Movable pin type harmonic reducer

Abstract

The invention belongs to the field of harmonic reducers and discloses a movable pin type harmonic reducer which comprises a wave generator, an output wheel, a rigid wheel and a plurality of movable pins, the output wheel and the rigid wheel are annular, and the wave generator comprises a cam and a flexible bearing installed on the outer side of the cam. The output wheel and the rigid wheel are sequentially mounted on the outer side of the flexible bearing; the movable pins are sequentially arranged on the outer side of the flexible bearing, the tops of the movable pins penetrate through the output wheel and are matched with pin holes in the inner side of the rigid wheel, and when the cam rotates, movement transmission and conversion are achieved through fluctuation deformation of the movable pins. According to the technical scheme, the bearable torque of the harmonic reducer can be improved, manufacturing is easy, tooth repairing is not needed, and the harmonic reducer is particularly suitable for the large-torque and large-load situation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of harmonic reducer, in particular to a live pin type harmonic reducer. BACKGROUND

[0002] As a key component widely used in industrial robots, aerospace, precision machinery transmission and other fields, the performance of harmonic reducer plays a crucial role in the precision, efficiency and reliability of the entire device. The traditional harmonic reducer is mainly composed of three basic components: wave generator, flexspline and rigid wheel. The transmission of motion and power is realized through the elastic deformation of the flexspline.

[0003] During the operation of the traditional harmonic reducer, the meshing between the flexspline and the rigid wheel depends on the elastic deformation of the flexspline. However, due to the elliptical shape of the wave generator, the flexspline produces periodic elastic deformation, which poses a hidden danger to metal fatigue. With long-term operation, this periodic deformation gradually accumulates, causing fatigue damage to the metal material of the flexspline teeth, manifesting as tooth surface cracks, tooth root fractures and other problems, which seriously affects the service life and reliability of the harmonic reducer.

[0004] In addition, the carrying capacity of the traditional harmonic reducer is also limited. Its carrying capacity mainly depends on the meshing strength of the teeth, and the teeth are difficult to withstand large loads under periodic deformation, especially in high-precision and high-load application scenarios, the performance of the traditional harmonic reducer is often inadequate.

[0005] In summary, the traditional harmonic reducer has gradually highlighted its own defects in the face of the increasing demand for high-precision, high-reliability and high-carrying capacity of transmission components in modern high-end equipment, and an innovative structural design is urgently needed to overcome these technical difficulties. SUMMARY

[0006] The purpose of the present application is to provide a live pin type harmonic reducer to solve the problems existing in the prior art.

[0007] To achieve the above purpose, the present application provides a live pin type harmonic reducer, which comprises a wave generator, an output wheel, a rigid wheel and a plurality of live pins. The output wheel and the rigid wheel are annular. The wave generator comprises a cam and a flexible bearing mounted on the outer side of the cam. The outer side of the flexible bearing is sequentially mounted with the output wheel and the rigid wheel. Each live pin is sequentially arranged on the outer side of the flexible bearing, and the top of each live pin penetrates the output wheel and is matched with the inner side pin hole of the rigid wheel. When the cam rotates, the transmission and conversion of motion are realized by the wave deformation of the live pin.

[0008] Optionally, the live pin can be provided with multiple rows.

[0009] Optionally, each of the live pins is equipped with a live pin radial constraint ring.

[0010] Optionally, the radial constraint ring of the live pin is a flexible ring, and the radial constraint ring of the live pin deforms in accordance with the deformation of the flexible bearing.

[0011] Optionally, the bottom cross-sectional diameter of the live pin is larger than the aperture of the radial constraint ring of the live pin.

[0012] Optionally, the longitudinal section curve at the top of each of the live pins is an involute.

[0013] Optionally, fixing the output wheel when the rigid wheel is outputting or fixing the rigid wheel when the output wheel is outputting can achieve deceleration.

[0014] The technical effects of this invention are as follows:

[0015] This invention provides a live-pin type harmonic reducer comprising a cam, a flexible bearing, a live pin, a radial constraint ring for the live pin, an output wheel, and a rigid wheel. This invention changes the traditional tooth meshing between the flexible and rigid wheels, transforming it into a pin-hole fit. The radial movement of the live pin is controlled by the cam, flexible bearing, and radial constraint ring. Harmonic deceleration is achieved through the periodic deformation of the live pin and the pin-hole difference. This design method significantly improves the torque that the harmonic reducer can withstand, and it is simple to manufacture, requires no gear modification, and is particularly suitable for high-torque, high-load applications. This invention fundamentally solves the metal fatigue problem caused by periodic deformation in traditional harmonic reducers and achieves a significant improvement in load-bearing capacity, meeting the urgent need for high-performance reducers in the current advanced machinery manufacturing field. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a cross-sectional view of the live pin type high torque output harmonic reducer in an embodiment of the present invention.

[0019] Figure 2 This is an embodiment of the present invention. Figure 1 A magnified view of the cross-section at point A in the middle;

[0020] Figure 3 This is a schematic diagram of the structure of the double-row live pin output wheel in an embodiment of the present invention;

[0021] Labeling explanations: 1. Cam; 2. Flexible bearing; 3. Live pin; 4. Live pin radial constraint ring; 5. Output wheel; 6. Rigid wheel. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] To facilitate understanding of the present invention, a more comprehensive description of the invention will be given below with reference to the accompanying drawings, and several embodiments of the invention will be provided. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be more thorough and complete.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0025] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1-3As shown, this embodiment provides a pin-type harmonic reducer, including a wave generator, an output wheel 5, a rigid wheel 6, and several pins 3. The output wheel 5 and the rigid wheel 6 are both annular. The wave generator includes a cam 1 and a flexible bearing 2 mounted on the outside of the cam 1. The output wheel 5 and the rigid wheel 6 are sequentially mounted on the outside of the flexible bearing 2. Each pin 3 is arranged sequentially on the outside of the flexible bearing 2. The top of each pin 3 passes through the output wheel 5 and is engaged with the inner pin hole of the rigid wheel 6. When the cam 1 rotates, the wave deformation of the pins 3 is used to realize the transmission and conversion of motion.

[0029] Traditional harmonic reducers feature a flexible, thin-walled gear whose external teeth mesh with the internal teeth of a rigid gear under the action of a wave generator. Because the flexible gear has two fewer teeth than the rigid gear, the rotation of the wave generator causes misalignment between the two gears. During meshing, the flexible gear's cylinder wall warps, leading to tooth interference and necessitating tooth trimming. Against this backdrop, this embodiment presents a novel harmonic reducer design that replaces the gear teeth with a live pin 3. This design is expected to fundamentally solve the metal fatigue problem caused by periodic deformation in traditional harmonic reducers and significantly improve load-bearing capacity, thus meeting the urgent demand for high-performance reducers in advanced mechanical manufacturing.

[0030] To address the fatigue failure that may result from the periodic deformation of the flexure in a harmonic reducer, and the insufficient load-bearing capacity caused by the small gear module, this embodiment provides a live pin type high torque output harmonic reducer. The flexure in a traditional harmonic reducer is replaced by an output wheel 5 and a live pin 3, and the deformation of the flexure is transferred to the ring-shaped live pins 3. The inner ring of the rigid wheel 6 is replaced by the holes of the live pins 3, and the motion transmission and conversion are achieved by utilizing the wave deformation of the live pins 3.

[0031] The specific structure of this embodiment includes: a cam 1, a flexible bearing 2, a live pin 3, a live pin radial constraint ring 4, an output wheel 5, and a rigid wheel 6. The operating principle of the harmonic reducer provided in this embodiment is based on staggered gear motion. The cam 1 and the flexible bearing 2 combine to form a wave generator, which cooperates with the live pin 3. The live pin 3 has a larger bottom and a smaller head, passing through the live pin radial constraint ring 4 and the output wheel 5. The head of the live pin 3 cooperates with the hole in the rigid wheel 6, and the bottom of the live pin 3 contacts the outer surface of the flexible bearing 2. The live pin radial constraint ring 4 is a flexible ring and does not bear the power transmission between the rigid wheel 6 and the output wheel 5. Furthermore, the live pin radial constraint ring 4 deforms along with the flexible bearing 2. The cross-sectional diameter of the bottom of the live pin 3 is larger than the diameter of the hole on the radial constraint ring 4 of the live pin. When the cam 1 rotates, the shape of the radial constraint ring 4 of the live pin changes with the shape of the flexible bearing 2. At a certain position from the short axis to the long axis, the live pin 3 moves towards the pin hole of the rigid wheel 6 under the action of thrust. When the cam 1 continues to rotate from the long axis to the short axis, the live pin 3 is tightly attached to the outer surface of the flexible bearing 2 under the pulling action of the radial constraint ring 4 of the live pin, and then disengages from the hole of the live pin 3 of the rigid wheel 6.

[0032] To achieve a better pin-hole fit and maintain a tangent relationship at all times, the longitudinal section curve of the tip of the live pin 3 can be an involute or other curve. The shape of the inner ring hole of the rigid wheel 6 can be optimized according to the movement trajectory of the live pin 3, and the longitudinal section profile of the hole can be approximated by an epicycloid.

[0033] It is feasible that either the output wheel 5 or the rigid wheel 6 can be fixed or output at either end, both of which can achieve the effect of speed reduction.

[0034] It is feasible to arrange the live pins 3 in double or multiple rows when there are a large number of live pins 3, thereby increasing the diameter of the live pins 3 and improving the load-bearing capacity, such as... Figure 3 As shown.

[0035] It is feasible to have a thicker wall for the output wheel 5 without deformation or cyclic stress. The live pin 3 can withstand greater force than a small module gear, and multiple rows of live pins 3 can be arranged to increase their diameter.

[0036] In summary, this embodiment is still based on the elastic deformation principle of harmonic reducers, leveraging the advantages of compact structure and large transmission ratio. The core components have been changed from the traditional rigid wheel, flexible wheel, cam, and flexible bearing to rigid wheel 6, flexible wheel, cam 1, live pin 3, and flexible bearing 2, realizing the transmission of motion and power. This design method greatly improves the torque that the harmonic reducer can withstand, and it is simple to manufacture and requires no gear modification, making it particularly suitable for high torque and high load situations. This embodiment fundamentally solves the metal fatigue problem caused by periodic deformation in traditional harmonic reducers and achieves a significant improvement in load-bearing capacity, meeting the urgent need for high-performance reducers in the current advanced mechanical manufacturing field.

[0037] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A pin-type harmonic reducer, characterized in that, The device includes a wave generator, an output wheel (5), a rigid wheel (6), and several live pins (3). The output wheel (5) and the rigid wheel (6) are both annular. The wave generator includes a cam (1) and a flexible bearing (2) installed on the outside of the cam (1). The output wheel (5) and the rigid wheel (6) are installed sequentially on the outside of the flexible bearing (2). Each live pin (3) is arranged sequentially on the outside of the flexible bearing (2). The top of each live pin (3) passes through the output wheel (5) and is engaged with the inner pin hole of the rigid wheel (6). When the cam (1) rotates, the motion is transmitted and converted by the wave deformation of the live pins (3).

2. The live-pin type harmonic reducer according to claim 1, characterized in that, The active pin (3) can be configured with multiple columns.

3. A pin-type harmonic reducer according to claim 1, characterized in that, Each of the aforementioned live pins (3) is equipped with a live pin radial constraint ring (4).

4. A pin-type harmonic reducer according to claim 3, characterized in that, The live pin radial constraint ring (4) is a flexible ring, and the live pin radial constraint ring (4) deforms in accordance with the deformation of the flexible bearing (2).

5. A live-pin type harmonic reducer according to claim 2, characterized in that, The bottom cross-sectional diameter of the live pin (3) is larger than the aperture of the radial constraint ring (4) of the live pin.

6. A live-pin type harmonic reducer according to claim 1, characterized in that, The longitudinal section curve at the top of each of the live pins (3) is an involute.

7. A pin-type harmonic reducer according to claim 1, characterized in that, By fixing the output wheel (5) when the rigid wheel (6) is outputting, or by fixing the rigid wheel (6) when the output wheel (5) is outputting, deceleration can be achieved.

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