Reinforced harmonic transmission flexible gear and harmonic reducer

Abstract

The harmonic transmission flexible gear comprises a cylinder and a flange located at one end of the cylinder, an outer gear ring is arranged on the side, away from the flange, of the side wall of the cylinder, the side, close to the outer gear ring, of the inner wall of the cylinder abuts against a wave generator, and a bent part is formed at the joint of the cylinder and the flange. The harmonic drive flexible gear further comprises a herringbone rib plate, the herringbone rib plate is obliquely fixed between the cylinder body and the flange, the herringbone rib plate comprises a top plate and two bottom plates which are integrally formed, the top plate is fixed to the outer wall of the cylinder body, and the two bottom plates are fixed to the top of the flange. The arrangement of the herringbone rib plates can enhance the connection strength between the cylinder body and the flange, disperse the stress borne by the bending part, and effectively reduce the tearing risk of the bending part caused by stress concentration, thereby prolonging the service life of the harmonic reducer and improving the reliability of the harmonic reducer.

Description

Technical Field

[0001] The present invention belongs to the technical field of harmonic reducers, and particularly relates to a reinforced harmonic drive flexspline and a harmonic reducer. Background Art

[0002] A harmonic reducer is a high-precision and high-ratio transmission device, which is widely used in industrial automation, robotics, aerospace and other fields. It consists of a fixed rigid gear, a flexspline located inside the rigid gear, and a wave generator that causes the flexspline to undergo radial deformation. The wave generator generates an elliptical motion trajectory through an eccentric device, which then drives the flexspline to deform, and utilizes the controllable elastic deformation wave generated by the flexspline to cause relative tooth misalignment between the teeth of the rigid gear and the flexspline, thereby achieving the transmission of power and motion.

[0003] The flexspline is the core component of the harmonic reducer, and its structure usually includes a cylinder body and a flange located at one end of the cylinder body. An external gear ring is provided on one side of the side wall of the cylinder body away from the flange, and a bending portion is formed at the connection between the cylinder body and the flange. The wave generator abuts against the inner wall of the cylinder body and is located on the side close to the external gear ring. When the wave generator is installed into the inner hole of the cylinder body of the flexspline, the cylinder body will generate a certain radial deformation, forcing the external teeth of the cylinder body to mesh with the internal teeth of the rigid gear, and the torque is transmitted to the output shaft through the cylinder body, the bending portion, and the flange.

[0004] However, during the actual use of the harmonic reducer, especially under the working conditions of frequent impacts, the flexspline faces severe challenges. The flexspline (especially the bending portion of the flexspline) is subjected to a large buckling torque and torsional stiffness, and this continuous stress action can easily lead to tearing failure of the flexspline. As a key part for torque transmission, the structural strength of the bending portion directly affects the performance and service life of the entire harmonic reducer. Premature failure of the bending portion will not only reduce the service life of the flexspline, but may also cause sudden failure of the entire harmonic reducer, resulting in equipment shutdown or even safety accidents.

[0005] In addition, the existing flexspline structures often show deficiencies when dealing with high-frequency and high-load working conditions. It is difficult to balance the deformation ability and stiffness of the flexspline. An overly soft structure may lead to a reduction in transmission efficiency, while an overly rigid structure may affect the smoothness of harmonic transmission. At the same time, during long-term use, the fatigue problem of the flexspline material cannot be ignored, which may lead to the generation and expansion of microcracks, ultimately affecting the accuracy and reliability of the harmonic reducer. Summary of the Invention

[0006] Aiming at the problems and deficiencies existing in the above-mentioned prior art, the present invention provides a reinforced harmonic drive flexspline and a harmonic reducer to solve the problems such as easy tearing failure of the existing flexspline under frequent impact working conditions, difficulty in balancing the deformation ability and stiffness, and material fatigue, and improve the performance, service life, accuracy and reliability of the harmonic reducer.

[0007] The present invention is achieved through the following technical solutions:

[0008] A reinforced harmonic drive flexible wheel comprises a cylinder and a flange at one end of the cylinder, the side wall of the cylinder is provided with an outer gear ring on the side away from the flange, the inner wall of the cylinder is abutted against a wave generator on the side close to the outer gear ring, a bending portion is formed at the connection between the cylinder and the flange, and the harmonic drive flexible wheel also comprises a herringbone rib plate, the herringbone rib plate is tilted and fixed between the cylinder and the flange, the herringbone rib plate comprises an integrally formed top plate and two bottom plates, the top plate is fixed to the outer wall of the cylinder, and the two bottom plates are fixed to the top of the flange. The provision of the herringbone rib plate can enhance the connection strength between the cylinder and the flange, disperse the stress borne by the bending portion, effectively reduce the risk of tearing of the bending portion due to stress concentration, and thus improve the service life and reliability of the harmonic reducer.

[0009] Furthermore, a plurality of herringbone ribs are provided, and each of the herringbone ribs is evenly distributed along the circumferential direction of the cylinder. The multiple evenly distributed herringbone ribs can reinforce the cylinder and the flange in all directions, so that the cylinder is more evenly stressed in the circumferential direction, and further improve the overall strength and stability of the flexible wheel. The ability of the flexible wheel to resist stress in different directions is enhanced, the stable operation of the harmonic reducer under complex working conditions is ensured, and the reliability of the transmission is improved.

[0010] Furthermore, the harmonic drive flexspline also includes a stabilizing ring plate, which is sleeved on the outside of the cylinder, connected and fixed to each herringbone rib plate, and fixed to the connection between the top plate and the two bottom plates. The stabilizing ring plate connects multiple dispersed herringbone rib plates into a whole, enhances the synergy between the herringbone rib plates, and further improves the overall rigidity and stability of the flexspline. While ensuring the structural strength of the flexspline, it does not affect the normal deformation and transmission performance of the flexspline, achieving a good balance between structural strength and deformation capacity.

[0011] Furthermore, a deformation space is formed between the herringbone ribs and the bending part. When the flexible wheel is working, the cylinder deforms, and the deformation space can provide a certain buffer for the deformation of the bending part, avoiding excessive restriction of the herringbone ribs on the deformation of the bending part, and ensuring that the flexible wheel can normally achieve the deformation required for harmonic transmission.

[0012] Furthermore, a first connection seat is fixedly provided on one side of the top plate close to the cylinder, and the first connection seat is tightly fixed to the outer wall of the cylinder, and the side of the first connection seat close to the cylinder is an arc-shaped surface. The arc-shaped surface design of the first connection seat can better fit the outer wall of the cylinder, increase the contact area with the cylinder, improve the stability of the connection, and make the force transmission more uniform.

[0013] Furthermore, the first connection seat protrudes from the side wall of the cylinder, and a first rounded corner is provided between the side wall of the first connection seat and the side wall of the cylinder. The first rounded corner can reduce stress concentration, avoid cracks caused by stress concentration at the connection between the first connection seat and the side wall of the cylinder, and improve the reliability of the structure.

[0014] Furthermore, a second connection seat is fixedly provided on one side of the bottom plate close to the flange, and each second connection seat is radially fixed to the surface of the flange. The second connection seat is radially fixed to the surface of the flange, which increases the connection strength and stability between the bottom plate and the flange, so that the force can be more evenly transmitted from the herringbone rib to the flange.

[0015] Furthermore, transition fillets are provided between the herringbone rib and the first connection seat and between the herringbone rib and the second connection seat. The transition fillets can reduce stress concentration between the herringbone rib and the connection seat, and improve the strength and fatigue resistance of the connection.

[0016] Furthermore, the herringbone ribs are provided with second rounded corners around them, which can reduce the stress concentration caused by the sharp corners around the herringbone ribs and improve the structural strength of the herringbone ribs themselves.

[0017] Furthermore, a cavity is provided in the herringbone rib plate, and the cavity is filled with a damping material. The cavity filled with the damping material can effectively absorb and dissipate vibration energy, reduce the stress peak of the flexible wheel during impact or vibration, ease the buckling torque of the flexible wheel bending part, and improve fatigue resistance.

[0018] Furthermore, the herringbone rib plate adopts shape memory alloy, and the shape memory alloy utilizes its characteristics to adaptively compensate for the deformation of the flexible wheel.

[0019] Furthermore, the outer wall of the cylinder is provided with deformation grooves, which are aligned with the tooth grooves of the outer gear ring and extend in the same direction, are interconnected with the tooth grooves of the outer gear ring, and the number of deformation grooves is equal to the number of tooth grooves of the outer gear ring. The deformation grooves provide additional space for the elastic deformation of the flexible wheel, so that the flexible wheel deforms more smoothly when subjected to force, reduces stress concentration, improves the deformation tolerance of the flexible wheel, and ensures the stability of power transmission.

[0020] A reinforced harmonic reducer comprises a wave generator, a rigid wheel and a harmonic drive flexible wheel as claimed in claims 1 to 9, wherein the rigid wheel is mounted on the outside of the harmonic drive flexible wheel, an inner gear ring is provided inside the rigid wheel to match the outer gear ring, the number of teeth of the inner gear ring is greater than the number of teeth of the outer gear ring, and the harmonic drive flexible wheel is mounted on the outside of the wave generator. By adopting the reinforced harmonic drive flexible wheel, combined with the wave generator and the rigid wheel, a harmonic reducer with better overall performance is constructed, which can effectively cope with complex working conditions such as high load and frequent impact.

[0021] Beneficial effects of the present invention:

[0022] 1. The reinforced flexible gear of the harmonic drive and the harmonic reducer of the present invention effectively solve the problems of easy tearing failure, difficult balance between deformation ability and stiffness, and material fatigue of the existing flexible gears under frequent impact conditions by adding herringbone ribs, stabilizing ring plates, and a series of optimized connection structures and designs for reducing stress concentration. It improves the performance, life, accuracy, and reliability of the harmonic reducer, and has significant economic and social benefits.

[0023] 2. The overall structural strength of the flexible gear is enhanced, especially the bending part is strengthened, while the necessary deformation space is reserved, which not only improves the anti-fatigue performance of the flexible gear but also ensures the smoothness of the harmonic drive. It has the advantages of improving the structural strength of the flexible gear, extending the service life, and enhancing the transmission efficiency and reliability.

[0024] 3. A first connection seat is arranged between the herringbone rib and the cylinder body, and a second connection seat is arranged between the herringbone rib and the flange, which enhances the connection strength of the herringbone rib. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A structural schematic diagram for illustrating a schematic embodiment of a reinforced flexible gear of a harmonic drive and a harmonic reducer in the present invention;

[0026] Figure 2 For illustrating Figure 1 A partial enlarged schematic diagram at A in

[0027] Figure 3 For illustrating Figure 1 A partial enlarged schematic diagram at B in

[0028] Figure 4 A front view for illustrating a schematic embodiment of a reinforced flexible gear of a harmonic drive and a harmonic reducer in the present invention;

[0029] Figure 5 For illustrating Figure 4 A partial enlarged schematic diagram at C in

[0030] List of components and reference numerals:

[0031] 1. Cylinder body; 11. External gear ring; 12. Deformation groove; 2. Flange; 3. Bending part; 4. Herringbone rib; 41. Top plate; 42. Bottom plate; 43. Second fillet; 5. Stabilizing ring plate; 6. Deformation space; 7. First connection seat; 71. First fillet; 8. Second connection seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] It should be noted that the directional terms such as left, right, up, down, front, and back in the embodiments of the present invention are only relative concepts to each other or are referenced based on the normal use state of the product, that is, the traveling direction of the product, and should not be considered as restrictive.

[0034] In addition, it should also be noted that the dynamic terms such as "relative movement" mentioned in the embodiments of the present invention not only include changes in position, but also include movements such as rotation and rolling where there is no relative change in position but the state has changed.

[0035] Finally, it should be noted that when a component is referred to as being "located on" or "disposed on" another component, it can be on another component or there may be an intermediate component present at the same time. When a component is referred to as being "connected to" another component, it can be directly connected to another component or there may be an intermediate component present at the same time.

[0036] As Figures 1 to 5 shown, a reinforced harmonic drive flexspline includes a cylinder 1 and a flange 2 located at one end of the cylinder 1. An external gear ring 11 is provided on the side wall of the cylinder 1 away from the flange 2. The inner wall of the cylinder 1 abuts against a wave generator on the side close to the external gear ring 11. A bending portion 3 is formed at the connection between the cylinder 1 and the flange 2. The harmonic drive flexspline further includes a herringbone rib 4. The herringbone rib 4 is obliquely fixed between the cylinder 1 and the flange 2. The herringbone rib 4 includes an integrally formed top plate 41 and two bottom plates 42. The top plate 41 is fixed to the outer wall of the cylinder 1, and the two bottom plates 42 are fixed to the top of the flange 2. The setting of the herringbone rib 4 can enhance the connection strength between the cylinder 1 and the flange 2, disperse the stress borne by the bending portion 3, effectively reduce the risk of tearing of the bending portion 3 caused by stress concentration, and thus improve the service life and reliability of the harmonic reducer.

[0037] In one embodiment, the herringbone rib 4 is a key structural element in the present invention for enhancing the strength and durability of the flexspline. The herringbone rib 4 is obliquely fixed between the cylinder 1 and the flange 2, providing additional support force. The design of the deformation space 6 enables the flexspline to better absorb and disperse stress when subjected to impact, thereby reducing the risk of tearing failure. This design concept is formed based on an in-depth analysis of the stress and deformation conditions of the flexspline during actual operation.

[0038] The flexspline includes a cylinder body 1, a flange 2, an external gear ring 11, a wave generator, and a herringbone rib plate 4. The external gear ring 11 is provided on one side of the side wall of the cylinder body 1 away from the flange 2, and a bending portion 3 is formed at the connection between the cylinder body 1 and the flange 2. The wave generator abuts against the inner wall of the cylinder body 1 and is located on the side close to the external gear ring 11. The herringbone rib plate 4 is obliquely fixed between the cylinder body 1 and the flange 2, and a deformation space 6 is formed between the herringbone rib plate 4 and the bending portion 3. The design of the herringbone rib plate 4 increases the structural strength of the flexspline, enabling it to better absorb and disperse stress when subjected to impact.

[0039] Compared with the prior art, by introducing the herringbone rib plate 4 into the flexspline, the present invention significantly enhances the structural strength and durability of the flexspline. Traditional flexsplines are prone to tearing failure when subjected to frequent impacts and large buckling torques. However, through the design of the herringbone rib plate 4 in the present invention, the supporting force of the flexspline is effectively increased, and an additional deformation space 6 is provided, enabling the flexspline to better absorb and disperse stress when subjected to impact, reducing the risk of tearing failure.

[0040] The reinforced harmonic drive flexspline of the present invention effectively solves the problem of tearing failure that easily occurs in the flexspline when subjected to frequent impacts and large buckling torques by providing the herringbone rib plate 4 between the cylinder body 1 and the flange 2 and forming a deformation space 6 between the herringbone rib plate 4 and the bending portion 3. The obliquely fixed design of the herringbone rib plate 4 increases the structural strength of the flexspline, enabling it to better absorb and disperse stress during operation, thereby improving the durability and service life of the flexspline. Specifically, the external gear ring 11 is provided on one side of the side wall of the cylinder body 1 away from the flange 2, and the wave generator abuts against the inner wall of the cylinder body 1 and is located on the side close to the external gear ring 11. The herringbone rib plate 4 is obliquely fixed between the cylinder body 1 and the flange 2, and a deformation space 6 is formed between the herringbone rib plate 4 and the bending portion 3, enabling the flexspline to better absorb and disperse stress when subjected to impact.

[0041] Among them, by adding the herringbone rib plate 4, the overall structural strength of the flexspline is greatly improved, the service life of the flexspline is extended, and the failure probability of the harmonic reducer under frequent impact conditions is reduced. The herringbone rib plate 4 has stronger buffering performance and fatigue resistance than ordinary strip rib plates, effectively protecting the connection between the cylinder body 1 and the flange 2.

[0042] Preferably, a plurality of herringbone rib plates 4 are provided, and each herringbone rib plate 4 is evenly distributed along the circumferential direction of the cylinder body 1. The plurality of evenly distributed herringbone rib plates 4 can reinforce the cylinder body 1 and the flange 2 in all directions, making the force on the cylinder body 1 more uniform in the circumferential direction, further improving the overall strength and stability of the flexspline. It enhances the ability of the flexspline to resist stress in different directions, ensures the stable operation of the harmonic reducer under complex working conditions, and improves the reliability of the transmission.

[0043] Preferably, the harmonic drive flexspline further includes a stabilizing ring plate 5. The stabilizing ring plate 5 is sleeved on the outside of the cylinder body 1. The stabilizing ring plate 5 is fixedly connected to each herringbone rib plate 4, and the stabilizing ring plate 5 is fixed to the connection part of the top plate 41 and the two bottom plates 42. The stabilizing ring plate 5 connects multiple scattered herringbone rib plates 4 into a whole, enhancing the synergistic effect between the herringbone rib plates 4, and further improving the overall rigidity and stability of the flexspline. While ensuring the structural strength of the flexspline, it does not affect the normal deformation and transmission performance of the flexspline, achieving a good balance between structural strength and deformation ability. When the flexspline bears high loads and impacts, it can better maintain its structural integrity, reduce the overall performance degradation caused by local deformation, and improve the working accuracy and reliability of the harmonic reducer.

[0044] Preferably, a deformation space 6 is formed between the herringbone rib plate 4 and the bending part 3. When the flexspline works, the cylinder body 1 deforms, and this deformation space 6 can provide a certain buffer for the deformation of the bending part 3, preventing the herringbone rib plate 4 from overly restricting the deformation of the bending part 3 and ensuring that the flexspline can normally achieve the deformation required for harmonic drive. While ensuring the structural strength of the flexspline, it does not affect the normal deformation and transmission performance of the flexspline, achieving a good balance between structural strength and deformation ability.

[0045] Preferably, a first connecting seat 7 is fixedly provided on the side of the top plate 41 close to the cylinder body 1. The first connecting seat 7 is tightly attached and fixed to the outer wall of the cylinder body 1, and the side of the first connecting seat 7 close to the cylinder body 1 is an arc surface. The arc surface design of the first connecting seat 7 can better fit the outer wall of the cylinder body 1, increase the contact area with the cylinder body 1, improve the connection stability, and at the same time make the force transmission more uniform.

[0046] A first connecting seat 7 is fixedly provided on the side of the herringbone rib plate 4 close to the cylinder body 1. The first connecting seat 7 is tightly attached and fixed to the outer wall of the cylinder body 1, and the side of the first connecting seat 7 close to the cylinder body 1 is an arc surface. Such a design can ensure the close fit of the first connecting seat 7 with the outer wall of the cylinder body 1, increasing the connection strength and stability. The first connecting seat 7 protrudes from the side wall of the cylinder body 1, and a first rounded corner 71 is provided between the side wall of the first connecting seat 7 and the side wall of the cylinder body 1. Such a design can effectively reduce stress concentration, avoid cracks and damage caused by stress concentration, and thus improve the service life of the flexspline. Specifically, the first connecting seat 7 can be fixed to the outer wall of the cylinder body 1 by means of welding, bolt connection or gluing, etc. The arc surface design can be achieved by precision machining or mold forming, etc. The first rounded corner 71 can be achieved by machining or mold forming, etc.

[0047] Preferably, the first connecting seat 7 protrudes from the side wall of the cylinder body 1, and a first rounded corner 71 is provided between the side wall of the first connecting seat 7 and the side wall of the cylinder body 1. The first rounded corner 71 can reduce stress concentration, avoid cracks caused by stress concentration at the connection between the first connecting seat 7 and the side wall of the cylinder body 1, and improve the reliability of the structure.

[0048] Preferably, a second connecting seat 8 is fixedly provided on the side of the bottom plate 42 close to the flange 2, and the second connecting seats 8 are radially fixed to the surface of the flange 2. The second connecting seats 8 are radially fixed on the surface of the flange 2, which increases the connection strength and stability between the bottom plate 42 and the flange 2, and enables the force to be more evenly transmitted from the herringbone rib plate 4 to the flange 2.

[0049] Preferably, transition rounded corners are provided between the herringbone rib plate 4 and the first connecting seat 7 and between the herringbone rib plate 4 and the second connecting seat 8. The transition rounded corners can reduce stress concentration between the herringbone rib plate 4 and the connecting seat, and improve the strength and fatigue resistance of the connection.

[0050] Preferably, a second rounded corner 43 is provided around the herringbone rib plate 4. The second rounded corner 43 can reduce stress concentration around the herringbone rib plate 4 caused by sharp corners, and improve the structural strength of the herringbone rib plate 4 itself.

[0051] In an embodiment, a second connecting seat 8 is fixedly provided on the side of the herringbone rib plate 4 close to the flange 2, and the second connecting seats 8 are radially fixed to the surface of the flange 2. Transition rounded corners are provided between the herringbone rib plate 4 and the first connecting seat 7 and between the herringbone rib plate 4 and the second connecting seat 8, and a second rounded corner 43 is provided around the herringbone rib plate 4. The setting of the herringbone rib plate 4 can effectively relieve the buckling torque and torsional stiffness suffered by the flexspline during use, especially the protection of the bending part 3, avoid the tearing failure of the flexspline, and extend the service life of the flexspline.

[0052] Preferably, the present application also proposes that a cavity is provided inside the herringbone rib plate 4, and a damping material is filled in the cavity.

[0053] During the use of the harmonic reducer, the flexspline, especially its bending part 3, is prone to large buckling torque and torsional stiffness due to frequent impacts, resulting in the tearing failure of the flexspline, thereby reducing the service life of the flexspline. In order to enhance the impact resistance of the flexspline, a cavity is provided inside the herringbone rib plate 4 in the present application, and a damping material is filled in the cavity. The damping material can effectively absorb and dissipate impact energy, reduce stress concentration of the flexspline under impact load, and extend the service life of the flexspline.

[0054] The cavity inside the chevron rib 4 can be achieved in various ways. For example, the cavity can be formed inside the chevron rib 4 through die forming technology. The damping material can be selected from rubber, foam materials or other materials with good damping performance, and can be specifically selected and adjusted according to the actual application requirements. By setting a cavity inside the chevron rib 4 and filling it with damping material, the impact resistance of the flexspline can be significantly improved, and the overall structural stability and durability can be enhanced.

[0055] Compared with the prior art, in this application, by setting a cavity inside the chevron rib 4 and filling it with damping material, the problem that the flexspline is prone to tear failure under frequent impacts is effectively solved. By absorbing and dissipating impact energy, stress concentration is reduced, the impact resistance of the flexspline is improved, the service life of the flexspline is extended, and the overall performance of the harmonic reducer is enhanced.

[0056] Preferably, this application also proposes that the chevron rib 4 is made of shape memory alloy. The chevron rib 4 made of shape memory alloy has the characteristic of restoring its original shape at a specific temperature. After being deformed by external force, it can restore its original shape by heating, thereby improving the durability and impact resistance of the flexspline.

[0057] When the chevron rib 4 is made of shape memory alloy, due to the phase change characteristics of the shape memory alloy, during the working process of the flexspline, as the temperature changes, the chevron rib 4 can restore to the preset shape, thereby enhancing the structural strength and stiffness of the flexspline. As a preferred implementation manner, the chevron rib 4 can be fixed between the cylinder 1 and the flange 2 by welding, bolt connection or other means.

[0058] By using shape memory alloy as the material of the chevron rib 4 and designing the chevron rib 4 to have a trapezoidal cross-section, this application solves the problem that the flexspline in the prior art is prone to tear failure under frequent impacts. Thus, the durability and service life of the flexspline are significantly improved. In particular, when the bending part 3 of the flexspline is subjected to a large buckling torque and torsional stiffness, it is not easy to fail. Compared with the prior art, the technical solution provided in this application has obvious advantages in improving the impact resistance of the flexspline and extending its service life.

[0059] Preferably, this application also proposes that a deformation groove 12 is further provided on the outer wall of the cylinder 1. The deformation groove 12 is aligned with the tooth groove of the external gear ring 11 and has the same extension direction. The deformation groove 12 communicates with the tooth groove of the external gear ring 11, and the number of the deformation grooves 12 is equal to the number of the tooth grooves of the external gear ring 11.

[0060] In this application, by providing deformation grooves 12 on the outer wall of the cylinder body 1, the deformation grooves 12 are aligned with the tooth grooves of the external gear ring 11 and have the same extension direction, and the deformation grooves 12 communicate with the tooth grooves of the external gear ring 11. The number of deformation grooves 12 is equal to the number of tooth grooves of the external gear ring 11. Thus, when the flexspline is subjected to an impact, the deformation grooves 12 can absorb and disperse part of the stress, prevent fatigue failure of the cylinder body 1 of the flexspline, and extend the service life of the flexspline.

[0061] The specific implementation of the deformation grooves 12 can be diverse. For example, the deformation grooves 12 can be directly formed on the outer wall of the cylinder body 1 by machining, or can be formed simultaneously during the manufacturing of the flexspline by die forming. The shape of the deformation grooves 12 can be rectangular, trapezoidal or other suitable shapes to better align with and communicate with the tooth grooves of the external gear ring 11. The depth and width of the deformation grooves 12 can be optimized according to the material and usage environment of the flexspline to ensure the best effect in absorbing and dispersing stress.

[0062] By providing deformation grooves 12 on the outer wall of the cylinder body 1 and aligning and communicating them with the tooth grooves of the external gear ring 11, this application effectively solves the problem that the flexspline is prone to tearing failure during use. Compared with the prior art, this design can significantly improve the impact resistance and service life of the flexspline, thereby improving the overall performance and reliability of the harmonic reducer.

[0063] A reinforced harmonic reducer includes a wave generator, a rigid gear and a harmonic drive flexspline. The rigid gear is sleeved outside the harmonic drive flexspline. An internal gear ring that cooperates with the external gear ring 11 is provided inside the rigid gear. The number of teeth of the internal gear ring is greater than the number of teeth of the external gear ring 11. The harmonic drive flexspline is sleeved outside the wave generator. By adopting the above-mentioned reinforced harmonic drive flexspline and combining it with the wave generator and the rigid gear, a harmonic reducer with better overall performance is constructed, which can effectively cope with complex working conditions such as high load and frequent impact.

[0064] This technical solution aims to solve the problem that during the use of the harmonic reducer, especially in the case of frequent impact, the flexspline (especially the bending part 3 of the flexspline) is subjected to a large buckling torque and torsional stiffness, which is prone to cause tearing failure of the flexspline and reduce the service life of the flexspline. By providing structures such as herringbone ribs 4, first connecting seats 7, second connecting seats 8, transition fillets, and chamfered fillets in the flexspline, the impact resistance and service life of the flexspline can be effectively improved.

[0065] The above are only embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims

1. A reinforced harmonic drive flexspline, comprising a cylinder body and a flange located at one end of the cylinder body. An external gear ring is provided on the side wall of the cylinder body away from the flange. The inner wall of the cylinder body abuts against a wave generator on the side close to the external gear ring. A bending portion is formed at the connection between the cylinder body and the flange, characterized in that, The flexible spline of the harmonic drive further includes a chevron rib plate, which is obliquely fixed between the cylinder body and the flange. The chevron rib plate includes an integrally formed top plate and two bottom plates. The top plate is fixed to the outer wall of the cylinder body, and the two bottom plates are fixed to the top of the flange.

2. The reinforced harmonic drive flexspline according to claim 1, wherein A plurality of the chevron rib plates are provided, and each chevron rib plate is uniformly distributed along the circumferential direction of the cylinder body.

3. The reinforced harmonic drive flexspline according to claim 2, wherein The flexible spline of the harmonic drive further includes a stabilizing ring plate, which is sleeved on the outside of the cylinder body. The stabilizing ring plate is connected and fixed to each chevron rib plate, and the stabilizing ring plate is fixed to the connection between the top plate and the two bottom plates.

4. A reinforced harmonic drive flexspline according to claim 1, characterized in that, A deformation space is formed between the chevron rib plate and the bent portion.

5. A reinforced harmonic drive flexspline according to claim 1, wherein, A first connection seat is fixedly provided on the side of the top plate close to the cylinder body. The first connection seat is tightly fixed to the outer wall of the cylinder body. The side of the first connection seat close to the cylinder body is an arc surface. The first connection seat protrudes from the side wall of the cylinder body, and a first chamfer is provided between the side wall of the first connection seat and the side wall of the cylinder body.

6. The reinforced harmonic drive flexspline according to claim 5, characterized in that A second connection seat is fixedly provided on the side of the bottom plate close to the flange. Each second connection seat is radially fixed to the surface of the flange.

7. A reinforced harmonic drive flexspline according to claim 6, characterized in that, Transition fillets are provided between the chevron rib plate and the first connection seat and between the chevron rib plate and the second connection seat, and second chamfers are provided around the chevron rib plate.

8. A reinforced harmonic drive flexspline according to claim 1, wherein A cavity is formed inside the chevron rib plate, and the cavity is filled with damping material. The chevron rib plate is made of shape memory alloy.

9. A reinforced harmonic drive flexspline according to claim 1, wherein, A deformation groove is further formed on the outer wall of the cylinder body. The deformation groove is aligned with the tooth groove of the external gear ring and has the same extension direction. The deformation groove is communicated with the tooth groove of the external gear ring, and the number of the deformation grooves is equal to the number of the tooth grooves of the external gear ring.

10. A reinforced harmonic reducer, characterized in that, It includes a wave generator, a rigid gear, and the flexible spline of the harmonic drive as described in claims 1-9. The rigid gear is sleeved on the outside of the flexible spline of the harmonic drive. An internal gear ring that cooperates with the external gear ring is provided inside the rigid gear. The number of teeth of the internal gear ring is greater than the number of teeth of the external gear ring. The flexible spline of the harmonic drive is sleeved on the outside of the wave generator.

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