Reinforced harmonic transmission flexible gear and harmonic reducer

Abstract

The harmonic transmission flexible gear comprises a cylinder and a flange fixedly arranged 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 outer gear ring is matched with an inner gear ring of a rigid gear, and the side, close to the outer gear ring, of the inner wall of the cylinder abuts against a wave generator. According to the flexible gear, the tooth grooves are formed between every two adjacent outer teeth of the outer gear ring, the strip-shaped protrusions protrude out of the center positions of the tooth grooves, the strip-shaped protrusions are adopted to increase the thickness of the portion between every two outer teeth, and therefore the service life of the flexible gear is prolonged. The extension direction of the strip-shaped protrusions is consistent with the extension direction of the tooth grooves, oil storage grooves are formed between the strip-shaped protrusions and the outer teeth on the two sides of the strip-shaped protrusions, lubricating grease or oil is stored, continuous lubrication is provided for tooth meshing, friction and abrasion are reduced, and the tooth root fracture risk is reduced.

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] The 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 ring gear, a flexspline located inside the ring 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, generating a controllable elastic deformation wave in the flexspline, thereby causing relative tooth misalignment between the teeth of the ring gear and the flexspline to achieve power and motion transmission.

[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 the side of the cylinder body wall 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 inserted into the inner hole of the cylinder body of the flexspline, the cylinder body will undergo a certain radial deformation, forcing the external teeth of the cylinder body to mesh with the internal teeth of the ring 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, the external gear ring of the flexspline and the internal gear ring of the ring gear are constantly undergoing tooth misalignment movement, which is likely to cause tooth root fracture of the flexspline, and then lead to the failure of the harmonic reducer. In addition, the lubrication degree between the external gear ring of the flexspline and the internal gear ring of the ring gear is low, and tooth misalignment is difficult, which will also cause tooth root fracture. Summary of the Invention

[0005] In view of the above problems and deficiencies existing in the prior art, the present invention provides a reinforced harmonic drive flexspline and a harmonic reducer. By adding strip-shaped protrusions between two external teeth, the tooth root fracture resistance of the flexspline is enhanced, and the lubrication conditions are improved, thereby improving the overall performance and reliability of the harmonic reducer, and meeting the requirements for high-precision and high-reliability transmission devices in industrial automation, robotics, aerospace and other fields.

[0006] The present invention is achieved by the following technical solutions:

[0007] A reinforced harmonic drive flexspline, comprising a cylinder body and a flange fixedly arranged at one end of the cylinder body. An external gear ring is arranged on the side wall of the cylinder body away from the flange, and the external gear ring is engaged with the internal gear ring of the rigid gear. The inner wall of the cylinder body abuts against the wave generator on the side close to the external gear ring. Tooth grooves are formed between two adjacent external teeth of the external gear ring, and strip-shaped protrusions protrude from the central positions of each tooth groove. The strip-shaped protrusions are used to increase the thickness of the part between two external teeth, thereby improving the service life of the flexspline. The extending direction of the strip-shaped protrusions is the same as that of the tooth grooves, and oil storage grooves are formed between the strip-shaped protrusions and the external teeth on both sides of the strip-shaped protrusions to store lubricating grease, provide continuous lubrication for the tooth meshing, reduce friction and wear, and reduce the risk of tooth root fracture.

[0008] Further, the length of the tooth groove is greater than that of the strip-shaped protrusion. Along the extending direction of the tooth groove, a plurality of strip-shaped protrusions protrude from the tooth groove. In the same tooth groove, the sum of the lengths of each strip-shaped protrusion is not less than 80% of the length of the tooth groove. The oil storage space is increased to make the lubrication more uniform, further enhance the thickness between adjacent external teeth, and improve the anti-wear and anti-fracture capabilities.

[0009] Further, in the same tooth groove, an oil passage is formed between two adjacent strip-shaped protrusions, and the oil passage communicates with the oil storage grooves on both sides of the strip-shaped protrusion. It promotes the flow of lubricating grease or oil fluid, ensures the continuity and uniformity of lubrication, and basically does not weaken the strengthening effect of the strip-shaped protrusion on the thickness between adjacent external teeth.

[0010] Further, the outer wall of the strip-shaped protrusion is an arc surface. It is beneficial to the adhesion and flow of lubricating grease, improves the lubrication efficiency, optimizes the mechanical properties after the strip-shaped protrusion increases the thickness between adjacent external teeth, and reduces the wear of the tooth root.

[0011] Further, on the extending direction of the external teeth, chamfered edges are provided on both sides of the external teeth. It changes the stress distribution of the external teeth, reduces the stress concentration at the tooth root, and enhances the anti-fracture ability.

[0012] Further, a fillet is provided between the tooth groove and the external teeth to improve the stress distribution, reduce the stress concentration degree at the tooth root, and improve the fatigue life.

[0013] Further, deformation grooves are also formed on the outer wall of the cylinder body. The deformation grooves are aligned with the tooth grooves of the external gear ring and have the same extending direction. The deformation grooves communicate with the tooth grooves of the external gear ring, and the number of the deformation grooves is equal to that of the tooth grooves of the external gear ring. It increases the flexibility of the flexspline, makes the force deformation uniform, reduces the local stress concentration, and improves the anti-fracture performance.

[0014] Further, the external gear ring is subjected to surface carburizing and quenching treatment, and the depth of the carburized layer is 0.8 - 1.2 mm, which improves the wear resistance and fatigue strength of the external gear ring and extends the service life.

[0015] Furthermore, the distance from the external gear ring to the flange is less than twice the length of the external teeth. This optimizes the mechanical properties of the overall structure of the flexspline, making the stress distribution reasonable and enhancing the stability and anti-deformation ability.

[0016] 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 mates with the external gear ring is provided inside the rigid gear. The number of teeth of the internal gear ring is greater than that of the external gear ring. The harmonic drive flexspline is sleeved outside the wave generator. By adopting a reinforced flexspline, the overall performance and reliability of the harmonic reducer are improved.

[0017] Advantages of the present invention:

[0018] 1. Improvement in anti-tooth root fracture ability: Through designs such as chamfering, rounding, deformation grooves, and surface carburizing and quenching, the stress concentration at the tooth root is effectively reduced, the tooth root strength is enhanced, and the anti-tooth root fracture ability of the flexspline is significantly improved. In addition, the strip protrusions increase the thickness between adjacent external teeth, enhancing the structural strength of the external teeth and further reducing the risk of tooth root fracture.

[0019] 2. Improvement in lubrication performance: Lubrication structure designs such as oil storage grooves and oil passage channels greatly improve the lubrication coverage rate and lubrication uniformity between the external gear ring and the internal gear ring of the rigid gear, enhance the oil storage effect of the flexspline, reduce the inter-tooth friction coefficient, and reduce wear.

[0020] 3. Optimization of overall performance: The optimized structural dimensions and the coordinated operation of the reinforced flexspline with the wave generator and the rigid gear improve the transmission accuracy, stability, and reliability of the harmonic reducer. Description of the drawings

[0021] Figure 1 A schematic structural diagram for illustrating a schematic implementation manner of a reinforced harmonic drive flexspline in the present invention;

[0022] Figure 2 For illustration Figure 1 A partial enlarged view of part A in

[0023] Figure 3 For illustration Figure 1 A partial enlarged view of part B in

[0024] Figure 4 A top view for illustrating a schematic implementation manner of a reinforced harmonic drive flexspline in the present invention;

[0025] Figure 5 For illustration Figure 4 A partial enlarged view of part C in

[0026] List of components and reference numerals:

[0027] 1. Cylinder body; 2. Flange; 3. External gear ring; 31. External teeth; 311. Inverted chamfer; 32. Tooth groove; 321. Rounded corner; 33. Strip-shaped protrusion; 331. Arc surface; 34. Oil storage groove; 35. Oil passage; 4. Deformation groove. Detailed implementation manners

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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.

[0029] It should be noted that the terms of orientation 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.

[0030] 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 the change in position, but also include the movement in which the position does not change relatively, but the state changes, such as rotation and rolling.

[0031] 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 the other component or there may be an intermediate component at the same time. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0032] As Figures 1 to 5 shown, a reinforced harmonic drive flexspline includes a cylinder body 1 and a flange 2 fixed to one end of the cylinder body 1. An external gear ring 3 is provided on the side wall of the cylinder body 1 away from the flange 2. The external gear ring 3 cooperates with the internal gear ring of the rigid gear. The inner wall of the cylinder body 1 abuts against the wave generator on the side close to the external gear ring 3. Tooth grooves 32 are formed between two adjacent external teeth 31 of the external gear ring 3. Strip-shaped protrusions 33 protrude from the central positions of the respective tooth grooves 32. The strip-shaped protrusions 33 are used to increase the thickness of the part between two external teeth 31, thereby improving the service life of the flexspline. The extending direction of the strip-shaped protrusions 33 is the same as the extending direction of the tooth grooves 32. Oil storage grooves 34 are formed between the strip-shaped protrusions 33 and the external teeth 31 on both sides of the strip-shaped protrusions 33 to store lubricating grease, provide continuous lubrication for the tooth meshing, reduce friction and wear, and reduce the risk of tooth root fracture.

[0033] In one embodiment, in the flexible gear for an industrial robot, the depth of the tooth groove 32 is 3 mm, the height of the strip-shaped protrusion 33 is 0.5 mm, and the grease storage groove 34 stores lubricating grease. It is found through long-term operation that due to the strip-shaped protrusion 33 increasing the thickness between adjacent external teeth 31, the wear of the tooth root is reduced and the service life is extended by 30%.

[0034] Preferably, the length of the tooth groove 32 is greater than the length of the strip-shaped protrusion 33. Along the extending direction of the tooth groove 32, a plurality of strip-shaped protrusions 33 protrude in the tooth groove 32. In the same tooth groove 32, the sum of the lengths of the strip-shaped protrusions 33 is not less than 80% of the length of the tooth groove 32. The oil storage space is increased, the lubrication is made more uniform, the thickness between adjacent external teeth 31 is further enhanced, and the anti-wear and anti-fracture capabilities are improved.

[0035] In one embodiment, during simulation operation, 8 strip-shaped protrusions 33 are arranged in the same tooth groove 32. The layout of the plurality of strip-shaped protrusions 33 increases the stability between adjacent external teeth 31, improves the lubrication uniformity of the tooth surface, and reduces the risk of tooth root fracture.

[0036] Preferably, in the same tooth groove 32, an oil passage 35 is formed between two adjacent strip-shaped protrusions 33. The oil passage 35 communicates with the grease storage grooves 34 on both sides of the strip-shaped protrusion 33. It promotes the flow of lubricating grease or oil fluid, ensures the continuity and uniformity of lubrication, and basically does not weaken the strengthening effect of the strip-shaped protrusion 33 on the thickness between adjacent external teeth 31.

[0037] In one embodiment, for the flexible gear of the harmonic reducer in the automatic production line, the width of the oil passage 35 is 1 mm. During operation, the lubricating grease flows smoothly, the friction coefficient of the tooth surface is reduced, and due to the strip-shaped protrusion 33, the structural strength of the external teeth 31 is maintained and the operation stability is improved.

[0038] Preferably, the outer wall of the strip-shaped protrusion 33 is an arc surface 331. It is beneficial for the attachment and flow of lubricating grease, improves the lubrication efficiency, optimizes the mechanical properties after the strip-shaped protrusion 33 increases the thickness between adjacent external teeth 31, and reduces the wear of the tooth root.

[0039] In one embodiment, due to the arc-shaped outer wall, the attachment and flow of lubricating grease are improved, the lubrication coverage rate of the tooth surface is increased by 20%, and the structure of the external teeth 31 is more stable due to the strip-shaped protrusion 33, reducing the wear of the tooth root.

[0040] Preferably, on both sides of the external teeth 31 in the extending direction of the external teeth 31, there are chamfered corners 311. It changes the stress distribution of the external teeth 31 under force, reduces the stress concentration at the tooth root, and enhances the anti-fracture ability.

[0041] In one embodiment, for the flexible gear used in large mechanical equipment, the chamfered corners 311 on both sides of the external teeth 31 are 15°. Finite element analysis and actual tests show that the stress concentration coefficient at the tooth root is reduced by 25% and the fatigue life is extended by 40%.

[0042] Preferably, there is a chamfer 321 between the tooth groove 32 and the external teeth 31, which improves the stress distribution, reduces the stress concentration at the tooth root, and increases the fatigue life.

[0043] In one embodiment, in the flexspline for an automotive manufacturing production line, the radius of the chamfer 321 between the tooth groove 32 and the external teeth 31 is 0.8 mm. After fatigue testing, the fatigue life of the flexspline is increased by about 35%. In the stamping, welding and other technological processes of the automotive manufacturing production line, the harmonic reducer starts and stops frequently and bears a large impact. After 1000 fatigue tests on the harmonic reducer installed with this flexspline, the results show that the design of the chamfer 321 makes the stress transition between the tooth groove 32 and the external teeth 31 smoother, effectively reducing the downtime of the production line caused by the fatigue damage of the flexspline.

[0044] Preferably, in the present application, by providing a deformation groove 4 on the outer wall of the cylinder body 1, the deformation groove 4 is aligned with the tooth groove 32 of the external tooth ring 3 and has the same extending direction, and the deformation groove 4 communicates with the tooth groove 32 of the external tooth ring 3. The number of the deformation grooves 4 is equal to the number of the tooth grooves 32 of the external tooth ring 3. Thus, when the flexspline is impacted, the deformation groove 4 can absorb and disperse part of the stress, prevent the fatigue failure of the cylinder body 1 of the flexspline, and improve the service life of the flexspline.

[0045] The specific implementation manner of the deformation groove 4 can be various. For example, the deformation groove 4 can be directly provided on the outer wall of the cylinder body 1 by mechanical processing, or can be formed simultaneously when manufacturing the flexspline by die forming. The shape of the deformation groove 4 can be rectangular, trapezoidal or other suitable shapes, so as to better align with and communicate with the tooth groove 32 of the external tooth ring 3. The depth and width of the deformation groove 4 can be optimized according to the material and use environment of the flexspline to ensure the best effect in absorbing and dispersing stress.

[0046] By providing the deformation groove 4 on the outer wall of the cylinder body 1 and making it aligned and communicating with the tooth groove 32 of the external tooth ring 3, the present 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.

[0047] Preferably, the external tooth ring 3 is subjected to surface carburizing and quenching treatment, and the depth of the carburized layer is 0.8 - 1.2 mm, which improves the wear resistance and fatigue strength of the external tooth ring 3 and extends the service life.

[0048] In one embodiment, in the flexspline for industrial automation equipment, the carburized layer depth is 1 mm, and the surface hardness reaches HRC58 - 62. After long-term operation tests, the wear of the external gear ring 3 is significantly reduced, and the fatigue life is increased by about 50%. During the long-term operation of industrial automation equipment, by regularly detecting the wear of the external gear ring 3, it is found that after the surface carburizing and quenching treatment, the surface hardness of the external gear ring 3 is significantly improved, and the wear amount after running for 1000 hours is only 30% of that of the untreated flexspline. At the same time, the fatigue life is increased from 1500 hours to 2250 hours, effectively reducing the equipment maintenance cost and downtime.

[0049] Preferably, the distance from the external gear ring 3 to the flange 2 is less than twice the length of the external tooth 31. Optimize the overall structural mechanical properties of the flexspline, make the stress distribution reasonable, and enhance the stability and anti-deformation ability.

[0050] 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 3 is provided inside the rigid gear. The number of teeth of the internal gear ring is greater than that of the external gear ring 3. The harmonic drive flexspline is sleeved outside the wave generator. By adopting a reinforced flexspline, the overall performance and reliability of the harmonic reducer are improved.

[0051] This technical solution aims to solve the problem that during the use of a harmonic reducer, especially in the case of frequent impacts, the flexspline is subjected to a large buckling torque and torsional stiffness, which easily causes tearing failure of the flexspline and reduces the service life of the flexspline. By setting structures such as a strip-shaped protrusion 33, an oil storage groove 34, and a deformation groove 4 in the flexspline, the service life of the flexspline is effectively increased, and the occurrence of tooth root fracture is reduced.

[0052] In one embodiment, the manufacturing process of the reinforced harmonic drive flexspline:

[0053] 1. Raw material preparation: Select high-quality alloy steel, such as 20CrMnTi. This material has good hardenability, toughness, and machining performance, and can meet the requirements of the flexspline in terms of strength and wear resistance. Conduct strict quality inspections on the raw materials, including chemical composition analysis and metallographic structure inspection, to ensure that they meet the design-specified standards.

[0054] 2. Blank processing:

[0055] 2.1 Forging process: Adopt die forging process, heat the raw material to the appropriate forging temperature range, usually 1050 - 1150 °C. During forging, through multiple upsetting and drawing operations, refine the grains, improve the internal structure of the material, and enhance the comprehensive mechanical properties of the blank. After multiple forging processes, the blank is roughly formed into the shape of the cylinder 1 and the flange 2, leaving an appropriate machining allowance for subsequent machining.

[0056] 2.2 Inspection process: After forging, flaw detection is carried out on the blank. Ultrasonic flaw detection or magnetic particle flaw detection methods are used to check whether there are defects such as cracks and folds inside the blank. If defects are found, repair or scrapping treatment shall be carried out in a timely manner.

[0057] 3. Machining:

[0058] 3.1 Machining of cylinder 1 and flange 2: First, rough turning of the blank is carried out using a CNC lathe to preliminarily determine the outer diameter, inner diameter and length dimensions of cylinder 1 and flange 2. Then, finish turning is carried out to ensure that the dimensional accuracy meets the design requirements, and the cylindricity is controlled within 0.01 mm. During the turning process, reasonable cutting parameters such as cutting speed, feed rate and cutting depth are selected to reduce machining stress and surface roughness.

[0059] 3.2 Machining of external gear ring 3: The external gear ring 3 is machined using the hobbing process. A high-precision hobbing machine is selected, and a suitable hob is selected according to parameters such as the number of teeth and module of the flexspline. During the hobbing process, the feed rate and cutting speed of hobbing are strictly controlled to ensure the tooth profile accuracy. After hobbing, shaving of the tooth surface is carried out to further improve the tooth surface accuracy and surface quality, and reduce the tooth surface roughness to Ra0.8 - Ra1.6 μm.

[0060] 3.3 Machining of tooth groove 32 and related structures: The strip-shaped protrusion 33 and oil passage 35 are machined in the tooth groove 32 using a CNC milling machine. By programming an accurate machining program, the dimensional accuracy and position accuracy of the strip-shaped protrusion 33 are ensured. During the machining process, suitable cutting tools and cutting parameters are used to avoid machining vibration and burrs. For the chamfer 311 of the external tooth 31 and the fillet 321 between the tooth groove 32 and the external tooth 31, special chamfering tools and fillet tools are used for machining to ensure that the angle and fillet radius meet the design requirements.

[0061] 3.4 Machining of deformation groove 4: When machining the deformation groove 4 on the outer wall of the cylinder 1, the electro-discharge machining process is adopted. According to the shape and size of the deformation groove 4, the corresponding electrode is made. During the electro-discharge machining process, the discharge parameters such as discharge energy and discharge frequency are accurately controlled to ensure the dimensional accuracy and surface quality of the deformation groove 4.

[0062] 4. Surface treatment:

[0063] 4.1 Carburizing and quenching treatment: Place the machined flexible gear into a carburizing furnace for carburizing treatment. Control the carburizing temperature at 900 - 950 °C, and adjust the carburizing time according to the required depth of the carburized layer, generally 4 - 6 hours, to ensure that the depth of the carburized layer reaches 0.8 - 1.2 mm. After carburizing is completed, perform quenching and tempering treatments. Control the quenching temperature at 820 - 860 °C, and use oil quenching to obtain good martensite structure. Control the tempering temperature at 180 - 220 °C to eliminate quenching stress and improve the toughness of the parts.

[0064] 4.2 Detection link: After the surface treatment is completed, detect the surface hardness of the flexible gear using a Rockwell hardness tester or a Vickers hardness tester to ensure that the surface hardness reaches HRC58 - HRC62. At the same time, check the metallographic structure of the carburized layer to ensure that the structure meets the requirements.

[0065] 5 Quality inspection:

[0066] 5.1 Dimensional accuracy detection: Use a coordinate measuring machine to accurately measure various dimensions of the flexible gear, including the outer diameter, inner diameter, and length of the cylinder 1, the thickness and outer diameter of the flange 2, the number of teeth, module, tooth profile error, and tooth direction error of the external gear ring 3, etc. Compare the measurement results with the design drawings to ensure that the dimensional accuracy meets the design requirements.

[0067] 5.2 Geometric tolerance detection: Detect geometric tolerances such as cylindricity, roundness, and perpendicularity of the flexible gear using professional detection equipment such as a roundness instrument and a cylindricity instrument to ensure that the geometric tolerances are within the specified range.

[0068] 5.3 Performance testing: Conduct a simulated loading test on the flexible gear to detect performance indicators such as the load-bearing capacity and deformation under simulated actual working conditions to ensure that the flexible gear meets the design requirements.

[0069] In an embodiment, the assembly process of the reinforced harmonic reducer:

[0070] 1. Part cleaning: Place parts such as the wave generator, rigid gear, and flexible gear into an ultrasonic cleaning machine and use a special cleaning agent for cleaning. The cleaning time is 15 - 30 minutes to thoroughly remove impurities such as oil stains and iron filings on the part surface. After cleaning, blow dry the part surface with high-pressure air and place the parts on a clean workbench to prevent secondary contamination.

[0071] 2. Assemble the flexible gear and the wave generator: In a clean assembly workshop, fit the flexible gear over the outside of the wave generator. During the assembly process, use a special positioning tooling to ensure that the wave generator accurately abuts against the inner wall of the flexible gear cylinder 1 near the external gear ring 3. At the same time, check the clearance between the wave generator and the inner wall of the flexible gear, and control the clearance between 0.05 - 0.1 mm to ensure that the wave generator can smoothly drive the flexible gear to deform.

[0072] 3. Assemble the rigid gear: Fit the rigid gear over the outside of the flexible gear so that the internal gear ring of the rigid gear accurately mates with the external gear ring 3 of the flexible gear. During the assembly process, use a guiding device to ensure that the rigid gear is smoothly sleeved onto the flexible gear, avoiding collisions and scratches between the internal gear ring and the external gear ring 3. After assembly, check the meshing condition between the rigid gear and the flexible gear, and check the contact condition of the tooth surfaces by applying red lead powder or other methods.

[0073] 4. Debugging and testing:

[0074] 4.1 No-load trial operation: Conduct a no-load trial operation on the assembled harmonic reducer for 30 - 60 minutes. During the trial operation, use a vibration tester and a noise tester to detect the vibration and noise conditions of the reducer. The vibration amplitude should be controlled within the specified range, and the noise value should not exceed 60 dB(A).

[0075] 4.2 Load test: Conduct a load test and gradually apply a load according to the rated load-bearing capacity of the reducer. During the loading process, monitor performance indicators such as the transmission efficiency and output torque of the reducer to ensure that the transmission efficiency is not less than 85% and the output torque meets the design requirements.

[0076] 4.3 Precision detection: Use high-precision measuring equipment to detect the transmission precision of the reducer, including backlash, angular error, etc. The backlash should be controlled within 1 arcmin, and the angular error should not exceed ±30 arcsec.

[0077] In one embodiment, maintenance:

[0078] 1. Regular lubrication: Add special lubricating oil to the oil storage tank 34 of the flexible gear every 500 working hours. Select a lubricating oil with good anti-wear performance and high-temperature resistance, such as synthetic gear oil. When adding lubricating oil, use a special oil injection tool to ensure that the lubricating oil is evenly distributed in the oil storage tank 34.

[0079] 2. Check the wear condition: Check the wear of the external gear ring 3 of the flexible gear, the internal gear ring of the rigid gear, and the wave generator every 1000 hours. Use measuring tools to measure the wear amount of the tooth surface. If the wear amount exceeds the specified allowable value, repair or replace it in a timely manner. At the same time, check whether there are any looseness, deformation, etc. in the eccentric device of the wave generator, and handle any problems in a timely manner.

[0080] 3. Clean impurities: Clean the inside of the harmonic reducer once every quarter, and use compressed air or special cleaning agents to remove impurities and oil stains inside. During the cleaning process, pay attention to protecting the key components of the reducer to avoid damage.

[0081] 4. Check the fastening condition: Check the fastening condition of each component of the harmonic reducer monthly, including connecting parts such as bolts and nuts. Use a torque wrench to fasten according to the specified torque value to prevent unstable transmission or component damage caused by loosening.

[0082] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A reinforced harmonic drive flexspline, comprising a cylindrical body and a flange fixedly provided at one end of the cylindrical body, an external gear ring is provided on the side wall of the cylindrical body away from the flange, the external gear ring is engaged with the internal gear ring of the rigid gear, and the inner wall of the cylindrical body abuts against the wave generator on the side close to the external gear ring, characterized in that, A tooth groove is formed between two adjacent external teeth of the external gear ring. A strip-shaped protrusion protrudes from the center position of each tooth groove. The extending direction of the strip-shaped protrusion is the same as that of the tooth groove. An oil storage groove is formed between the strip-shaped protrusion and the external teeth on both sides of the strip-shaped protrusion.

2. The reinforced harmonic drive flexspline according to claim 1, characterized in that, The length of the tooth groove is greater than that of the strip-shaped protrusion. Along the extending direction of the tooth groove, a plurality of the strip-shaped protrusions protrude from the tooth groove. In the same tooth groove, the sum of the lengths of the strip-shaped protrusions is not less than 80% of the length of the tooth groove.

3. The reinforced harmonic drive flexible gear according to claim 2, wherein An oil passage is formed between two adjacent strip-shaped protrusions in the same tooth groove. The oil passage communicates with the oil storage grooves on both sides of the strip-shaped protrusion.

4. The reinforced harmonic drive flexspline according to claim 1, wherein, The outer wall of the strip-shaped protrusion is an arc surface.

5. The reinforced harmonic drive flexspline according to claim 1, wherein On both sides of the external tooth in the extending direction of the external tooth, chamfered corners are provided.

6. The reinforced harmonic drive flexspline according to claim 1, wherein A fillet is provided between the tooth groove and the external tooth.

7. An enhanced harmonic drive flexspline according to claim 1, characterized in that, 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 extending direction. The deformation groove communicates with the tooth groove of the external gear ring. The number of the deformation grooves is equal to the number of the tooth grooves of the external gear ring.

8. An enhanced harmonic drive flexspline according to claim 1, wherein The external gear ring is subjected to surface carburizing and quenching treatment, and the depth of the carburized layer is 0.8 - 1.2 mm.

9. The reinforced harmonic drive flexspline according to claim 1, wherein, The distance from the external gear ring to the flange is less than twice the length of the external tooth.

10. A reinforced harmonic reducer, characterized in that, It includes a wave generator, a rigid gear, and a harmonic drive flexible gear as described in claims 1 - 9. The rigid gear is sleeved outside the harmonic drive flexible gear. 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 that of the external gear ring. The harmonic drive flexible gear is sleeved outside the wave generator.

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