A flexible wheel, a rigid wheel and a harmonic reducer

Abstract

A flexible spline, a rigid wheel and a harmonic reducer. When no force is applied, the flexible spline teeth on the flexible spline and the rigid wheel teeth on the rigid wheel maintain surface contact in a fully meshed state or a semi-meshed state. After the force is applied, the flexible spline teeth on the flexible spline and the rigid wheel teeth on the rigid wheel are in surface contact in a fully meshed state or a semi-meshed state. Therefore, edge meshing and point meshing will not occur, and severe tooth surface wear caused by the meshing of the two is effectively avoided. This is not only conducive to the formation of an oil film, but also can avoid the formation of stress concentration at the wear point, thereby ensuring the bearing strength of the flexible spline and the rigid wheel, and is conducive to extending the service life of the flexible spline and the rigid wheel.

Description

Technical Field

[0001] The invention relates to a flexible wheel, a rigid wheel matched with the flexible wheel, and a harmonic reducer containing the flexible wheel and the rigid wheel. Background Art

[0002] The harmonic reducer is mainly composed of four basic components: a wave generator, a flexspline, and a rigid wheel. It is a gear transmission that relies on a wave generator equipped with a flexible bearing to make the flexspline produce controllable elastic deformation and mesh with the rigid wheel to transmit motion and power. The existing harmonic reducer deforms the flexspline through the action of the wave generator, forcing the teeth of the flexspline part to mesh with the teeth of the rigid wheel part. Edge meshing and sharp point meshing usually occur at the meshing point. Therefore, it is easy to cause severe wear at the edge meshing point and the sharp point meshing point, which is not conducive to the formation of oil film on the surface of the rigid wheel and the flexspline teeth. At the same time, it is easy to produce a large stress concentration at the wear point, resulting in weak load-bearing capacity and short life of the flexspline and the rigid wheel. Summary of the invention

[0003] The present invention aims to provide a flexible wheel, a rigid wheel and a harmonic reducer with strong bearing capacity and long service life.

[0004] A flexible spline described in the present invention comprises a flexible spline body with a cavity in the core, and a plurality of flexible spline teeth are continuously arranged on the outer side wall of the flexible spline body along the circumferential direction thereof; a single flexible spline tooth comprises a tooth top arc R4 and two sections of tooth root arcs R3, the two sections of tooth root arcs R3 are located on both sides of the tooth top arc R4, the tooth top arc R4 and the tooth root arcs R3 on both sides thereof are connected as a whole via arcs R1 and arcs R2 in sequence, the arc R1 is an outwardly convex arc, the arc R2 is an inwardly concave arc, and adjacent flexible spline teeth are connected via the tooth root arcs R3.

[0005] A rigid wheel described in the present invention comprises a rigid wheel body, a through hole for inserting a flexible wheel is arranged at the core of the rigid wheel body, and a plurality of rigid wheel teeth are continuously arranged on the side wall of the through hole of the rigid wheel body along its circumferential direction; a single rigid wheel tooth comprises a tooth top plane D and two sections of tooth root circular arcs R5, the two sections of tooth root circular arcs R5 are located on both sides of the tooth top plane D, the tooth top plane D and the tooth root circular arcs R5 on both sides thereof are connected as a whole by circular arcs R6, circular arcs R7 and circular arcs R8 in sequence, the circular arcs R6 and circular arcs R7 are convex circular arcs, the circular arc R8 is a concave circular arc, and adjacent rigid wheel teeth are connected by the tooth root circular arcs R5.

[0006] A harmonic reducer described in the present invention includes a wave generator, and also includes the above-mentioned flexible wheel and the above-mentioned rigid wheel. The flexible wheel is inserted into the through hole of the rigid wheel, and the wave generator is embedded in the inner cavity of the flexible wheel. The wave generator causes the flexible wheel to deform so that the flexible wheel and the rigid wheel are meshed.

[0007] In the flexible spline and the rigid wheel described in the present invention, the arc R1 on the flexible spline teeth is an outwardly convex arc, the arc R2 is an inwardly concave arc, and the arcs R6 and R7 on the rigid wheel teeth are outwardly convex arcs, and the arc R8 is an inwardly concave arc. Therefore, when the flexible spline and the rigid wheel are in a fully meshed state, the arc R1 on the flexible spline teeth will contact the arc R8 on the rigid wheel teeth. As the wave generator rotates, the flexible spline is forced to deform, and part of the flexible spline teeth on the flexible spline and part of the rigid wheel teeth on the rigid wheel change from a disengaged state or from a fully meshed state to a semi-meshed state. In the semi-meshed state, the arc R1 on one side tooth surface of the flexible spline teeth on the flexible spline and the arc R8 on one side tooth surface of the rigid wheel teeth on the rigid wheel will gradually disengage, and then the arc R2 on one side tooth surface of the flexible spline teeth on the flexible spline gradually contacts the arcs R6 and R7 on one side tooth surface of the rigid wheel teeth on the rigid wheel. As the wave generator continues to rotate, the arc R2 on one side of the tooth surface of the flexspline teeth on the flexspline gradually disengages from the arcs R6 and R7 on one side of the tooth surface of the rigid wheel teeth on the rigid wheel until the meshing teeth disengage from each other; when no force is applied, the flexspline teeth on the flexspline and the rigid wheel teeth on the rigid wheel maintain surface contact in a fully meshed state or a semi-meshed state, and when force is applied, the flexspline teeth on the flexspline and the rigid wheel teeth on the rigid wheel become surface contact in a fully meshed state or a semi-meshed state, therefore, edge meshing and point meshing will not occur, effectively avoiding the situation where the tooth surface is severely worn when the two mesh, which is not only conducive to the formation of oil film, but also can avoid the formation of stress concentration at the wear point, and ensure the stability of the transmission accuracy when the flexspline and the rigid wheel are matched under the premise of ensuring the bearing strength of the flexspline and the rigid wheel, which is conducive to extending the service life of the flexspline and the rigid wheel.

[0008] The harmonic reducer is applicable to the above-mentioned flexible wheel and rigid wheel structure, and has high load-bearing strength. Therefore, it can not only ensure a long service life, but also ensure high-precision power transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the flexible wheel structure in the present invention.

[0010] Figure 2 It is a schematic diagram of the flexible gear structure in the present invention.

[0011] Figure 3 It is a schematic diagram of the rigid wheel structure in the present invention.

[0012] Figure 4 It is a schematic diagram of the steel wheel tooth structure in the present invention.

[0013] Figure 5 It is a schematic diagram of the structure in which the flexible wheel and the rigid wheel are meshed in the present invention.

[0014] Figure 6 It is a schematic diagram of the structure of the harmonic reducer in the present invention.

[0015] Figure 7 for Figure 6 Schematic diagram of the decomposition. DETAILED DESCRIPTION

[0016] A flexible wheel, such as Figure 1 and Figure 2 As shown, it includes a flexspline body with a cavity in the core, and a plurality of flexspline teeth are continuously arranged on the outer wall of the flexspline body along its circumferential direction; a single flexspline tooth includes a tooth top arc R4 and two sections of tooth root arc R3, and the two sections of tooth root arc R3 are located on both sides of the tooth top arc R4, and the tooth top arc R4 and the tooth root arc R3 on both sides thereof are connected as a whole through arcs R1 and arcs R2 in sequence, and the arc R1 is an outwardly convex arc, and the arc R2 is an inwardly concave arc, and adjacent flexspline teeth are connected through the tooth root arc R3. The arc R1 is an outwardly convex arc, that is, the arc R1 on a flexspline tooth is convex toward the adjacent flexspline tooth, and the arc R2 is an inwardly concave arc, that is, the arc R2 on a flexspline tooth is concave toward itself.

[0017] The radius of the arc R1 is 0.72mm≤R1≤1.09mm, such as 0.72 mm, 0.73 mm, 0.74 mm, 0.75 mm, 0.76 mm, 0.77 mm, 0.78 mm, 0.79 mm, 0.80 mm, 0.81 mm, 0.82 mm, 0.83 mm, 0.84mm, 0.85 mm, 0.86 mm, 0.87 mm, 0.88 mm, 0.89 mm, 0.90 mm, 0.91 mm, 0.92 mm, 0.93 mm, 0.94 mm, 0.95 mm, 0.96 mm, 0.97 mm, 0.98 mm, 0.99 mm, 1.00 mm, 1.01 mm, 1.02 mm, 1.03mm, 1.04 mm, 1.05 mm, 1.06 mm, 1.07 mm, 1.08 The radius of the arc R2 is 0.36 mm ≤ R2 ≤ 0.55 mm, such as 0.36 mm, 0.37 mm, 0.38 mm, 0.39 mm, 0.40 mm, 0.41 mm, 0.42 mm, 0.43 mm, 0.44 mm, 0.45 mm, 0.46 mm, 0.47 mm, 0.48 mm, 0.49 mm, 0.50 mm, 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm or 0.55 mm, and the radius of the tooth root arc R3 is 0.18 mm ≤ R3 ≤ 0.28 mm, such as 0.18 mm, 0.19 mm, 0.20 mm, 0.21 mm, 0.22 mm, 0.23 mm, 0.24 mm, 0.25 mm, 0.26 mm, 0.27 mm or 0.28 mm, the radius of the tooth top arc R4 is 0.18 mm≤R4≤0.28 mm, such as 0.18 mm, 0.19 mm, 0.20 mm, 0.21 mm, 0.22 mm, 0.23 mm, 0.24 mm, 0.25 mm, 0.26 mm, 0.27 mm or 0.28 mm, etc. The tooth thickness L1 of the flexible spline is 0.48 mm≤L1≤0.73 mm, such as 0.48 mm, 0.49 mm, 0.50 mm, 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm, 0.55 mm, 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63 mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm, 0.68 mm, 0.69 mm, 0.70 mm, 0.71 mm, 0.72 mm or 0.73 mm, etc., the tooth groove width L2 of the flexible wheel tooth is 0.48 mm≤L2≤0.72 mm, such as 0.48 mm, 0.49 mm, 0.50 mm, 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm, 0.55 mm, 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63 mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm, 0.68 mm, 0.69 mm, 0.70 mm, 0.71 mm or 0.72 mm, etc., and the radial height h1 of the arc R1 is 0.22 mm≤h1≤0.33 mm, such as 0.22 mm, 0.23 mm, 0.24 mm, 0.25 mm, 0.26 The tooth root height h2 of the flexible spline tooth is 0.25 mm ≤ h2 ≤ 0.37 mm, such as 0.25 mm, 0.26 mm, 0.27 mm, 0.28 mm, 0.29 mm, 0.30 mm, 0.31 mm, 0.32 mm, 0.33 mm, 0.34 mm, 0.35 mm, 0.36 mm or 0.37 mm, and the height h from the tooth top to the tooth root of the flexible spline tooth is 0.56 mm ≤ h ≤ 0.84 mm, such as 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63 mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm, 0.68 mm, 0.69 mm, 0.70 mm, 0.71 mm, 0.72 mm, 0.73 mm, 0.74 mm, 0.75 mm, 0.76 mm, 0.77 mm, 0.78 mm, 0.79 mm, 0.80 mm, 0.81 mm, 0.82 mm, 0.83 mm or 0.84 mm, etc. By setting the parameters of the flexspline teeth within the above range, the flexspline and the rigid wheel are effectively kept in surface contact during meshing. Therefore, edge meshing and point meshing will not occur, which effectively avoids the serious wear of the tooth surface when the two mesh, which is not only conducive to the formation of oil film, but also avoids the formation of stress concentration at the wear point, ensures the bearing strength of the flexspline, and is conducive to extending the service life of the flexspline. .

[0018] A rigid wheel, such as Figure 3 and Figure 4As shown, it includes a rigid wheel body, a through hole for inserting a flexible wheel is provided at the core of the rigid wheel body, and a plurality of rigid wheel teeth are continuously provided on the side wall of the through hole of the rigid wheel body along its circumferential direction; a single rigid wheel tooth includes a tooth top plane D and two sections of tooth root arcs R5, the two sections of tooth root arcs R5 are located on both sides of the tooth top plane D, the tooth top plane D and the tooth root arcs R5 on both sides thereof are connected as a whole by arcs R6, arcs R7 and arcs R8 in sequence, the arcs R6 and R7 are convex arcs, the arc R8 is concave arcs, and adjacent rigid wheel teeth are connected by the tooth root arcs R5. The arcs R6 and R7 are convex arcs, that is, the arcs R6 and R7 on a rigid wheel tooth are convex toward the adjacent rigid wheel tooth, and the arc R8 is a concave arc, that is, the arc R8 on a rigid wheel tooth is concave toward itself. After the gear teeth shape and parameters of the flex spline are determined, the gear teeth shape and parameters of the rigid spline can be obtained through the envelope principle. The number of rigid spline teeth on the rigid spline is two more than the number of flexible spline teeth on the flex spline.

[0019] The radius of the tooth root arc R5 is 0.18 mm ≤ R5 ≤ 0.27 mm, such as 0.18 mm, 0.19 mm, 0.20 mm, 0.21 mm, 0.22 mm, 0.23 mm, 0.24 mm, 0.25 mm, 0.26 mm or 0.27 mm, etc. The radius of the arc R6 is 0.13 mm ≤ R6 ≤ 0.19 mm, such as 0.13 mm, 0.14 mm, 0.15 mm, 0.16 mm, 0.17 mm, 0.18 mm or 0.19 mm, etc. The radius of the arc R7 is 0.38 mm ≤ R7 ≤ 0.57 mm, such as 0.38 mm, 0.39 mm, 0.40 mm, 0.41 mm, 0.42 mm, 0.43 mm, 0.44 mm, 0.45 mm, 0.46 mm, 0.47 mm, 0.48 1.14 mm, 1.15 mm, 1.16 mm, 1.17 mm, 1.18 mm, 1.19 mm, 1.20 mm, 1.21 mm, 1.22 mm, 1.23 mm, 1.24 mm, 1.25 mm, 1.26 mm, 1.27 mm, 1.28 mm, 1.29 mm, 20 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 21 mm, 1.28 mm, 1.29 mm, 1.30 mm, 1.31 mm, 1.32 mm, 1.33 mm, 1.34 mm, 1.35 mm, 1.36 mm, 1.37 mm, 1.38 mm, 1.39 mm, 1.40 mm, 1.41 mm, 1.42 mm, 1.43 mm, 1.44 mm, 1.45 mm, 1.46 mm, 1.47 mm, 1.48 mm, 1.49 mm, 1.50 mm, 1.51 mm or 1.52 mm, etc., and the tooth groove width L3 of the steel wheel tooth is 0.51 mm≤L3≤0.76 mm, such as 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm, 0.55 mm, 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm, 0.68 mm, 0.69 mm, 0.70 mm, 0.71 mm, 0.72 mm, 0.73 mm, 0.74 mm, 0.75 mm or 0.76 mm, etc., the tooth thickness L4 of the steel wheel tooth is 0.45 mm≤L4≤0.68 mm, such as 0.45 mm, 0.46 mm, 0.47 mm, 0.48 mm, 0.49 mm, 0.50 mm, 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm, 0.55 mm, 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63 mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm or 0.68 mm, etc., the radial height h3 of the arc R8 is 0.25 mm≤h3≤0.38 mm, such as 0.25 mm, 0.26 mm, 0.27 mm, 0.28 mm, 0.29 mm, 0.30 mm, 0.31 mm, 0.32 mm, 0.33 mm, 0.34 mm, 0.35 mm, 0.36 mm, 0.37 mm or 0.38 mm, etc., the tooth top height h4 of the steel wheel tooth is 0.14 mm≤h4≤0.22 mm, such as 0.14 mm, 0.15 mm, 0.16 mm, 0.17 mm, 0.18 mm, 0.19 mm, 0.20 mm, 0.21 mm or 0.22 mm, etc., the height H from the tooth top to the tooth root of the steel wheel tooth is 0.49 mm≤H≤0.74 mm, such as 0.49 mm, 0.50 mm, 0.51 mm, 0.52 mm, 0.53 mm, 0.54 mm, 0.55 mm, 0.56 mm, 0.57 mm, 0.58 mm, 0.59 mm, 0.60 mm, 0.61 mm, 0.62 mm, 0.63 mm, 0.64 mm, 0.65 mm, 0.66 mm, 0.67 mm, 0.68 mm, 0.69 mm, 0.70 mm, 0.71 mm, 0.72 mm, 0.73 mm or 0.74 mm, etc. By setting the parameters of the rigid wheel teeth within the above range, the flexible wheel and the rigid wheel are effectively kept in surface contact during meshing. Therefore, edge meshing and point meshing will not occur, which effectively avoids the serious wear of the tooth surface when the two mesh, which is not only conducive to the formation of oil film, but also avoids the formation of stress concentration at the wear point, ensures the bearing strength of the rigid wheel, and is conducive to extending the service life of the rigid wheel. .

[0020] The tooth profile parameters of the above rigid wheel and flexible wheel are obtained by the inventor through creative labor. Through the mutual cooperation of the rigid wheel and the flexible wheel under the above parameters, the edge meshing and point meshing between the two can be further effectively avoided, and severe wear at the meshing point can be avoided, which is conducive to the formation of oil film, and can also avoid the formation of stress concentration at the wear point, thereby ensuring the bearing strength of the flexible wheel and the rigid wheel, which is conducive to extending the service life of the flexible wheel and the rigid wheel.

[0021] A harmonic reducer, such as Figures 5 to 7 As shown, the harmonic reducer includes a wave generator, a flexible bearing 4 and all the technical features of the above-mentioned flexible wheel 1 and rigid wheel 2. The flexible wheel 1 is inserted into the through hole of the rigid wheel 2, and the wave generator is embedded in the inner cavity of the flexible wheel 1. A flexible bearing 4 is also provided between the wave generator and the flexible wheel 1. The wave generator causes the flexible wheel 1 to deform so that the flexible wheel 1 meshes with the rigid wheel 2. Since the harmonic reducer has all the technical features of the above-mentioned flexible wheel 1 and rigid wheel 2, it also has all the beneficial technical effects of the above-mentioned flexible wheel 1 and rigid wheel 2, which can make the power transmission accuracy of the harmonic reducer higher and the service life longer.

[0022] The wave generator is a prior art, which includes a hub 5 and an elliptical cam 6 sleeved on the hub 5. A flexible bearing 4 is arranged between the cam 6 and the inner wall of the flexible wheel 1. The shape of the cam 6 forces the flexible wheel 1 to deform, so that the flexible wheel 1 is meshed with the rigid wheel 2. The bottom of the flexible wheel 1 is pressed against the inner ring of the cross roller bearing 3 through the flexible wheel pressure ring 7, and the bottom of the rigid wheel 2 is connected to the outer ring of the cross roller bearing 3 through screws.

[0023] The present invention is further described below through specific implementations of the harmonic reducer. The following embodiments are preferred implementations of the present invention, but the implementations of the present invention are not limited to the following embodiments.

[0024] Embodiment 1

[0025] A harmonic reducer adopts the above technical solution, wherein the flexible wheel parameters are: R1 is 0.72mm, R2 is 0.36mm, R3 is 0.23mm, R4 is 0.24mm, L1 is 0.48mm, L2 is 0.48mm, h1 is 0.22mm, h2 is 0.25mm, and h is 0.70mm; the rigid wheel parameters are: R5 is 0.22mm, R6 is 0.16mm, R7 is 0.38mm, R8 is 1.01mm, L3 is 0.51mm, L4 is 0.45mm, h3 is 0.25mm, h4 is 0.14mm, and H is 0.61mm.

[0026] Embodiment 2

[0027] On the basis of Example 1, the parameters of the flexible wheel part are changed to: R1 is 1.09 mm, R2 is 0.55 mm, L1 is 0.73 mm, L2 is 0.72 mm, h1 is 0.33 mm, and h2 is 0.37 mm; the parameters of the rigid wheel part are changed to: R7 is 0.57 mm, R8 is 1.52 mm, L3 is 0.76 mm, L4 is 0.68 mm, h3 is 0.38 mm, and h4 is 0.22 mm.

[0028] Embodiment 3

[0029] On the basis of Example 1, the parameters of the flexible wheel part are changed to: R1 is 0.90 mm, R2 is 0.45 mm, L1 is 0.60 mm, L2 is 0.61 mm, h1 is 0.27 mm, and h2 is 0.31 mm; the parameters of the rigid wheel part are changed to: R7 is 0.47 mm, R8 is 1.26 mm, L3 is 0.63 mm, L4 is 0.56 mm, h3 is 0.31 mm, and h4 is 0.18 mm.

[0030] Embodiment 4

[0031] On the basis of Example 1, the parameters of the flexible wheel part are changed to: R1 is 0.88mm, R2 is 0.40mm, L1 is 0.55mm, L2 is 0.58mm, h1 is 0.25mm, and h2 is 0.28mm; the parameters of the rigid wheel part are changed to: R7 is 0.45mm, R8 is 1.23mm, L3 is 0.60mm, L4 is 0.52mm, h3 is 0.28mm, and h4 is 0.15mm.

[0032] Embodiment 5

[0033] On the basis of Example 1, the parameters of the flexible wheel part are changed to: R1 is 0.95mm, R2 is 0.50mm, L1 is 0.65mm, L2 is 0.66mm, h1 is 0.31mm, and h2 is 0.35mm; the parameters of the rigid wheel part are changed to: R7 is 0.52mm, R8 is 1.31mm, L3 is 0.68mm, L4 is 0.61mm, h3 is 0.35mm, and h4 is 0.21mm.

[0034] Comparative Example 1

[0035] A harmonic reducer has the same structure as the above harmonic reducer structure, but its flexible wheel parameters are: R1 is 0.65mm, R2 is 0.3mm, R3 is 0.23mm, R4 is 0.24mm, L1 is 0.40mm, L2 is 0.40mm, h1 is 0.20mm, h2 is 0.23mm, and h is 0.70mm; the rigid wheel parameters are R5 is 0.22mm, R6 is 0.16mm, R7 is 0.35mm, R8 is 0.98mm, L3 is 0.48mm, L4 is 0.42mm, h3 is 0.22mm, h4 is 0.11mm, and H is 0.61mm.

[0036] Comparative Example 2

[0037] Based on comparative example 1, the parameters of the flexible wheel part are modified as follows: L1 is 0.60 mm, L2 is 0.61 mm; the parameters of the rigid wheel part are modified as follows: L3 is 0.63 mm, L4 is 0.56 mm.

[0038] The actual running-in test was conducted for half a year on the harmonic reducers in the above-mentioned embodiments 1 to 5 and comparative examples 1 and 2 under a load of 50 N.m. The results are as shown in the following table (unit: mm):

[0039]

[0040] It can be clearly seen from the above table that after the running-in test, starting from 3 months, it is obvious that the gap between the flexible wheel and the rigid wheel of the harmonic reducer in the comparative example is getting larger and larger, while the gap between the flexible wheel and the rigid wheel in the harmonic reducer in this application remains stable and is always within one arc minute required by the national standard "191105: GBT 30819-2014" (converted to 0.086mm in this test). It can be seen that the transmission accuracy of the harmonic reducer in this application is stable and the service life is longer. It should be noted that in comparative example 2, since the gap between the rigid wheel and the flexible wheel is greater than 0.2, there is no need to continue the test. If the test is continued, the flexible wheel will collapse directly, thereby damaging the motor.

Claims

1. A flexible wheel, comprising a flexible wheel body with a cavity in the core, and a plurality of flexible wheel teeth are continuously arranged on the outer wall of the flexible wheel body along the circumferential direction thereof; characterized in that: A single flexspline tooth includes a tooth top arc R4 and two sections of tooth root arcs R3. The two sections of tooth root arcs R3 are located on both sides of the tooth top arc R4. The tooth top arc R4 and the tooth root arcs R3 on both sides thereof are connected as a whole by arcs R1 and arcs R2 in sequence. The arc R1 is an outwardly convex arc, and the arc R2 is an inwardly concave arc. Adjacent flexspline teeth are connected by tooth root arcs R3. The radius of the arc R1 is 0.72mm≤R1≤1.09mm, the radius of the arc R2 is 0.36mm≤R2≤0.55mm, the tooth thickness L1 of the flex spline tooth is 0.48mm≤L1≤0.73mm, the tooth groove width L2 of the flex spline tooth is 0.48mm≤L2≤0.72mm, the radial height h1 of the arc R1 is 0.22mm≤h1≤0.33mm, and the tooth root height h2 of the flex spline tooth is 0.25mm≤h2≤0.37mm.

2. A flexible wheel according to claim 1, characterized in that: The radius of the tooth root arc R3 is 0.18 mm ≤ R3 ≤ 0.28 mm, the radius of the tooth top arc R4 is 0.18 mm ≤ R4 ≤ 0.28 mm, and the height h from the tooth top to the tooth root of the flex spline tooth is 0.56 mm ≤ h ≤ 0.84 mm.

3. A rigid wheel, comprising a rigid wheel body, a through hole for inserting a flexible wheel is arranged at the core of the rigid wheel body, and a plurality of rigid wheel teeth are continuously arranged on the side wall of the through hole of the rigid wheel body along the circumferential direction thereof; characterized in that: A single steel wheel tooth comprises a tooth top plane D and two tooth root arcs R5, the two tooth root arcs R5 are located on both sides of the tooth top plane D, the tooth top plane D and the tooth root arcs R5 on both sides thereof are connected as a whole by arcs R6, arcs R7 and arcs R8 in sequence, the arcs R6 and R7 are convex arcs, the arc R8 is a concave arc, and adjacent steel wheel teeth are connected by the tooth root arcs R5; The radius of the arc R7 is 0.38mm≤R7≤0.57mm, the radius of the arc R8 is 1.01mm≤R8≤1.52mm, the tooth groove width L3 of the steel wheel tooth is 0.51mm≤L3≤0.76mm, the tooth thickness L4 of the steel wheel tooth is 0.45mm≤L4≤0.68mm, the radial height h3 of the arc R8 is 0.25mm≤h3≤0.38mm, and the tooth top height h4 of the steel wheel tooth is 0.14mm≤h4≤0.22mm.

4. A rigid wheel according to claim 3, characterized in that: The number of the rigid wheel teeth on the rigid wheel is two more than the number of the flexible wheel teeth on the flexible wheel.

5. A rigid wheel according to claim 3 or 4, characterized in that: The radius of the tooth root arc R5 is 0.18 mm ≤ R5 ≤ 0.27 mm, the radius of the arc R6 is 0.13 mm ≤ R6 ≤ 0.19 mm, and the height H from the tooth top to the tooth root of the steel wheel tooth is 0.49 mm ≤ H ≤ 0.74 mm.

6. A harmonic reducer, comprising a wave generator and a flexible bearing, characterized in that: It also includes the flexible wheel as described in any one of claims 1-2 and the rigid wheel as described in any one of claims 3-5, the flexible wheel is inserted into the through hole of the rigid wheel, the wave generator is embedded in the inner cavity of the flexible wheel, and a flexible bearing is also arranged between the wave generator and the flexible wheel. The wave generator causes the flexible wheel to deform so that the flexible wheel and the rigid wheel are meshed.

7. A harmonic reducer according to claim 6, characterized in that: The bottom of the flexible wheel is pressed on the inner ring of the cross-stick bearing through a flexible wheel pressure ring, and the bottom of the rigid wheel is connected with the outer ring of the cross-stick bearing through screws.

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