Novel flexible gear structure of harmonic reducer
By optimizing the design of the flexible wheel structure, the problems of poor mechanical performance and high processing difficulty were solved, resulting in improved load-bearing capacity and reduced costs.
Patent Information
- Application Number
- CN202520173965.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-01-24
AI Technical Summary
Existing harmonic reducers have problems with their flexible wheel structure, including poor mechanical performance, large size, high processing difficulty, and insufficient load-bearing capacity.
By optimizing the flexible wheel structure and adopting a design with a straight cylindrical section, a stress-relieving section, and a connecting section, the thickness uniformity and transition area of the stress-relieving section are increased. A curved thin-walled structure and weight-reducing holes are also incorporated to improve the overall mechanical performance of the flexible wheel.
This improved the load-bearing capacity of the flexible wheel, reduced processing difficulty and cost, and controlled the overall size of the flexible wheel, thus enhancing its mechanical performance.
Smart Images
Figure CN223754581U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to harmonic reducer structure technical field, concretely relates to a kind of novel flexspline structure of harmonic reducer. BACKGROUND
[0002] Harmonic reducer is a kind of gear reducer based on the principle of harmonic drive design.This reducer has the advantages of larger reduction ratio,smaller volume,higher precision and higher transmission efficiency.Harmonic reducer is widely used in the field of robot manufacturing,aerospace,precision machine tool manufacturing.
[0003] Flexspline is a core component in harmonic reducer,which is divided into cup type and cap type according to its shape.Cap type flexspline has different number of external teeth on the outer circle of the thin-walled cylinder front end,thin-walled cylinder structure in the middle section,and disc-shaped flange at the bottom.Usually the outer side of flange part is thicker,while the inner side connecting the middle section of thin-walled cylinder is thinner.The thickness difference of the two parts of flange is obvious and has a step transition.The thin-walled part of flange and thin-walled cylinder are connected by smooth fillet transition.The thin-walled structure composed of these two parts can absorb the deformation stress of flexspline.However,the large thickness difference and thin-walled structure of flexspline flange not only increase the processing difficulty of flexspline and the cost of harmonic reducer,but also reduce the carrying capacity of flexspline,which may be at risk of rupture under large output torque.
[0004] It can be seen that the current flexspline structure still needs to be improved and optimized to improve the overall strength of flexspline and meet the mechanical performance requirements while avoiding excessive size.Therefore,a more reasonable technical solution is needed to solve the technical problems in the prior art. UTILITY MODEL CONTENT
[0005] To overcome at least one of the above-mentioned defects, the utility model provides a novel flexspline structure of harmonic reducer, which simplifies and adjusts the flexspline structure, improves its mechanical performance, avoids excessive overall size of flexspline, and reduces the processing difficulty and improves the carrying capacity of flexspline.
[0006] To achieve the above-mentioned purpose, the flexspline structure disclosed by the utility model can adopt the following technical solutions:
[0007] A novel flexspline structure of harmonic reducer includes a straight cylinder part, a stress release part and a connecting part.The straight cylinder part and the connecting part are perpendicular to each other.The stress release part has one end forming a port connected to the port of the straight cylinder part and extending along the axial direction of the straight cylinder part to form an axial annular recess.The other end of the stress release part extends to the side of the straight cylinder part and is smoothly connected to the connecting part.The connecting part forms an annular connecting surface, and an odd number of uniformly spaced connecting ports are arranged on the connecting surface.
[0008] The disclosed flexspline structure can be applied to a harmonic reducer, and the flexspline is in meshing with the rigid gear at the tooth position. The connecting part fixes the flexspline, so that the flexspline flange is in a constrained state. The power source drives the wave generator to rotate, so that the flexspline is deformed, and then drives the rigid gear to rotate, so as to realize power transmission.
[0009] Further, in order to improve the overall mechanical properties of the flexspline structure and avoid damage to the flexspline after a period of use, the stress release part can be adjusted and optimized, and its structure is not uniquely limited. Here, one of the feasible options is optimized and proposed: the thickness of the stress release part is uniform, the port at one end of the stress release part is tangent to the port of the straight cylinder part, and the connection between the other end of the stress release part and the connecting part forms a transition area with gradually increasing thickness. When the above scheme is adopted, the stress release part is an integral structure, the thickness is uniform, and the gradually increasing thickness of the transition area can improve the strength of this area and maintain the overall mechanical properties of the flexspline.
[0010] Further, the stress release part is not fixed as a single circular arc, and its structure is not uniquely limited. Here, one of the feasible options is optimized and proposed: the stress release part includes a plurality of arc surfaces connected tangentially, and adjacent arc surfaces are connected to form a smooth curved wall. When the above scheme is adopted, the entire curved wall is integrally formed, which can maintain better mechanical properties.
[0011] Further, in order to improve the overall performance of the flexspline structure, the stress release capability of the flexspline can be increased, which can be achieved by various schemes, and its structure is not uniquely limited. Here, one of the feasible options is optimized and proposed: a plurality of curved thin wall structures are formed between the stress release part and the connecting part, and the curved thin wall structures are used to assist in releasing stress. When the above scheme is adopted, the curved thin wall structure is similar to an arch and is integrally formed with the stress release part, thereby providing stronger stress release effect.
[0012] Further, the curved thin wall structure can also be implemented by various schemes, and its structure is not uniquely limited. Here, one of the feasible options is optimized and proposed: the curved thin wall structure is smoothly connected with the stress release part, and the curved thin wall structure is also smoothly connected with the connecting part. When the above scheme is adopted, the curved thin wall structure is integrally formed with the stress release part, and the curved thin wall structure also forms a curved recess in the axial direction of the straight cylinder part.
[0013] Further, the straight cylinder part is used to cooperate with the rigid gear to transmit torque, and its structure is not uniquely limited. Here, one of the feasible options is optimized and proposed: the outer side wall of the straight cylinder part is provided with a meshing tooth structure. When the above scheme is adopted, the meshing tooth structure is integrally formed with the straight cylinder part, and the meshing tooth of the straight cylinder part is also a flexible tooth.
[0014] Further, the connecting part is used for external connection and fixing, and needs to maintain certain overall strength, and the structure is not uniquely limited, and one of the feasible options is optimized and proposed: the thickness of the connecting part is greater than the thickness of the stress release part.
[0015] Further, in order to reduce the weight of the flexspline structure, the flexspline structure can be optimized and adjusted: a plurality of weight reduction structures are formed on the connecting surface.
[0016] Further, in other schemes, other weight reduction structures can also be used: the weight reduction structure includes a weight reduction hole. When the above scheme is used, the weight reduction hole is arranged between the adjacent two connecting ports, and the adjacent weight reduction holes have equal spacing.
[0017] Compared with the prior art, some beneficial effects of the technical scheme of the utility model include:
[0018] The utility model discloses a flexspline structure, which is improved by adjusting the flexspline structure, increases the overall mechanical performance of the flexspline, improves the carrying capacity of the flexspline, and can also control the overall size of the flexspline, so as to simplify the structure of the flexspline and reduce the processing difficulty. DRAWINGS
[0019] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings needed in the embodiments will be briefly introduced below, and it should be understood that the following drawings only represent some embodiments of the utility model, and should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the premise of the drawings.
[0020] Figure 1 It is a whole schematic view of the flexspline structure.
[0021] Figure 2 It is a front view schematic view of the flexspline structure.
[0022] Figure 3 It is a sectional view schematic view and a partial structure schematic view of the flexspline structure.
[0023] Figure 4 It is a schematic view of the stress release part provided with a curved thin wall structure.
[0024] Figure 5 It is a schematic view of the weight reduction hole.
[0025] Figure 6 It is a load schematic view of the flexspline structure.
[0026] In the above drawings, the meaning of each mark is:
[0027] 1, straight cylinder; 2, connecting section; 3, stress relief section; 4, connecting port; 5, meshing tooth structure; 6, transition area; 8, curved thin wall structure; 9, weight reduction hole. DETAILED DESCRIPTION
[0028] The present embodiment is further explained in conjunction with the accompanying drawings and specific embodiments.
[0029] In view of the fact that the prior art flexible gear structure has poor mechanical properties, relatively large size, complex structure, and complex processing technology, the following embodiments are optimized and overcome the defects in the prior art.
[0030] EMBODIMENT
[0031] As shown in Figures 1-6 The present embodiment provides a new flexible gear structure for a harmonic reducer, which comprises a straight cylinder 1, a stress relief section 3, and a connecting section 2. The straight cylinder 1 and the connecting section 2 are perpendicular to each other. One end of the stress relief section 3 is connected to the port of the straight cylinder 1 and extends along the axial direction of the straight cylinder 1 to form an annular recess in the axial direction. The other end of the stress relief section 3 extends to the side of the straight cylinder 1 and is smoothly connected to the connecting section 2. The connecting section 2 forms an annular connecting surface, and an odd number of uniformly spaced connecting ports 4 are arranged on the connecting surface.
[0032] The flexible gear structure disclosed in the present embodiment can be applied to a harmonic reducer. The wave generator is located in the straight cylinder 1, the rigid gear is engaged with the straight cylinder 1, and the connecting section 2 is used to fix the flexible gear. When the wave generator rotates, the flexible gear deforms and drives the rigid gear to rotate.
[0033] When the wave generator rotates, the flexible gear and the rigid gear are completely engaged at the major axis of the ellipse. When one end of the major axis of the wave generator is opposite the fastener opening, the other end of the major axis of the wave generator is between the two fastener openings on the opposite side. The peak value of the stress appears on the disc surface between the fastener opening opposite the major axis and the wave generator, where the stress flows along the material to the fastener opening and is dispersed on the annular recess of the stress relief section. At the other end of the major axis of the wave generator, the stress is more widely dispersed on the connecting surface between the two adjacent fastener openings. Due to the odd number of fastener openings, at least one end of the major axis of the wave generator is not opposite the fastener. As described above, the stress at this end is dispersed on the disc surface between the adjacent fasteners.
[0034] The curved surface structure of the stress relief section prolongs the stress flow distance by axial accommodation, increases the material base for absorbing stress, and at the same time, the gradual change in curvature further reduces the stress concentration factor. Therefore, the stress can be more uniformly dispersed on the flange surface of the flexible gear.
[0035] In order to improve the overall mechanical properties of the flexible gear structure, avoid the damage of the flexible gear after a period of use, the stress release part 3 can be adjusted and optimized, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: the thickness of the stress release part 3 is uniform, the port at one end of the stress release part 3 is tangent to the port of the straight cylinder part 1 and is connected in a normal manner, and the other end of the stress release part 3 and the connection part 2 form a transition area 6 with gradually increasing thickness. When the above scheme is adopted, the stress release part 3 is an integral structure, the thickness is uniform, and the gradually increasing thickness of the transition area 6 can improve the strength of the embodiment and maintain the overall mechanical properties of the flexible gear.
[0036] The stress release part 3 is not fixed as a single circular arc, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: the stress release part 3 includes a plurality of tangent arc surfaces, and adjacent arc surfaces are connected to form a smooth curved wall. When the above scheme is adopted, the entire curved wall is integrally formed, which can maintain better mechanical properties.
[0037] In order to improve the overall performance of the flexible gear structure, the stress release capacity of the flexible gear can be increased, which can be realized by various schemes, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: a plurality of curved thin wall structures 8 are formed between the stress release part and the connection part 2, and the curved thin wall structures 8 are used to assist in releasing stress. When the above scheme is adopted, the curved thin wall structure 8 is similar to an arch and is integrally formed with the stress release part 3, thereby being able to provide stronger stress release effect.
[0038] The curved thin wall structure 8 can also be adopted in various schemes, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: the curved thin wall structure 8 is smoothly connected with the stress release part 3, and at the same time, the curved thin wall structure 8 is smoothly connected with the connection part 2. When the above scheme is adopted, the curved thin wall structure 8 is integrally formed with the stress release part 3, and the curved thin wall structure 8 also forms a curved recess in the axial direction of the straight cylinder part 1.
[0039] The straight cylinder part 1 is used to cooperate with the rigid gear to transmit torque, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: the outer side wall of the straight cylinder part 1 is provided with a meshing tooth structure 5. When the above scheme is adopted, the meshing tooth structure 5 is integrally formed with the straight cylinder part 1, and the meshing tooth of the straight cylinder part 1 is also a flexible tooth.
[0040] The connection part 2 is used for external connection and fixation, and needs to maintain a certain overall strength, and the structure is not uniquely limited. In the embodiment, one of the feasible options is optimized and adopted: the thickness of the connection part 2 is greater than the thickness of the stress release part 3.
[0041] In order to reduce the weight of the flexspline structure, the flexspline structure can be optimized and adjusted: a plurality of weight-reducing structures are formed on the connecting surface.
[0042] The weight-reducing structures can be configured in various forms, and the structure is not uniquely limited. The embodiment is optimized and one of the feasible options is adopted: as shown in the figure, the weight-reducing structure includes a weight-reducing hole 9. Figure 6 When the above scheme is adopted, the weight-reducing hole 9 is arranged between two adjacent connecting ports 4, and the distance between adjacent weight-reducing holes 9 is equal.
[0043] When the above embodiment is used, the following test data is obtained:
[0044] As shown in the figure, under a load of 150 Nm torque, the simulation stress cloud diagram shows that the maximum stress on the flexspline flange is 519.5 MPa. Figure 6
[0045] It can be seen that the scheme provided by the embodiment has the following advantages:
[0046] 1. The load torque of the cap-shaped flexspline is greatly improved. Under a load of 150 Nm, the maximum stress on the flange of the cap-shaped flexspline with a thin-walled cylinder diameter of 50 mm is less than 550 MPa. The carrying capacity is much higher than the peak torque of a commercially available harmonic reducer of similar size.
[0047] 2. The thickness of the cap-shaped flexspline is smoothly and continuously changed without steps, and the spatial structure is simple. This structure makes it possible to use stamping process for flexspline manufacturing. This will greatly reduce the manufacturing cost of the cap-shaped flexspline and the harmonic reducer.
[0048] 3. The cap-shaped flexspline can be made of a thin-walled structure as a whole, which will reduce the weight of the flexspline. Combined with the extremely high load torque, the use of this scheme can greatly improve the torque density of the robot joint using the harmonic reducer.
[0049] The above is the embodiment of the embodiment, but the embodiment is not limited to the above optional embodiment, and those skilled in the art can obtain other various embodiments by arbitrarily combining the above embodiments. Any person can obtain other various forms of embodiments under the inspiration of the embodiment. The above specific embodiments should not be understood as limiting the protection scope of the embodiment, and the protection scope of the embodiment should be defined by the claims.
Claims
1. A new type of flexspline structure of harmonic reducer, characterized in that: The application relates to a stress release device, which comprises a straight cylinder part (1), a stress release part (3) and a connecting part (2), the straight cylinder part (1) is perpendicular to the connecting part (2), one end of the stress release part (3) is connected with the port of the straight cylinder part (1) and extends along the axial direction of the straight cylinder part (1) to form an annular recess, the other end of the stress release part (3) extends to the periphery of the straight cylinder part (1) and is smoothly connected with the connecting part (2), the connecting part (2) forms an annular connecting surface, and an odd number of connecting ports (4) are evenly arranged on the connecting surface.
2. The new flexspline structure of harmonic reducer according to claim 1, characterized in that: The thickness of the stress release part (3) is uniform, the port of one end of the stress release part (3) is tangent to the port of the straight cylinder part (1) and is connected in a normal manner, and the connecting part (2) is connected with the other end of the stress release part (3) to form a transition area (6) with gradually increasing thickness.
3. The new flexspline structure of harmonic reducer according to claim 1, characterized in that: The stress release part (3) comprises a plurality of tangent arc surfaces, and adjacent arc surfaces are connected to form a smooth curved surface wall.
4. The new flexspline structure of harmonic reducer according to claim 3, characterized in that: A plurality of curved surface thin wall structures (8) are further formed between the stress release part and the connecting part (2), and the curved surface thin wall structures (8) are used for assisting in stress release.
5. The harmonic reducer novel flexspline structure of claim 4, wherein: The curved surface thin wall structures (8) are smoothly connected with the stress release part (3), and the curved surface thin wall structures (8) are smoothly connected with the connecting part (2).
6. The new flexspline structure of harmonic reducer according to claim 1, characterized in that: The outer wall of the straight cylinder part (1) is provided with a meshing tooth structure (5).
7. The new flexspline structure of harmonic reducer according to claim 1, characterized in that: The thickness of the connecting part (2) is greater than the thickness of the stress release part (3).
8. The new flexspline structure of harmonic reducer according to claim 1, characterized in that: A plurality of weight reduction structures are formed on the connecting surface.
9. The new type of flexspline structure of harmonic reducer according to claim 8, characterized in that: The weight reduction structures comprise weight reduction holes (9).