Novel harmonic speed reducer of wave generator

Abstract

The invention discloses a novel harmonic speed reducer of a wave generator. The inner surface of a circular rigid wheel is provided with rigid internal teeth; a wave generator is arranged in the circular rigid wheel; the wave generator consists of an oval rigid cam and a flexible bearing embedded into the outer ring of the rigid cam; a flexible wheel is sleeved on the outer circle of the bearing of the wave generator; the outer surface of the flexible wheel is provided with outer teeth which are matched with the inner teeth of the circular rigid wheel; the flexible wheel and a circular rigid gear are configured coaxially; the wave generator is driven by a motor, and is taken as a rotary driving source; and the shape curve of the wave generator cam has a specific expression. According to the novel harmonic speed reducer, the specific expression of the shape curve of the wave generator cam is provided, and the flexible wheel and the rigid wheel are better meshed via the wave generator, so that the stress distribution on a meshed tooth surface between the flexible bearing and the gear is improved, and the bottom stress of the flexible gear is reduced.

Description

technical field [0001] The invention relates to a harmonic reducer. Background technique [0002] The harmonic reducer has the characteristics of high precision, small size and high load torque, and is widely used in the field of industrial robots. [0003] The wave generator is composed of two parts: a rigid body wave generator cam and a wave generator bearing embedded in its outer ring. The shape of the wave generator cam has a great influence on the performance of the harmonic reducer, especially has a direct impact on the rated torque, efficiency and service life. [0004] Regarding the shape design of the wave generator cam of the harmonic reducer, most of the harmonic reducers in the world use elliptic curve wave generator cams. The advantage is that the design is simple and the manufacture is not complicated. The disadvantage is that the reducer has The tooth bottom of the flexible wheel bears a large force, which affects the life of the flexible wheel of the harmon...

AI Technical Summary

Problems solved by technology

[0005] To sum up, although there have been some researches and inventions on the cam shape of the wave generator of the harmonic reducer at home and abroad, there are two shortcomings: First, the given curve expression of the cam shape of the wave generator is not enough Detailed; second, given the cam shape of the wave generator, when the flexible wheel meshes with the circular rigid wheel, the force on the tooth bottom of the flexible wheel is relatively large, and the number of meshing teeth is small

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