and a flexible bearing, thereby providing the harmonic reducer.

In order to solve the above problems, the present invention provides a harmonic reducer including:

the flexible gear comprises a gear ring, a first internal tooth structure is arranged on the inner peripheral wall of the gear ring and extends along the circumferential direction of the gear ring, the flexible bearing comprises a flexible bearing outer ring, a first external tooth structure is arranged on the outer peripheral wall of the flexible bearing outer ring and extends along the circumferential direction of the flexible bearing outer ring; the ring gear cover is established the periphery of flexible bearing outer lane, just first internal tooth structure with first external tooth structure matches the meshing mutually, in order to pass through the drive of flexible bearing outer lane the ring gear rotates.

In some embodiments, the first internal tooth structure includes a first internal tooth crest and a first internal tooth root, the first internal tooth crest and the first internal tooth root are arranged alternately in the circumferential direction, and the first internal tooth crest and the first internal tooth root adjacent to the first internal tooth crest are in arc surface transition;

the first external tooth structure comprises a first external tooth top and a first external tooth root, the first external tooth top and the first external tooth root are alternately arranged in the circumferential direction, and the first external tooth top and the first external tooth root adjacent to the first external tooth top are in arc surface transition.

In some embodiments, in a plane of projection of the longitudinal plane, the first internal tooth structure is a wave-type tooth;

in a projection plane of the longitudinal plane, the first external tooth structure is a wave-shaped tooth.

In some embodiments, an inner wall of the first inner tooth structure of the wave-shaped tooth is made of an elastic material, and an outer wall of the first outer tooth structure of the wave-shaped tooth is made of an elastic material.

In some embodiments, the first inner tooth root of the first inner tooth structure is a circular arc groove.

In some embodiments, a second outer tooth structure is disposed on the outer peripheral wall of the ring gear, the second outer tooth structure includes a second outer tooth root and a second outer tooth tip, the second outer tooth root is connected to the second outer tooth tip through a transition region, and in a radial direction, a radial thickness of the ring gear at the second outer tooth root is equal to a radial thickness of the ring gear at the transition region.

In some embodiments, the first inner tooth crest of the first inner tooth structure opposes the second outer tooth root of the second outer tooth structure, and the first inner tooth root of the first inner tooth structure opposes the second outer tooth crest of the second outer tooth structure, on the ring gear and in a radial direction.

In some embodiments, the compliant gear is formed by machining from a heat treated alloy steel and the compliant bearing outer race is formed by machining from a heat treated and heat treated bearing steel.

In some embodiments, the harmonic reducer further comprises a rigid gear and a crossed roller bearing, the wave generator further comprises a cam, the rigid gear is sleeved on the outer periphery of the gear ring of the flexible gear, and the flexible bearing is sleeved on the outer periphery of the cam.

In some embodiments, the rigid gear, compliant gear, and compliant bearing outer race are all made of PEEK plastic.

The harmonic reducer provided by the invention has the following beneficial effects:

the invention provides a harmonic reducer, which comprises a first internal tooth structure arranged on the inner peripheral wall of the ring gear of a flexible gear and extending in the circumferential direction, a first external tooth structure which is arranged on the peripheral wall of the flexible bearing outer ring and extends along the circumferential direction, and the first internal tooth structure is meshed and matched with the first external tooth structure to form a tooth meshing structure, namely, a flexible gear with a wave-shaped tooth inner wall and a flexible bearing with a wave-shaped flexible bearing outer ring are formed, the fixing mode between the flexible gear and the flexible bearing is changed from friction clasping to structural limiting, the relative sliding between the flexible gear and the flexible bearing is prevented, the abnormal friction and abrasion caused by the relative sliding are fundamentally eliminated, and can improve the flexibility of the flexible gear, greatly reduce the stress concentration at the tooth root part of the flexible gear, under the combined action of the two strengthening mechanisms, the service life of the whole harmonic reducer is effectively prolonged.

Drawings

FIG. 1 is an exploded view of a harmonic reducer of the present invention;

FIG. 2 is a schematic diagram of a prior art compliant gear inner race and compliant bearing outer race;

FIG. 3 is a block diagram of the compliant gear inner race and compliant bearing outer race of the present invention.

The reference numerals are represented as:

1. a rigid gear; 2. a flexible gear; 21. a ring gear; 211. a first internal tooth structure; 211a, a first internal tooth top; 211b, first inner tooth root; 212. a second outer tooth structure; 212a, second external tooth crest; 212b, second outer root; 213. a transition zone; 3. a wave generator; 31. a compliant bearing; 311. a flexible bearing outer race; 3111. a first external tooth structure; 3111a, a first addendum; 3111b, a first outer tooth root; 32. a cam; 4. a crossed roller bearing.

Detailed Description

As shown in fig. 1 and 3, the present invention provides a harmonic reducer including:

the wave generator comprises a flexible gear 2 and a wave generator 3, wherein the wave generator 3 comprises a flexible bearing 31, the flexible gear 2 comprises a gear ring 21, a first internal tooth structure 211 is arranged on the inner peripheral wall of the gear ring 21, the first internal tooth structure 211 extends along the circumferential direction of the gear ring 21, the flexible bearing 31 comprises a flexible bearing outer ring 311, a first external tooth structure 3111 is arranged on the outer peripheral wall of the flexible bearing outer ring 311, and the first external tooth structure 3111 extends along the circumferential direction of the flexible bearing outer ring 311; ring gear 21 cover is established the periphery of flexible bearing outer lane 311, just first internal tooth structure 211 with first external tooth structure 3111 matches the looks meshing, in order to pass through the drive of flexible bearing outer lane 311 ring gear 21 rotates.

In the prior art, the purpose of improving the transmission performance or service life of the harmonic reducer is to change the profile shapes of the cam and the flexible bearing, but the adverse effect of increasing the relative sliding tendency between the outer ring of the flexible bearing and the flexible gear is brought. The invention has the innovation point that the harmonic reducer and the flexible gear and the flexible bearing with the wave-shaped limiting structure are provided, so that the relative sliding between the flexible gear and the flexible bearing is prevented, the friction and the abrasion caused by the relative sliding are eliminated, and the service lives of the flexible gear, the flexible bearing and the harmonic reducer are finally prolonged.

The invention provides a harmonic reducer, which comprises a first internal tooth structure arranged on the inner peripheral wall of the ring gear of a flexible gear and extending in the circumferential direction, a first external tooth structure which is arranged on the peripheral wall of the flexible bearing outer ring and extends along the circumferential direction, and the first internal tooth structure is meshed and matched with the first external tooth structure to form a tooth meshing structure, namely, a flexible gear with a wave-shaped tooth inner wall and a flexible bearing with a wave-shaped flexible bearing outer ring are formed, the fixing mode between the flexible gear and the flexible bearing is changed from friction clasping to structural limiting, the relative sliding between the flexible gear and the flexible bearing is prevented, the abnormal friction and abrasion caused by the relative sliding are fundamentally eliminated, and can improve the flexibility of the flexible gear, greatly reduce the stress concentration at the tooth root part of the flexible gear, under the combined action of the two strengthening mechanisms, the service life of the whole harmonic reducer is effectively prolonged.

The invention has the beneficial effects that:

1. the relative sliding between the flexible gear and the flexible bearing is prevented, and the friction and the abrasion caused by the relative sliding are eliminated;

2. the flexibility of the gear ring of the flexible gear is improved, and the stress concentration at the tooth root part is greatly reduced;

3. the service life of the flexible gear, the flexible bearing and the harmonic reducer is prolonged.

In some embodiments, the first internal tooth structure 211 comprises first internal tooth crests 211a and first internal tooth roots 211b, the first internal tooth crests 211a alternate with the first internal tooth roots 211b in the circumferential direction, and the first internal tooth crests 211a have a cambered surface transition with the adjacent first internal tooth roots 211 b;

first external tooth structure 3111 includes first external tooth crest 3111a and first external tooth root 3111b, in circumferential direction, first external tooth crest 3111a and first external tooth root 3111b are arranged alternately, and first external tooth crest 3111a and first external tooth root 3111b adjacent to first external tooth crest 3111a are in arc surface transition.

The first internal tooth structure comprises a first internal tooth crest and a first internal tooth root which are alternately arranged in the circumferential direction, the first internal tooth crest and the first internal tooth root are in arc surface transition, the first internal tooth crest and the first external tooth root can be in concave-convex fit, the first internal tooth root and the first external tooth crest are in concave-convex fit, the first internal tooth root and the first external tooth root are in concave-convex fit, the first internal tooth structure and the first external tooth structure can be meshed more smoothly through the arc surface transition, stress concentration is reduced, close fit between the internal tooth structure and the external tooth structure is guaranteed, and the anti-abrasion effect is improved.

In some embodiments, in a projection plane of the longitudinal plane, the first internal tooth structure 211 is a wave-type tooth;

in the projection plane of the longitudinal plane, the first external tooth structure 3111 is a wave-shaped tooth.

The first internal tooth structure and the first external tooth structure according to the present invention are further preferably configured such that the first internal tooth crest and the first internal tooth root are in circular arc transition, so that a wavy tooth structure can be formed, and the second internal tooth crest and the second internal tooth root are in circular arc transition, so that an arc surface transition effect can be further improved, stress concentration can be further reduced, a close adhesion effect between the internal tooth structure and the external tooth structure can be improved, and an anti-wear effect can be improved.

After the flexible gear is changed into the wave-shaped matching, the matching mode between the flexible gear and the flexible bearing is changed into a limiting type matching mode (see fig. 3) of matching between similar gears, and under the condition of complete structure, two parts can not relatively rotate, so that abrasion is eliminated.

The tight fit is that the outlines of two parts are required to be consistent, the limit design is realized, if the tight fit cannot be realized, the inner wall of the tooth is wavy under the most extreme condition, the outer ring of the flexible bearing is cylindrical, and the two parts cannot be completely matched, so that the relative rotation and the abrasion can be generated.

In some embodiments, an inner wall of the first inner tooth structure 211 of the wave-shaped tooth is made of an elastic material, and an outer wall of the first outer tooth structure 3111 of the wave-shaped tooth is made of an elastic material. According to the invention, the inner wall of the first internal tooth structure is made of an elastic material, and the outer wall of the first external tooth structure is also made of an elastic material, so that the driving effect between the gear ring of the flexible gear and the flexible bearing can be improved, the transmission of rotation can be realized through deformation on the basis of tight attachment, and the effect of force and moment transmission is improved.

In some embodiments, the first inner tooth root 211b of the first inner tooth structure 211 is a circular arc groove. The first inner tooth root is arranged in the arc groove structure, so that the stress concentration at the position can be effectively prevented, and the service life is prolonged. Furthermore, the wave crest part of the gear ring (namely the first inner tooth root opposite to the second outer tooth crest) is provided with a fillet, so that stress concentration at the wave crest part is prevented, the service life of the flexible gear is further prolonged, and the service life of the whole harmonic reducer is finally prolonged.

In some embodiments, a second outer tooth structure 212 is disposed on the outer peripheral wall of the ring gear 21, the second outer tooth structure 212 includes a second outer tooth root 212b and a second outer tooth top 212a, the second outer tooth root 212b and the second outer tooth top 212a are connected by a transition region 213, and in the radial direction, the radial thickness of the ring gear 21 at the second outer tooth root 212b is equal to the radial thickness of the ring gear 21 at the transition region 213.

This is a preferred configuration of the peripheral wall of the ring gear of the present invention, that is, the peripheral wall of the ring gear is provided with a plurality of outer tooth roots and outer tooth tops, which can mesh with the rigid gear to drive the rigid gear to rotate, and the thickness in the radial direction, the thickness at the second outer tooth root, is equal to the radial thickness of the transition area, which can further preferably avoid stress concentration, and ultimately improve the service life of the whole.

Furthermore, the thickness of each part of the transition area of the gear ring is the same as that of the tooth root, so that the flexibility of the gear ring can be improved, the stress concentration of the tooth root part is greatly reduced, and the gear ring is not easy to break at the tooth root part to cause the failure of the flexible gear.

In some embodiments, the first internal tooth crest 211a of the first internal tooth structure 211 is opposite the second external tooth root 212b of the second external tooth structure 212, and the first internal tooth root 211b of the first internal tooth structure 211 is opposite the second external tooth crest 212a of the second external tooth structure 212, on the ring gear 21 and in the radial direction. According to the invention, the first inner tooth crest and the second outer tooth crest on the gear ring are preferably arranged oppositely, and the first inner tooth crest and the second outer tooth crest are arranged oppositely, so that the radial thickness consistency can be ensured, the stress concentration can be further prevented, and the service life of the whole gear ring is prolonged.

In some embodiments, the compliant gear 2 is formed by machining from a heat treated alloy steel, and the compliant bearing outer race 311 is formed by machining from a hot and heat treated high carbon chromium bearing steel (e.g., GCr15 and GCr15SiMn versus ZGCr15 and ZGCr15 SiMn). Because used steel has the elastic deformation characteristic, wave type tooth inner wall (first internal tooth structure 211) with wave type flexible bearing outer lane 311 all has the flexibility, can follow the major axis of wave generator 3 rotates and takes place elastic deformation, and does not change wave type tooth inner wall (first internal tooth structure 211) with wave type flexible bearing outer lane 311's inseparable laminating state prevents flexible gear 2 with take place relative slip between the flexible bearing 31, eliminated by its frictional wear who brings, improved flexible gear 2 with flexible bearing 31's life.

In some embodiments, the harmonic reducer further includes a rigid gear 1 and a cross roller bearing 4, the wave generator 3 further includes a cam 32, the rigid gear 1 is sleeved on the outer periphery of the gear ring 21 of the flexible gear 2, and the flexible bearing 31 is sleeved on the outer periphery of the cam 32. The invention can provide driving power through the arrangement of the cam, the cam drives the flexible bearing to rotate, and the rigid gear is driven by the flexible gear to rotate, thereby realizing the high-precision rotation transmission process.

As shown in fig. 1, the present invention provides a harmonic reducer, which comprises a rigid gear 1, a flexible gear 2, a wave generator 3, a crossed roller bearing 4 and the like, wherein the wave generator 3 is provided with a flexible bearing 31 and a cam 32. As shown in fig. 3, the ring gear 21 of the flexible gear 2 has a wave-shaped inner tooth wall (first internal tooth structure 211), the flexible bearing 31 has a wave-shaped flexible bearing outer ring 311, and the wave-shaped inner tooth wall (first internal tooth structure 211) is tightly attached to the wave-shaped flexible bearing outer ring 311. The wave generator 3 is driven to rotate along with the input motor, so that the meshing part of the flexible gear 2 and the rigid gear 1 rotates, and the harmonic transmission function of the whole machine is realized.

In some embodiments, the rigid gear 1, compliant gear 2, and compliant bearing outer race 311 are all made of PEEK plastic. The material can effectively improve the processing efficiency of parts.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention. The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.