Wave generator, speed reducer and robot

Abstract

The invention discloses a wave generator, a speed reducer and a robot, the wave generator comprises a main body part, a movable part and a flexible transmission part, and the movable part is at least partially located in the flexible transmission part; the movable part is configured to be capable of changing the relative position of the movable part and the main body part so that the curvature of the flexible transmission part can be adjusted. According to the wave generator provided by the embodiment of the invention, the curvature of the flexible transmission part can be adjusted by arranging the movable part at different positions, so that the wave generator can adapt to transmission requirements under different working conditions, the flexibility is high, and the service life is prolonged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of speed reducers, and more particularly, to a wave generator, a speed reducer and a robot. Background Art

[0002] Harmonic reducers play an important role in modern industrial and automation systems with their high precision, high torque, small size and low noise. The working principle of harmonic reducers is based on the controllable elastic deformation waves generated by the wave generator, which are transmitted through the flexible gears and mesh with the teeth of the rigid gears to achieve the transmission of motion and power.

[0003] In the related technology, the outer contour curve of the wave generator is a fixed ellipse, the ratio of the major axis to the minor axis of the ellipse is completely fixed, and the curvature of the ellipse at each position is also relatively fixed. As a result, when the wave generator drives the flexible gear and the rigid gear to move relative to each other, the force and movement amplitude of each meshing tooth are relatively fixed and cannot be adjusted according to different working conditions, thereby reducing the service life under long-term operation. Summary of the invention

[0004] The present invention provides a wave generator, a reducer and a robot, which can adjust the curvature of a flexible transmission member in the wave generator, and at least solve one of the shortcomings existing in the related art.

[0005] In a first aspect, an embodiment of the present application proposes a wave generator, which includes a main body, a movable part and a flexible transmission part, wherein the movable part is at least partially located inside the flexible transmission part, and the movable part is configured so that the relative position of the movable part and the main body can be changed to make the curvature of the flexible transmission part adjustable.

[0006] Optionally, the main body includes a first supporting structure, the movable member includes a second supporting structure, the first supporting structure and the second supporting structure have different lengths, and the first supporting structure and the second supporting structure define an outer diameter of the flexible transmission member.

[0007] Optionally, the first supporting structure and the second supporting structure are arranged in the flexible transmission member.

[0008] Optionally, the first supporting structure and the second supporting structure are rod-shaped.

[0009] Optionally, both ends of the first supporting structure and the second supporting structure are fan-shaped and symmetrical along the center.

[0010] Optionally, both ends of the first supporting structure and the second supporting structure are in a "T" shape that is symmetrical along the center.

[0011] Optionally, ends of the first supporting structure and the second supporting structure are arc-shaped.

[0012] Optionally, a positioning portion is provided between the main body and the movable member, and the positioning portion enables the movable member to be selectively arranged at different positions relative to the main body.

[0013] Optionally, the positioning portion makes the angle between the first supporting structure and the second supporting structure be 75°-90°.

[0014] Optionally, the positioning portion includes a positioning protrusion and a positioning groove, and one of the main body and the movable member is provided with at least one positioning protrusion, and the other is provided with a plurality of positioning grooves matching the positioning protrusion.

[0015] Optionally, the main body includes a first connecting portion, the movable member includes a second connecting portion, and the first connecting portion and the second connecting portion are connected by a fastener.

[0016] In a second aspect, an embodiment of the present application proposes a reducer, comprising a flexible gear, a rigid gear and the above-mentioned wave generator, wherein the flexible gear is located between the rigid gear and the wave generator.

[0017] In a third aspect, an embodiment of the present application proposes a robot comprising the above-mentioned wave generator or the above-mentioned reducer.

[0018] In an embodiment of the present application, the wave generator includes a main body, a movable member and a flexible transmission member, wherein the movable member is at least partially located in the flexible transmission member, and the movable member is configured so that the relative position of the movable member and the main body can be changed, so that the shape of the flexible transmission member supported by the movable member is different, and thus the curvature of the flexible transmission member can be adjusted according to the needs of the working conditions. In the related art, the flexible transmission member of the wave generator is supported outside the elliptical member, the ratio of the major axis to the minor axis of the ellipse is completely fixed, and the curvature of each position of the ellipse is also relatively fixed. In the wave generator of the present application, since the relative position of the main body and the movable part is adjustable, for example, the angle between the main body and the movable part is adjustable, the flexible transmission part supported on the periphery can be formed into a variety of different ellipses. Different ellipses have different curvatures, which will affect the accuracy and carrying capacity of the harmonic reducer during the transmission process. By adjusting the curvature of the flexible transmission part, the transmission accuracy, carrying capacity or transmission efficiency of the reducer can be optimized, and the overall performance of the reducer can be changed to adapt to the transmission requirements under different working conditions, so as to avoid long-term overload use of the wave generator at the same curvature and extend the service life of the reducer.

[0019] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0021] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0022] Figure 1 is an exploded view of a reducer according to an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of a reducer according to an embodiment of the present application;

[0024] Figure 3 is a cross-sectional view of a reducer according to an embodiment of the present application;

[0025] Figure 4 is a partial schematic diagram of a wave generator according to an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of the main body of the embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the movable parts of the embodiment of the present application;

[0028] Figure 7 is a partial schematic diagram of a wave generator according to another embodiment of the present application;

[0029] Figure 8 is a partial schematic diagram of a wave generator according to another embodiment of the present application;

[0030] Reference numerals:

[0031] Wave generator 100;

[0032] Main body 110;

[0033] A first support structure 111;

[0034] A first connecting portion 112;

[0035] Positioning protrusion 113;

[0036] Limiting portion 114;

[0037] Movable member 120;

[0038] A second support structure 121;

[0039] A second connecting portion 122;

[0040] Positioning groove 123;

[0041] Flexible transmission member 130;

[0042] Fastener 140;

[0043] Flexible gear 200;

[0044] Rigid gear 300. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it should be understood that the terms "upper", "lower", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the mechanism or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] A wave generator is a component that enables a flexible gear to generate periodic elastic deformation waves according to a certain deformation law. When the wave generator rotates, it causes the flexible gear to generate periodic elastic deformation. This deformation causes the teeth of the flexible gear to alternately engage and disengage with the teeth of the rigid gear. In the related art, the part of the wave generator that contacts the flexible gear is an "elliptical part" with fixed major and minor axes. Since the ratio of the major axis to the minor axis of this elliptical part is completely fixed, the curvature of each position of the ellipse is also relatively fixed. When the wave generator drives the flexible gear and the rigid gear to move in an interlocking manner, the force and movement amplitude of each meshing tooth are relatively fixed. Long-term operation will cause cracks, deformation, or even breakage on the teeth of the flexible gear. The curvature of the elliptical part cannot be adjusted and cannot adapt to different working conditions.

[0049] In view of the above problems existing in the above-mentioned technologies, the present application provides a wave generator 100, a reducer and a robot. The wave generator 100 includes at least one movable part 120. The movable part 120 is configured to change the relative position with the main body 110 to change the curvature of the flexible transmission part 130. The greater the curvature, the smaller the transmission load capacity will be, but the transmission accuracy will be improved. When the curvature decreases, the load capacity increases, the transmission is smoother, but the transmission accuracy will decrease. Therefore, the wave generator 100 of the present application can adjust the curvature of the flexible transmission part 130 after being supported according to the working condition requirements, so as to cope with different working conditions and maintain a good operating state, find a balance point between load capacity and transmission accuracy, improve the transmission accuracy while ensuring the rated load capacity, or enhance the load capacity while meeting the accuracy.

[0050] A wave generator 100 of the present application can be used for different working conditions. When the use scenario of the harmonic reducer changes, adjusting the curvature of the flexible transmission member 130 in the wave generator 100 can make the wave generator 100 better match the load and accuracy requirements of the reducer and extend the service life of the reducer. Under different working conditions, the harmonic reducer can provide stable and reliable transmission for the equipment, thereby improving the adaptability and flexibility of the equipment.

[0051] like Figure 1-Figure 4 As shown, the wave generator 100 includes a main body 110, a movable member 120 and a flexible transmission member 130, wherein the movable member 120 is at least partially located in the flexible transmission member 130, and the movable member 120 is configured so that the relative position of the movable member 120 and the main body 110 can be changed so that the curvature of the flexible transmission member 130 is adjustable.

[0052] The wave generator 100 includes at least one movable part 120, which can change the relative position of the movable part 120 and the main body 110, so that the shape of the flexible transmission part 130 supported on the periphery changes, thereby changing the curvature of the flexible transmission part 130. The shape of the flexible transmission part 130 will affect the accuracy and load-bearing capacity of the harmonic reducer during the transmission process. The working condition requirements can be determined according to the requirements of the harmonic reducer for the transmission ratio, transmission accuracy and transmission efficiency. When the harmonic reducer is used in a working condition with a small load and relatively high accuracy, the movable part 120 is set at a position where the curvature of the flexible transmission part 130 becomes larger. When the harmonic reducer is used in a working condition with a large load and relatively low accuracy, the movable part 120 can be adjusted to a position where the curvature of the flexible transmission part 130 becomes smaller to adapt to different working condition requirements. The flexible transmission member 130 is generally supported from a circular shape to an elliptical shape, so the supported flexible transmission member 130 has a major axis and a minor axis, and the curvature of the flexible transmission member 130 is related to the ratio of the major axis to the minor axis. Therefore, when the position of the movable member 120 is adjusted, so that the major axis of the supported flexible transmission member 130 becomes shorter or the minor axis becomes longer, the curvature of the flexible transmission member 130 becomes smaller. When the movable member 120 makes the major axis of the supported flexible transmission member 130 become longer or the minor axis becomes shorter, the curvature of the flexible transmission member 130 becomes larger.

[0053] It can be understood that the movable part 120 can be one or more, can correspond to the long axis of the supported flexible transmission part 130, and can also correspond to the short axis of the supported flexible transmission part 130. The movable part 120 can be detachably connected or non-detachably connected. As long as it is movably connected to the wave generator 100, it can be set at different positions of the wave generator 100, and the curvature of the wave generator 100 can be adjusted. The present application does not impose too many restrictions.

[0054] Therefore, the wave generator 100 of the embodiment of the present application includes a main body 110, a movable part 120 and a flexible transmission part 130. By changing the relative position of the movable part 120 with the main body 110, the flexible transmission part 130 can have different curvatures, which can meet various working conditions. It has high flexibility and strong compatibility. When the usage scenario changes, the same wave generator 100 only needs to change the position of the movable part 120, and there is no need to reconfigure other wave generators 100, which reduces costs and can also avoid long-term overload use of the wave generator 100 at the same curvature, thereby extending the service life of the reducer.

[0055] In some embodiments, the main body 110 includes a first supporting structure 111, and the movable member 120 includes a second supporting structure 121. The first supporting structure 111 and the second supporting structure 121 have different lengths, and the first supporting structure 111 and the second supporting structure 121 define the outer diameter of the flexible transmission member 130.

[0056] The wave generator 100 includes a main body 110, the main body 110 includes a first support structure 111, and the movable member 120 includes a second support structure 121. The lengths of the first support structure 111 and the second support structure 121 are different. The first support structure 111 and the second support structure 121 define the outer diameter of the flexible transmission member 130. Therefore, when the movable member 120 is set at different positions of the main body 110, the second support structure 121 is also located at different positions relative to the first support structure 111. The first support structure 111 and the second support structure 121 define the dimensions of the flexible transmission member 130 at different positions, so that the flexible transmission member 130 has different curvatures. By setting the support structure, the method for adjusting the curvature of the flexible transmission member 130 is simpler and faster.

[0057] The flexible transmission member 130 is generally supported to be deformed from a circular shape to an elliptical shape, so the supported flexible transmission member 130 has a major axis and a minor axis. The lengths of the first support structure 111 and the second support structure 121 are different, so the lengths of the major axis and the minor axis can be limited respectively.

[0058] It is understandable that the shapes of the first supporting structure 111 and the second supporting structure 121 can be adjusted according to actual needs, and this embodiment does not impose too many restrictions.

[0059] In some embodiments, the first support structure 111 and the second support structure 121 are disposed within the flexible transmission member 130 .

[0060] The wave generator 100 includes a flexible transmission member 130, in which the first support structure 111 and the second support structure 121 are disposed, and the flexible transmission member 130 is supported on the periphery by the first support structure 111 and the second support structure 121 to ensure that the first support structure 111 and the second support structure 121 can accurately support and drive the flexible transmission member 130. The flexible transmission member 130 can transmit motion and power through controllable elastic deformation, achieve the effect of high precision and low clearance, improve transmission efficiency, stability and precision, and simplify maintenance and extend service life.

[0061] In some embodiments, the first support structure 111 and the second support structure 121 are rod-shaped.

[0062] The first support structure 111 and the second support structure 121 are rod-shaped, and the rod-shaped support structure has high rigidity and stability, which can ensure that the harmonic reducer maintains a precise meshing relationship during the transmission process, thereby improving the transmission accuracy. The design of the rod-shaped support structure is relatively simple, which reduces the complexity and number of parts inside the harmonic reducer, is easy to manufacture and install, and reduces the manufacturing cost and maintenance cost.

[0063] In some embodiments, both ends of the first supporting structure 111 and the second supporting structure 121 are fan-shaped and symmetrical along the center.

[0064] like Figure 7 As shown, the two ends of the first support structure 111 and the second support structure 121 are fan-shaped and symmetrical along the center. The fan-shaped support structure has a unique shape design and an increased end surface area, which can effectively disperse and withstand pressure from all directions. Therefore, it can withstand greater stress and wear, thereby improving the overall support stability and making the transmission smoother.

[0065] In some embodiments, both ends of the first supporting structure 111 and the second supporting structure 121 are in a "T" shape that is symmetrical along the center.

[0066] like Figure 8 As shown, the two ends of the first support structure 111 and the second support structure 121 are arc-shaped and symmetrical along the center, and the parts of the first support structure 111 and the second support structure 121 close to the center are rod-shaped, and the arc-shaped and rod-shaped of the first support structure 111 and the second support structure 121 form a "T" shape that is symmetrical along the center. Therefore, less material can have a larger support area, increase the stability of the support, and save production costs.

[0067] In certain embodiments, Figure 4 As shown, the ends of the first supporting structure 111 and the second supporting structure 121 are arc-shaped.

[0068] The ends of the first support structure 111 and the second support structure 121 are arc-shaped, which can avoid stress concentration in the flexible gear 200 during transmission, which may cause cracks, deformation or even breakage on the teeth of the flexible gear 200 after long-term operation, thereby improving durability.

[0069] In some embodiments, a positioning portion is provided between the main body 110 and the movable member 120 , and the positioning portion enables the movable member 120 to be selectively disposed at different positions relative to the main body 110 .

[0070] A positioning portion is provided between the main body 110 and the movable member 120, and the positioning portion enables the movable member 120 to be selectively arranged at different positions relative to the main body 110. By setting the positioning portion, the movable member 120 can be arranged at different positions of the wave generator 100, thereby adjusting the curvature of the flexible transmission member 130.

[0071] In some embodiments, the positioning portion allows the first support structure 111 and the second support structure 121 to have an angle of 75°-90°.

[0072] The positioning portion makes the angle between the first support structure 111 and the second support structure 121 be 75°-90°. When the angle between the first support structure 111 and the second support structure 121 is too small, the shorter support structure will not provide sufficient support for the flexible transmission member 130, affecting the stability of the support. Therefore, the angle between the first support structure 111 and the second support structure 121 is preferably 75°-90°. The larger the angle between the first support structure 111 and the second support structure 121, the smaller the curvature. The positioning portion makes the angle between the first support structure 111 and the second support structure 121 be 75°-90°, so the curvature is maximum at 75° and minimum at 90°.

[0073] In some embodiments, one of the main body 110 and the movable member 120 is provided with at least one positioning protrusion 113 , and the other is provided with a plurality of positioning grooves 123 matching the positioning protrusion 113 .

[0074] like Figure 5 and Figure 6 As shown, one of the main body 110 and the movable part 120 is provided with at least one positioning protrusion 113, and the other is provided with a plurality of positioning grooves 123 matching the positioning protrusion 113. The positioning groove 123 can cooperate with the positioning protrusion 113, and different cooperation between the positioning groove 123 and the positioning protrusion 113 corresponds to different angles of the first support structure 111 and the second support structure 121, and different keyway cooperation corresponds to different curvatures of the flexible transmission member 130, so as to achieve adjustable curvature. The keyway cooperation angle between the first support structure 111 and the second support structure 121 of the wave generator 100 can be designed according to different working conditions, and the curvature change can be achieved by changing the angle. When the load is small and the precision requirement is high, the keyway cooperation angle between the first support structure 111 and the second support structure 121 is small, and when the load is large and the precision requirement is low, the keyway cooperation angle between the first support structure 111 and the second support structure 121 is large to meet different working conditions.

[0075] It can be understood that the number of positioning grooves 123 is determined by the number of adjustable angles. Under the condition of ignoring the number of angle adjustments, the number of positioning grooves 123 is preferably 3. Too many positioning grooves 123 will lead to a decrease in the wall thickness between adjacent grooves and a decrease in the bearing capacity. The number of positioning grooves 123 can be set according to actual conditions, and no excessive restrictions are imposed on this in the embodiments of the present invention.

[0076] In some embodiments, the movable member 120 includes a first connecting portion 112 , and the main body 110 further includes a second connecting portion 122 , and the first connecting portion 112 and the second connecting portion 122 are connected by a fastener 140 .

[0077] The movable member 120 includes a first connection portion 112, and the main body 110 also includes a second connection portion 122. The first connection portion 112 and the second connection portion 122 are connected by a fastener 140 to prevent the movable member 120 from being separated from the main body 110 during rotation, thereby increasing the stability of the connection. When the curvature needs to be adjusted, the fastener 140 can be disassembled, and the movable member 120 can be set at a different position and then connected to the main body 110 and the movable member 120 by the fastener 140.

[0078] The present application also provides a reducer, which includes a flexible gear 200, a rigid gear 300 and the above-mentioned wave generator 100, wherein the flexible gear 200 is located between the rigid gear 300 and the wave generator 100. The reducer has all the beneficial effects of the above-mentioned wave generator 100, which will not be described in detail in this disclosure.

[0079] One of the three components, wave generator 100, flexible gear 200 and rigid gear, is fixed at random, and one of the other two is active and the other is driven, which can achieve deceleration or acceleration, that is, a fixed transmission ratio, or two of them are input and the other is output, forming a differential transmission. If the rigid gear is fixed, the wave generator 100 is the active component and the flexible gear 200 is the driven component, and the elliptical cam in the wave generator 100 rotates in the flexible gear 200 to deform the flexible gear 200. When the flexible gear 200 teeth at both ends of the long axis of the elliptical cam of the wave generator 100 and the rigid gear teeth enter into meshing, the flexible gear 200 teeth at both ends of the short axis are disengaged from the rigid gear teeth. The continuous rotation of the wave generator 100 causes the four movements of meshing, meshing, meshing out and disengaging to continuously change their original working states. This staggered tooth movement enables the harmonic reducer to achieve efficient transmission.

[0080] In some embodiments, during the operation of the reducer, the motor drives the wave generator 100 to rotate through the input shaft, and the wave generator 100 drives the flexible gear 200 to fluctuate periodically up and down by rotating. The flexible gear 200 is fixed to the reducer housing through a flange to keep it relatively fixed, and the rigid gear is fixed to the outer output shaft through a flange, and the differential tooth movement between the flexible gear 200 and the rigid gear drives the rigid gear to rotate.

[0081] The present application also provides a robot, comprising the above-mentioned wave generator 100 or the above-mentioned reducer, and the robot has all the beneficial effects of the above-mentioned wave generator 100, which will not be repeated in this disclosure.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments" or "example" etc. means that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention.

[0083] In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and purpose of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wave generator, characterized in that: The wave generator includes a main body, a movable part and a flexible transmission part. The movable part is at least partially located in the flexible transmission part. The movable part is configured so that the relative position of the movable part and the main body can be changed to make the curvature of the flexible transmission part adjustable.

2. The wave generator according to claim 1, characterized in that The main body includes a first supporting structure, and the movable member includes a second supporting structure. The first supporting structure and the second supporting structure have different lengths, and the first supporting structure and the second supporting structure define an outer diameter of the flexible transmission member.

3. The wave generator according to claim 2, characterized in that The first supporting structure and the second supporting structure are arranged in the flexible transmission member.

4. The wave generator according to claim 2, characterized in that The first supporting structure and the second supporting structure are rod-shaped.

5. The wave generator according to claim 2, characterized in that Both ends of the first supporting structure and the second supporting structure are fan-shaped and symmetrical along the center.

6. The wave generator according to claim 2, characterized in that Both ends of the first supporting structure and the second supporting structure are in a "T" shape that is symmetrical along the center.

7. The wave generator according to claim 2, characterized in that The ends of the first supporting structure and the second supporting structure are arc-shaped.

8. The wave generator according to claim 2, characterized in that A positioning portion is provided between the main body and the movable member, and the positioning portion enables the movable member to be selectively arranged at different positions relative to the main body.

9. The wave generator according to claim 8, characterized in that The positioning portion makes the angle between the first supporting structure and the second supporting structure be 75°-90°.

10. The wave generator according to claim 8, characterized in that The positioning portion includes a positioning protrusion and a positioning groove. One of the main body and the movable member is provided with at least one positioning protrusion, and the other is provided with a plurality of positioning grooves matching the positioning protrusion.

11. The wave generator according to claim 1, characterized in that The main body includes a first connecting portion, the movable member includes a second connecting portion, and the first connecting portion and the second connecting portion are connected by a fastener.

12. A reducer, characterized in that: The reducer comprises a flexible gear, a rigid gear and the wave generator according to any one of claims 1 to 11, and the flexible gear is located between the rigid gear and the wave generator.

13. A robot, characterized in that: The robot comprises the wave generator according to any one of claims 1 to 11 or the reducer according to claim 12.

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