Flexible wheel, harmonic transmission and robot

A transmission and flexible wheel technology, applied in the field of robotics, can solve problems such as bearing damage, flexible bearing axial displacement, etc., to achieve the possible effects of increasing service life, improving service life, reducing axial displacement or bearing damage

Pending Publication Date: 2019-05-14
GREE ELECTRIC APPLIANCES INC
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AI Technical Summary

Problems solved by technology

When working normally, the wave generator 2' inputs torque, and the flexible spline 1' is at the major axis of the wave generator 2' ellipse ( Figure 4 Driven by the expansion area of ​​the middle flexible spline), the forced deformation occurs, and the semi-short axis ( Figure 4 contraction area of ​​the middle flexspline) is subjected to sudden extrusion force to produce elastic deformation, and the wave generator 2' bearing is subjected to the reaction force F from the flexspline 1' ( image 3 ), the force can be decomposed into axial force F1 and radial force F2. At this time, wave generator 2' has a tendency to move inward under the action of axial force F1, but the inner hole and shaft of wave generator 2' Fixed connection, long-term operation will cause axial displacement between flexible bearing and motor shaft or bearing damage

Method used

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  • Flexible wheel, harmonic transmission and robot
  • Flexible wheel, harmonic transmission and robot
  • Flexible wheel, harmonic transmission and robot

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Embodiment Construction

[0028] see in conjunction Figure 5 to Figure 6 As shown, according to the embodiment of the present application, the flexspline includes a matching part 1 arranged at the open end of the flexspline and used to cooperate with the wave generator. The matching part 1 has a first inner hole 2, and the hole wall of the first inner hole 2 An inclination α is formed with the central axis of the flexspline.

[0029] The flexspline sets the first inner hole 2 of the matching part 1 that cooperates with the wave generator as a hole with a taper, which can compensate the deformation of the flexspline during the switching process of flexspline expansion or contraction. Before the sudden point when the contraction state is switched to the expansion state, a certain axial force is pre-applied between the flexspline and the wave generator through the taper of the first inner hole 2, so that when the flexspline reaches the state switching point, it can be reduced. During the switching proce...

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Abstract

The invention provides a flexible wheel, a harmonic transmission and a robot. The flexible wheel comprises a matching part (1) arranged at the open end of a flexible wheel body and used for cooperating with a wave generator, wherein the matching part (1) is provided with a first inner hole (2), and an angle of inclination alpha is formed between the hole wall of the first inner hole (2) and the central axis of the flexible wheel body. According to the flexible wheel, the axial force applied to the wave generator can be reduced, and the service life of the wave generator is prolonged.

Description

technical field [0001] The application belongs to the technical field of robots, and in particular relates to a flexspline, a harmonic transmission and a robot. Background technique [0002] The harmonic reducer has many advantages such as high transmission precision, large speed ratio, small size, simple structure and wide application. Such as figure 1 and figure 2 As shown, the reducer is mainly composed of a rigid spline, a flexible spline 1' and a wave generator 2'. The working process is generally that the rigid spline is fixed, and when the wave generator 2' rotates, it forces the flexible spline 1' to produce elastic deformation, so that the teeth of the flexible spline 1' and the rigid spline enter the meshing state, thereby realizing transmission. [0003] Such as Figure 4 Middle a shows the structural diagram of the flexible spline 1' when it is not installed on the wave generator 2' and deformed. At this time, the flexible spline 1' is circular. The wave ge...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H55/17F16H55/08F16H57/021F16H49/00
Inventor 谷甲甲程中甫田珍珍钟成堡崔中张皓
Owner GREE ELECTRIC APPLIANCES INC
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