A circumferentially cushioned harmonic gear transmission

Abstract

The application discloses a kind of circumferential buffering harmonic gear transmission devices, belong to mechanical equipment technical field, can solve the service life of existing flexspline Short, reliability is lower, and the problem that vibration and noise are easily produced.The device includes: wave generator;Flexspline, is set on the outside wall of wave generator;Wave generator is used to drive flexspline rotation;Multiple buffer protruding structures are arranged on the output end face of flexspline;Output cylinder bottom, its edge is peripherally provided with multiple buffer groove structures, buffer protruding structure and buffer groove structure one-to-one correspondence, output cylinder bottom is connected on the output end of flexspline, so that buffer protruding structure is assembled into corresponding buffer groove structure.The application is used for harmonic reducer.

Description

Technical Field

[0001] This invention relates to a circumferentially buffered harmonic gear transmission device, belonging to the field of mechanical equipment technology. Background Technology

[0002] Harmonic gear transmission devices have wide applications in precision instruments such as industrial robots and aerospace equipment. Their transmission principle differs fundamentally from that of ordinary reducer gear transmissions. Harmonic gear transmission is a transmission method that uses a wave generator to cause flexible gears to produce controllable elastic deformation waves, thereby achieving motion and power transmission.

[0003] Harmonic reducers typically consist of a flexspline, a rigid gear, and a wave generator. The flexspline is generally an elastic component that undergoes periodic elastic deformation under the action of the wave generator. As a key component, the flexspline plays a crucial role in transmitting and regulating torque. Due to limitations in its stiffness and geometry, stress concentration occurs in the contact area. This stress concentration can lead to failures such as tooth root fatigue and fracture, limiting the service life and reliability of the flexspline. Furthermore, traditional flexsplines have high rigidity, resulting in stress concentration and insufficient flexibility in load response. They are prone to vibration and noise, and high-frequency start-stop cycles can easily cause fatigue damage to the flexspline cylinder, thus adversely affecting the performance and stability of the entire harmonic gear transmission system. Summary of the Invention

[0004] This invention provides a circumferentially buffered harmonic gear transmission device, which can solve the problems of short service life, low reliability, and easy vibration and noise of existing flexible gears.

[0005] This invention provides a circumferentially buffered harmonic gear transmission device, the device comprising:

[0006] Wave generator;

[0007] A flexible wheel is sleeved on the outer wall of the wave generator; the wave generator is used to drive the flexible wheel to rotate; multiple buffer protrusions are provided on the output end face of the flexible wheel;

[0008] The bottom of the output cylinder has multiple buffer groove structures around its edge. The buffer protrusion structure and the buffer groove structure correspond one-to-one. The bottom of the output cylinder is connected to the output end of the flexible wheel so that the buffer protrusion structure is assembled into the corresponding buffer groove structure.

[0009] Optionally, the buffer protrusion structure is a butterfly-shaped buffer protrusion, and the buffer groove structure is a butterfly-shaped buffer groove.

[0010] Optionally, a buffer gap is provided between the buffer protrusion structure and the buffer groove structure.

[0011] Optionally, the buffer protrusion structure has a pressure-reducing groove in the middle, and the portions of the buffer protrusion structure located on both sides of the pressure-reducing groove are symmetrical about the pressure-reducing groove as the center.

[0012] Optionally, the output end face of the flexible wheel has a hollow area corresponding to the position of the pressure reducing groove.

[0013] Optionally, the device further includes:

[0014] A steel wheel is fitted onto the outer side wall of the flexible wheel and engages with the teeth of the flexible wheel;

[0015] A first radial bearing, comprising a first inner ring and a first outer ring, wherein the first inner ring is connected to the bottom of the output cylinder and the first outer ring is connected to the steel wheel.

[0016] Optionally, the device further includes:

[0017] The second radial bearing includes a second inner ring and a second outer ring. The second inner ring is connected to the wave generator, and the second outer ring is connected to the bottom of the output cylinder.

[0018] Optionally, the device further includes:

[0019] The rear cover is fixedly connected to the steel wheel to form a cylinder, and the wave generator, the flexible wheel, and the bottom of the output cylinder are all located inside the cylinder.

[0020] Optionally, the width of the pressure relief groove is 0.55mm to 3.05mm.

[0021] Optionally, the width of the buffer gap is 0.15mm to 0.55mm.

[0022] Optionally, multiple of the buffer protrusion structures are evenly distributed on the output end face of the flexspline.

[0023] The beneficial effects that this invention can produce include:

[0024] The circumferentially buffered harmonic gear transmission device provided by this invention improves the flexspline structure by introducing a stress buffering mechanism. Specifically, a combined buffer structure is set on the flexspline and the bottom of the output cylinder to disperse and buffer stress, thereby reducing stress concentration in the cylinder area. This improvement can increase the service life and transmission efficiency of the flexspline, reduce noise and vibration, and improve the performance and reliability of the harmonic gear transmission system. By solving the stress concentration problem of the flexspline, harmonic gear transmission can better meet the requirements of engineering applications and has a broader development prospect. Attached Figure Description

[0025] Figure 1An exploded view of the structure of the harmonic gear transmission device provided in an embodiment of the present invention;

[0026] Figure 2 This is a structural assembly diagram of a harmonic gear transmission device provided in an embodiment of the present invention;

[0027] Figure 3 This is a cross-sectional view of the harmonic gear transmission device provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the flexible wheel structure provided in an embodiment of the present invention;

[0029] Figure 5 for Figure 4 Enlarged view of region A in the middle;

[0030] Figure 6 This is a schematic diagram of the output cylinder bottom structure provided in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the flexible wheel and the bottom of the output cylinder after assembly, provided in an embodiment of the present invention;

[0032] Figure 8 This is a cross-sectional view of the flexible wheel and output cylinder bottom assembly structure provided in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the buffer gap in the butterfly-shaped buffer structure provided in an embodiment of the present invention;

[0034] Figure 10 The diagram shows the static stress analysis results of the butterfly-shaped buffer structure provided in the embodiment of the present invention.

[0035] Figure 11 The diagram shows the static displacement analysis results of the butterfly-shaped buffer structure provided in the embodiment of the present invention.

[0036] List of components and reference numerals:

[0037] 11. Rear cover; 12. Wave generator; 13. Second radial bearing; 14. Flexible wheel; 141. Buffer protrusion structure; 15. Output cylinder bottom; 151. Buffer groove structure; 16. First radial bearing; 17. Steel wheel; 18. Buffer gap. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the embodiments, but the present invention is not limited to these embodiments.

[0039] This invention provides a circumferentially buffered harmonic gear transmission device, such as... Figures 1 to 9 As shown, the device includes:

[0040] Wave generator 12;

[0041] A flexible wheel 14 is sleeved on the outer wall of the wave generator 12; the wave generator 12 is used to drive the flexible wheel 14 to rotate; multiple buffer protrusion structures 141 are provided on the output end face of the flexible wheel 14.

[0042] The bottom of the output cylinder 15 has multiple buffer groove structures 151 around its edge. The buffer protrusion structure 141 and the buffer groove structure 151 correspond one-to-one. The bottom of the output cylinder 15 is connected to the output end of the flexible wheel 14 so that the buffer protrusion structure 141 is assembled into the corresponding buffer groove structure 151.

[0043] The present invention does not limit the specific number of buffer protrusion structures 141 and buffer groove structures 151, and those skilled in the art can set them according to actual conditions. In practical applications, multiple buffer protrusion structures 141 are generally evenly distributed on the output end face of the flexspline 14.

[0044] In this embodiment of the invention, the buffer protrusion structure 141 can be a butterfly-shaped buffer protrusion, and the buffer groove structure 151 can be a butterfly-shaped buffer groove. (See reference) Figure 4 As shown, the butterfly-shaped buffer bump has a concave surface in the middle, and the diameter d1 of the concave surface can be set to 1mm to 5mm. (Reference) Figure 6 As shown, the butterfly-shaped buffer groove has a convex curved surface in the middle, and the diameter d2 of the convex curved surface can be set to 1mm to 5mm.

[0045] Further reference Figure 9 As shown, a buffer gap 18 is provided between the buffer protrusion structure 141 and the buffer groove structure 151. In practical applications, the width of the buffer gap 18 can be 0.15mm to 0.55mm.

[0046] refer to Figure 5 As shown, the buffer protrusion structure 141 has a pressure-reducing groove in the middle, and the portions of the buffer protrusion structure 141 located on both sides of the pressure-reducing groove are symmetrical about the pressure-reducing groove as the center. In practical applications, the width M of the pressure-reducing groove can be 0.55mm to 3.05mm.

[0047] Furthermore, the output end face of the flexible wheel 14 has a hollow area corresponding to the pressure reducing groove.

[0048] refer to Figures 4 to 7 As shown, the butterfly-shaped buffer protrusion in region A of the flexible wheel 14 and the butterfly-shaped buffer groove in region B of the output cylinder bottom 15 are assembled to form Figure 7 AB butterfly-shaped buffer groove group in region C.

[0049] This invention employs an AB butterfly-shaped buffer groove group with a circumferential buffer and shock absorption structure; when the flexible wheel 14 has inherent inertia characteristics during multi-frequency output start-up and emergency stop phases, it causes the structural components to have difficulty responding in time, resulting in a potential transient collision hazard. The buffer gap 18 between the AB butterfly-shaped buffer groove groups (reference) Figure 10 This can effectively prevent transient collisions of structural components from damaging the cylinder of the flexible wheel 14. The specific analysis is as follows.

[0050] First, we can introduce the concept of elastic potential energy. Assume the potential energy of the buffer region is U, where U = k * d^2, and k is the elastic coefficient.

[0051] According to the law of conservation of energy, the total energy before and after the collision is conserved, that is:

[0052] (1 / 2)*m1*v1i^2+(1 / 2)*m2*v2i^2+U=(1 / 2)*m1*v1f^2+(1 / 2)*m2*v2f^2(1);

[0053] Then, replacing U with k*d^2, the above equation can be further simplified to:

[0054] (1 / 2)*m1*v1i^2+(1 / 2)*m2*v2i^2+k*d^2=(1 / 2)*m1*v1f^2+(1 / 2)*m2*v2f^2.

[0055] This invention employs an AB butterfly-shaped buffer groove assembly with a circumferential buffer and shock absorption structure; when the flexible wheel 14 is overloaded, it causes overload deformation of the flexible wheel 14 cylinder, resulting in a surge in stress and strain, and elastic energy absorption (see reference). Figure 11 It can reduce stress concentration caused by excessive deformation of the flexible wheel 14 cylinder. The specific analysis is as follows.

[0056] According to the theory of thin-walled cylinders, the stress distribution of the butterfly-shaped buffer groove can be expressed as:

[0057] σ=M·(Lh) / I;

[0058] Where σ is the stress in the butterfly-shaped buffer groove; M is the width of the pressure-reducing groove; L is the length of the flexible wheel 14 cylinder; h is the thickness of the output cylinder bottom 15; and (Lh) is the distance from the bottom of the butterfly-shaped buffer groove to the inner wall. Figure 8 As shown; I is the moment of inertia of the cross section of the flexible wheel 14 cylinder.

[0059] This invention features a detachable connection between the flexible pulley 14 and the output cylinder base 15. The flexible pulley 14 outputs power through the output cylinder base 15. This invention designs a separate, indirect connection structure between the flexible pulley 14 and the output cylinder base 15, allowing the output cylinder base 15 to bear a larger load under heavy load conditions at the device's output end. This reduces the load on the flexible pulley 14, making it less prone to deformation and damage, thus extending its service life. Furthermore, this invention designs a fixed connection between the flexible pulley 14 and the separate output cylinder base 15, which can be directly connected to a drive system or indirectly connected to a synchronous belt.

[0060] Further reference Figures 1 to 3 As shown, the device further includes:

[0061] The steel wheel 17 is sleeved on the outer wall of the flexible wheel 14 and engages with the teeth of the flexible wheel 14.

[0062] The first radial bearing 16 includes a first inner ring and a first outer ring. The first inner ring is connected to the bottom of the output cylinder 15, and the first outer ring is connected to the steel wheel 17.

[0063] The second radial bearing 13 includes a second inner ring and a second outer ring. The second inner ring is connected to the wave generator 12, and the second outer ring is connected to the bottom of the output cylinder 15.

[0064] The rear cover 11 is fixedly connected to the steel wheel 17 to form a cylinder, and the wave generator 12, the flexible wheel 14 and the output cylinder bottom 15 are all located inside the cylinder.

[0065] In this embodiment of the invention, the stepper motor achieves transmission input through the wave generator 12, and then the circumferential buffer and shock-absorbing flexible wheel, which is formed by the embedded structure of the flexible wheel 14 and the bottom of the output cylinder 15, drives the transmission and decelerates the output.

[0066] refer to Figure 2 As shown, the rear cover 11 and the steel wheel 17 are connected and fixedly encapsulated to achieve axial limiting of the flexible wheel 14 and the bottom of the output cylinder 15.

[0067] The circumferentially buffered harmonic gear transmission device provided by this invention can adapt to complex working conditions of frequent start-stop cycles. It reduces shock and buffers stress concentration during start-stop cycles, provides overload protection, and features a modular design. It is easy to assemble efficiently, and the output end cylinder bottom can be quickly replaced to adapt to different connection requirements.

[0068] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A circumferentially buffered harmonic gear transmission device, characterized in that, The device includes: Wave generator; A flexible wheel is sleeved on the outer wall of the wave generator; the wave generator is used to drive the flexible wheel to rotate; multiple buffer protrusions are provided on the output end face of the flexible wheel; The bottom of the output cylinder has multiple buffer groove structures around its edge. The buffer protrusion structure and the buffer groove structure correspond one-to-one. The bottom of the output cylinder is connected to the output end of the flexible wheel so that the buffer protrusion structure is assembled into the corresponding buffer groove structure. The buffer protrusion structure is a butterfly-shaped buffer protrusion, and the buffer groove structure is a butterfly-shaped buffer groove; The buffer protrusion structure has a pressure relief groove in the middle, and the portions of the buffer protrusion structure located on both sides of the pressure relief groove are symmetrical with the pressure relief groove as the center. The output end face of the flexible wheel has a hollow area corresponding to the pressure relief groove.

2. The apparatus according to claim 1, characterized in that, There is a buffer gap between the buffer protrusion structure and the buffer groove structure.

3. The apparatus according to claim 1, characterized in that, The device further includes: A steel wheel is fitted onto the outer side wall of the flexible wheel and engages with the teeth of the flexible wheel; A first radial bearing, comprising a first inner ring and a first outer ring, wherein the first inner ring is connected to the bottom of the output cylinder and the first outer ring is connected to the steel wheel.

4. The apparatus according to claim 1, characterized in that, The device further includes: The second radial bearing includes a second inner ring and a second outer ring. The second inner ring is connected to the wave generator, and the second outer ring is connected to the bottom of the output cylinder.

5. The apparatus according to claim 3, characterized in that, The device further includes: The rear cover is fixedly connected to the steel wheel to form a cylinder, and the wave generator, the flexible wheel, and the bottom of the output cylinder are all located inside the cylinder.

6. The apparatus according to claim 1, characterized in that, The width of the pressure relief groove is 0.55mm to 3.05mm.

7. The apparatus according to claim 2, characterized in that, The width of the buffer gap is 0.15mm to 0.55mm.

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