Flexible gear structure of harmonic reducer and machining process

Abstract

The invention relates to a harmonic reducer flexible gear structure and a machining process, the novel flexible gear structure comprises a stamping part and a plastic sealing part, the stamping part comprises a center cylinder and a connecting disc, the connecting disc is coaxially fixed to one end of the center cylinder, and a plurality of through cutting grooves are evenly formed in the connecting disc in the circumferential direction of the connecting disc at intervals; and the plastic sealing part is fixedly mounted at the thick end of the connecting disc. The stamping part has the beneficial effects that the structural design of the stamping part is reasonable, the cutting grooves distributed in the circumferential array mode are machined in the stamping part, the cutting grooves disperse transverse and longitudinal pressure generated when the flexible gear deforms when the flexible gear works, and damage to the flexible gear caused by deformation can be effectively reduced; meanwhile, the wall thickness of the flexible gear can be increased to a certain extent, and the overall strength of parts is greatly enhanced, so that the torsion resistance and the impact resistance of the harmonic reducer are greatly improved; in addition, the flexible gear is simple in machining process, high in efficiency and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of flexspline of harmonic reducers, and particularly relates to a flexspline structure and processing technology of a harmonic reducer. Background Art

[0002] A harmonic reducer consists of only three core components, namely a wave generator, a flexspline, and a rigid gear. The elliptical shape of the wave generator causes the teeth of the flexible gear to mesh with the rigid gear in two opposite regions on the major axis of the ellipse. Every time the waveform generator rotates 180 degrees clockwise, the teeth of the flexspline move counterclockwise by one tooth relative to the rigid gear. Every clockwise rotation of the waveform generator causes the flexspline to move counterclockwise by two teeth relative to the rigid gear from its original position. Currently, the flexspline of the harmonic reducer in the traditional technology has a relatively thin thickness and insufficient strength, unable to meet the production requirements. Summary of the Invention

[0003] The present invention provides a flexspline structure and processing technology of a harmonic reducer, aiming to solve the problems in the prior art.

[0004] The technical solution for the present invention to solve the above technical problems is as follows: A flexspline structure of a harmonic reducer includes a stamping part and a sealing part. The stamping part includes a central cylinder and a connecting disk. The connecting disk is coaxially fixed at one end of the central cylinder, and a plurality of through cutting grooves are evenly spaced along the circumferential direction of the connecting disk; the sealing part is fixedly installed on the thick end of the connecting disk.

[0005] The beneficial effect of the present invention is that the structure design of the stamping part provided by the present invention is reasonable. The cutting grooves are processed on the stamping part in a circumferential array distribution. These cutting grooves disperse the lateral and longitudinal pressures generated during the deformation of the flexspline when the flexspline is working, and can effectively reduce the damage to the flexspline caused by deformation. On the basis of the above technical solution, the present invention can also be improved as follows.

[0006] Further, the sealing part has an annular structure, and the outer diameter of the sealing part is equal to the diameter of the connecting disk.

[0007] The beneficial effect of adopting the above further scheme is that the shape designs of the stamping part and the sealing part are reasonable, they are mutually adapted, and the assembly is convenient.

[0008] Further, the wall thickness of the stamping part is 0.2 - 0.4 mm.

[0009] The beneficial effect of adopting the above further scheme is that the structure is simple, the wall thickness design of the above stamping part is reasonable, and the design of the cutting grooves can increase the thickness of the entire stamping part to a certain extent. It can not only ensure the normal operation of the flexspline, but also increase the strength of the entire stamping part and extend its service life.

[0010] Further, a gear ring for mating with the rigid gear of the harmonic reducer is provided on the thin end of the stamping part.

[0011] The beneficial effect of adopting the above further solution is that the structure is simple and the design is reasonable. The gear ring on the thin end of the stamping part can cooperate with the gear ring on the rigid gear, facilitating assembly.

[0012] Further, a plurality of bolt holes are respectively provided at intervals along the circumferences of the connection disk and the encapsulation part, and some of the bolt holes on the connection disk communicate with the corresponding bolt holes on the encapsulation part.

[0013] The beneficial effect of adopting the above further solution is that the structure is simple, the design of the multiple bolt holes is reasonable, facilitating the connection between the stamping part and other components and convenient for assembly.

[0014] Further, the multiple bolt holes on the connection disk are divided into multiple groups of bolt hole groups, and the multiple groups of bolt hole groups and the multiple cutting grooves are alternately arranged at intervals along the circumference of the connection disk.

[0015] The beneficial effect of adopting the above further solution is that the structure is simple, and the distribution of the multiple bolt holes and the multiple cutting grooves on the stamping part is reasonable, which can not only realize the normal operation of the flexible gear but also facilitate assembly.

[0016] Further, the cross-section of each cutting groove is T-shaped.

[0017] The beneficial effect of adopting the above further solution is that the structure is simple, the shape design of the cutting groove is reasonable, and the cutting groove disperses the transverse and longitudinal pressures generated during the deformation of the flexible gear during operation, which can effectively reduce the damage to the flexible gear caused by deformation. The present invention also relates to a processing technology for the flexible gear structure of the harmonic reducer as described above, including the following specific steps: S1: Stamping, stamping the pipe fitting to a set thickness; S2: Hole cutting, uniformly and at intervals machining a plurality of through cutting grooves at the edge of one end of the pipe fitting; S3: Bending, bending the part of one end of the pipe fitting corresponding to the multiple cutting grooves into an annular structure to form a connection disk; S4: Punching, machining a plurality of bolt holes at intervals on the connection disk and the encapsulation part in S3, and some of the bolt holes on the connection disk communicate with the corresponding bolt holes on the encapsulation part; S5: Encapsulation, fixing the encapsulation part on one end of the pipe fitting.

[0018] The beneficial effect of adopting the above further solution is that the present invention also provides a processing technology for the flexible gear structure of the harmonic reducer. This processing technology is simple, has high efficiency, and low cost.

[0019] Further, the set thickness is 2 - 5 mm.

[0020] The beneficial effect of adopting the above further solution is that the structure is simple, and the thickness design of the above pipe fittings is reasonable, ensuring the strength of the pipe fittings.

[0021] Further, before S1, there is also S0: the steel pipe is processed to a set thickness in sequence by hot rolling, cold rolling and cold drawing, and the steel pipe is cut to obtain the pipe fittings with a set length.

[0022] The beneficial effect of adopting the above further solution is that the steel pipe is processed to a set thickness and length, and the processing is convenient. Brief Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure of the flexspline in the present invention; Figure 2 It is a schematic diagram of a partial structure of the flexspline in the present invention; Figure 3 It is a schematic diagram of the end part of the present invention; Figure 4 It is a side view of the present invention; Figure 5 It is a schematic diagram of the structure when the stamping part is being stamped in the present invention; Figure 6 It is one of the schematic diagrams of the structure when the stamping part is cutting holes in the present invention; Figure 7 It is the other schematic diagram of the structure when the stamping part is cutting holes in the present invention; Figure 8 It is a schematic diagram of the structure when the stamping part is punching holes in the present invention; Figure 9 It is a schematic diagram of the structure of the encapsulation part in the present invention; Figure 10 It is a process flow chart of the processing in the present invention.

[0024] In the drawings, the list of components represented by each reference numeral is as follows: 1. Stamping part; 2. Encapsulation part; 3. Cutting groove; 4. Tooth ring; 5. Bolt hole. Detailed Description of the Invention

[0025] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0027] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0028] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0029] Embodiment 1 As Figures 1 to 9 shown, this embodiment provides a flexible gear structure of a harmonic reducer, including a stamping part 1 and a sealing part 2. The stamping part includes a central cylinder and a connecting disk. The connecting disk is coaxially fixed at one end of the central cylinder. A plurality of through slots 3 are evenly spaced along the circumferential direction of the connecting disk; the sealing part 2 is fixedly installed on the connecting disk.

[0030] The structural design of the stamping part provided in this embodiment is reasonable. The stamping part 1 is processed with slots 3 distributed in a circumferential array. These slots 3 disperse the transverse and longitudinal pressures generated during the deformation of the flexible gear during operation, which can effectively reduce the damage to the flexible gear caused by deformation; at the same time, the wall thickness of the flexible gear can be thickened to a certain extent, and the overall strength of the part will also be greatly enhanced, thereby greatly improving the anti-torsion performance and anti-impact performance of the harmonic reducer.

[0031] Embodiment 2 On the basis of Embodiment 1, in this embodiment, the sealing part 2 has an annular structure, and the outer diameter of the sealing part 2 is equal to the diameter of the connecting disk.

[0032] The shape designs of the stamping part 1 and the encapsulated part 2 are reasonable, and the two are mutually adapted, facilitating assembly.

[0033] Example 3 On the basis of Example 2, in this example, the wall thickness of the stamping part 1 is 0.2 - 0.4 mm.

[0034] This solution has a simple structure. The wall thickness design of the above-mentioned stamping part 1 is reasonable. The design of the cutting groove 3 can increase the thickness of the entire stamping part 1 to a certain extent, which can not only ensure the normal operation of the flexspline but also increase the strength of the entire stamping part 1 and extend its service life.

[0035] Preferably, in this example, the wall thickness of the above-mentioned stamping part 1 is preferably 0.3 mm.

[0036] Example 4 On the basis of any one of Examples 2 to 3, in this example, a gear ring 4 for cooperating with the rigid gear of the harmonic reducer is provided on the thin end of the stamping part 1.

[0037] This solution has a simple structure and reasonable design. The gear ring 4 on the thin end of the stamping part 1 can cooperate with the gear ring on the rigid gear, facilitating assembly.

[0038] Example 5 On the basis of any one of Examples 2 to 4, in this example, a plurality of bolt holes 5 are respectively provided at intervals along the circumferences of the connecting plate and the encapsulated part 2, and some of the bolt holes 5 on the connecting plate communicate with the corresponding bolt holes 5 on the encapsulated part 2.

[0039] This solution has a simple structure. The design of the plurality of bolt holes 5 is reasonable, facilitating the connection of the stamping part 1 with other components and convenient for assembly.

[0040] Example 6 On the basis of Example 5, in this example, the plurality of bolt holes 5 on the connecting plate are divided into multiple groups of bolt hole groups, and the multiple groups of bolt hole groups and the multiple cutting grooves 3 are alternately arranged at intervals along the circumference of the connecting plate.

[0041] This solution has a simple structure. The distribution of the plurality of bolt holes 5 and the plurality of cutting grooves 3 on the stamping part 1 is reasonable, which can not only realize the normal operation of the flexspline but also facilitate assembly.

[0042] Example 7 On the basis of the above-mentioned various examples, in this example, the cross-section of each cutting groove 3 is T-shaped.

[0043] This solution has a simple structure, and the shape of the cut groove 3 is reasonably designed. When the flexspline works, the cut groove 3 disperses the lateral and longitudinal pressures generated during the deformation of the flexspline, which can effectively reduce the damage to the flexspline caused by deformation. Preferably, in this embodiment, the above-mentioned multiple cut grooves 3 are evenly spaced along the circumferential direction of the connecting disk.

[0044] Preferably, in this embodiment, each T-shaped cut groove 3 includes a first groove body and a second groove body that are perpendicularly distributed. The first groove body and the second groove body respectively penetrate through both sides of the connecting disk; the first groove body extends along the radial direction of the connecting disk, and the second groove body is distributed along the circumferential direction of the connecting disk.

[0045] In addition, each of the above-mentioned second groove bodies has an arc-shaped structure that is thin in the middle and thick at both ends, and it extends along the circumferential direction of the connecting disk.

[0046] Moreover, each first groove body has a long-strip groove body structure that is thick at one end and thin at the other end, and its thin end communicates with the middle part of the second groove body.

[0047] Based on the above solution, the projection plane (i.e., the cross-section) of each cut groove 3 is T-shaped. The T-shaped grooves are arranged around the forming circle, and the vertical position of the grooving points to the center of the circle. It is processed according to the minimum punching groove width of the stamping process. The smaller the groove width, the better. The size limit depends on the process processing ability. For example, the wall thickness of the stamping part 1 is 2 mm, the opening of the punching groove is 1 mm, and the equal cross-section of the T-shaped groove is 1 mm wide. The radial groove is mainly to avoid irregular cracking at the edge of the forming flange. Cutting it in advance can clarify the position of the opening.

[0048] When the pipe fitting is further formed, the groove that reaches the edge in the radial direction will become wider. There is no clear requirement for the widening range, mainly to avoid irregular cracking caused by excessive stretching of the material. The transverse groove in the circumferential direction, that is, the second groove body, mainly deforms continuously along the diameter direction during the actual operation of the flexspline. Grooving perpendicular to the deformation direction is beneficial to the release of radial deformation pressure, reduces material folding, and thus improves the service life of the flexspline.

[0049] Embodiment 8 On the basis of the above embodiments, as Figure 10 shown, this embodiment further provides a processing technology for the flexspline structure of the harmonic reducer as described above, including the following specific steps: S1: Stamping, stamping the pipe fitting to the set thickness; S2: Cutting holes, evenly spacing and processing a plurality of through cut grooves 3 at the edge of one end of the pipe fitting; S3: Bending, bending the part of one end of the pipe fitting corresponding to the plurality of cut grooves 3 into an annular structure to form a connecting disk; S4: Punching holes, spacing and processing a plurality of bolt holes 5 on the formed connecting disk and the sealing part 2 in S3, and some of the bolt holes 5 on the connecting disk communicate with the corresponding bolt holes 5 on the sealing part 2; S5: Plastic encapsulation, fixing the plastic encapsulation part 2 on one end of the pipe fitting.

[0050] This embodiment also provides a processing technology for the flexible gear structure of a harmonic reducer. This processing technology is simple, has high efficiency, and low cost.

[0051] Embodiment 9 Based on Embodiment 8, in this embodiment, for S1, the set thickness is 2 - 5 mm.

[0052] This solution has a simple structure. The thickness design of the above-mentioned pipe fitting is reasonable, ensuring the strength of the pipe fitting.

[0053] Embodiment 10 Based on any one of Embodiments 8 to 9, in this embodiment, before S1, it also includes S0: Processing the steel pipe to the set thickness in sequence by hot rolling, cold rolling, and cold drawing, and cutting the steel pipe to obtain the pipe fitting with the set length.

[0054] Processing the steel pipe to the set thickness and length is convenient for processing.

[0055] The present invention provides a flexible gear structure of a harmonic reducer. The processing technology of this new flexible gear structure is as follows: S0: Processing the steel pipe to the set thickness in sequence by hot rolling, cold rolling, and cold drawing, and cutting the steel pipe to obtain the pipe fitting with the set length; S1: Stamping, stamping the pipe fitting to the set thickness; S2: Hole cutting, uniformly and spacedly processing a plurality of through cutting grooves 3 at the edge of one end of the pipe fitting; S3: Bending, pressing the part of one end of the pipe fitting corresponding to the plurality of cutting grooves 3 into an annular structure to form a connecting plate; S4: Punching, processing a plurality of bolt holes 5 at intervals on the formed connecting plate and the plastic encapsulation part 2 in S3, and part of the bolt holes 5 on the connecting plate communicate with the corresponding bolt holes 5 on the plastic encapsulation part 2; S5: Plastic encapsulation, fixing the plastic encapsulation part 2 on one end of the pipe fitting.

[0056] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0057] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only an independent technical solution. This narrative style of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0058] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flexible gear structure of a harmonic reducer, characterized in that: It includes a stamping part (1) and a plastic-sealed part (2). The stamping part (1) includes a central cylinder and a connecting disc. The connecting disc is coaxially fixed to one end of the central cylinder, and a plurality of through cutting grooves (3) are evenly spaced along the circumferential direction of the connecting disc; the plastic-sealed part (2) is fixedly installed on the connecting disc.

2. The flexspline structure of the harmonic reducer according to claim 1, wherein: The plastic-sealed part (2) has an annular structure, and the outer diameter of the plastic-sealed part (2) is equal to the diameter of the connecting disc.

3. The flexspline structure of the harmonic reducer according to claim 2, wherein: The wall thickness of the stamping part (1) is 0.2 - 0.4 mm.

4. The flexspline structure of the harmonic reducer according to claim 2, characterized in that: A gear ring (4) for mating with the rigid gear of the harmonic reducer is provided at the thin end of the stamping part (1).

5. The flexspline structure of the harmonic reducer according to claim 2, wherein: A plurality of bolt holes (5) are respectively spaced along the circumferential direction of the connecting disc and the plastic-sealed part (2), and some of the bolt holes (5) on the connecting disc communicate with the corresponding bolt holes (5) on the plastic-sealed part (2).

6. The flexspline structure of the harmonic reducer according to claim 5, characterized in that: The plurality of bolt holes (5) on the connecting disc are divided into multiple groups of bolt hole groups, and the multiple groups of bolt hole groups and the multiple cutting grooves (3) are alternately spaced along the circumferential direction of the connecting disc.

7. The flexspline structure of the harmonic reducer according to any one of claims 1-6, characterized in that: The cross-section of each cutting groove (3) is T-shaped.

8. A processing technology for a flexible gear structure of a harmonic reducer according to any one of claims 4-7, characterized in that, It includes the following specific steps: S1: Stamping, stamping the pipe fitting to a set thickness; S2: Hole cutting, evenly spacing and processing a plurality of through cutting grooves (3) at the edge of one end of the pipe fitting; S3: Bending, bending the part of one end of the pipe fitting corresponding to the plurality of cutting grooves (3) into an annular structure to form a connecting disc; S4: Punching, spacing and processing a plurality of bolt holes (5) on the connecting disc and the plastic-sealed part (2) in S3, and some of the bolt holes (5) on the connecting disc communicate with the corresponding bolt holes (5) on the plastic-sealed part (2); S5: Plastic sealing, fixing the plastic-sealed part (2) on one end of the pipe fitting.

9. The processing technology of the flexible gear structure of the harmonic reducer according to claim 8, characterized in that: In S1, the set thickness is 2 - 5 mm.

10. The machining process of the flexspline structure of the harmonic reducer according to claim 8, characterized in that, Before S1, it also includes S0: Processing the steel pipe to the set thickness in turn by hot rolling, cold rolling and cold drawing methods, and cutting the steel pipe to obtain the pipe fitting with a set length.

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