Low-abrasion flexible gear and harmonic reducer

Abstract

The utility model discloses a low-abrasion flexible gear and a harmonic reducer, and belongs to the technical field of harmonic reducers. The flexible gear comprises a cylinder, the inner wall of the cylinder is provided with a rail groove, and a bearing of the wave generator moves along the rail groove; the tooth part is located on the outer circumferential wall of one end of the cylinder body, a plurality of outer teeth are formed on the tooth part, and the tooth part is meshed with a rigid gear; the connecting flange is located at the other end of the cylinder body and connected with the cylinder body, and a connecting hole is formed in the connecting flange. The technical problem that an existing flexible gear is prone to abrasion is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to harmonic reducer technical field, especially low wear flexspline and harmonic reducer. BACKGROUND

[0002] Harmonic reducer is a kind of high-precision reduction device based on elastic deformation principle, is composed of wave generator, flexspline and rigid wheel three core components.The core principle is to use the elastic deformation of flexspline to realize the staggered tooth engagement motion between rigid wheel and flexspline, to realize high reduction ratio, high transmission accuracy and zero backlash transmission characteristics, is widely used in industrial robot, aerospace and other precision transmission fields.

[0003] The flexspline in harmonic reducer is driven by wave generator through flexible bearing, flexspline is prone to wear after long time use, and then the service life of flexspline is reduced, therefore, a low wear flexspline is provided to solve the technical problem of easy wear of current flexspline. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide a kind of low wear flexspline and harmonic reducer, to solve the technical problem of easy wear of current flexspline.

[0005] To achieve the above purpose, the low wear flexspline provided by the utility model comprises:

[0006] The inner wall of the cylinder has a track groove, and the bearing of the wave generator moves along the track groove.

[0007] The tooth portion is located on the outer circumferential wall of one end of the cylinder and is formed with a plurality of external teeth, and the tooth portion is engaged with the rigid wheel.

[0008] The connecting flange is located at the other end of the cylinder and is connected with the cylinder, and the connecting flange is provided with a connecting hole.

[0009] Optionally, in an embodiment of the utility model, the cylinder comprises a reinforcing rib, and the reinforcing rib is arranged in at least two reinforcing ribs, and the two reinforcing ribs are respectively a first reinforcing rib and a second reinforcing rib, and the first reinforcing rib and the second reinforcing rib are arranged at intervals to form the track groove.

[0010] Optionally, in an embodiment of the utility model, the first reinforcing rib is a gradually thickening reinforcing rib, and the first reinforcing rib gradually thickens from the tooth portion to the connecting flange.

[0011] Optionally, in an embodiment of the utility model, the cylinder further comprises a third reinforcing rib, and the third reinforcing rib is located on the side of the second reinforcing rib away from the first reinforcing rib, and the second reinforcing rib and the third reinforcing rib form an oil storage groove.

[0012] Optionally, in an embodiment of the utility model, the section of the second reinforcing rib and the third reinforcing rib is isosceles trapezoid along the circumference of the barrel.

[0013] Optionally, in an embodiment of the utility model, the connecting part of the reinforcing rib and the barrel is round angle.

[0014] Optionally, in an embodiment of the utility model, the inner wall of the barrel is provided with the track groove.

[0015] Optionally, in an embodiment of the utility model, the bottom of the track groove is provided with the oil storage groove.

[0016] Optionally, in an embodiment of the utility model, the connecting flange is circular ring, and the connecting flange surrounds the barrel.

[0017] To realize the above-mentioned purpose, the utility model also proposes a harmonic reducer, including:

[0018] The shell forms the containing cavity;

[0019] The wave generator is located in the containing cavity;

[0020] The flexible gear is drivenly connected with the wave generator, and the flexible gear is the flexible gear as described above;

[0021] The rigid gear is engaged with the flexible gear.

[0022] Compared with the prior art, the utility model can realize at least the following beneficial effects. The track groove is designed on the barrel of the flexible gear, and the bearing of the wave generator is provided with a movement track. The track groove structure reduces the path deviation generated in the bearing movement process, such as the movement deviation along the axial direction of the barrel, and such movement deviation can cause the sliding friction between the bearing and the inner wall of the barrel, resulting in wear. In addition, the track groove can also store oil in addition to providing a movement path for the bearing. The track groove can temporarily store oil, ensure that the bearing can be lubricated with sufficient lubricating oil during movement, ensure the lubricity between the bearing and the inner wall of the barrel, and sufficient lubricating liquid can reduce the wear of the inner wall of the barrel to a certain extent. In summary, the present scheme solves the technical problem of easy wear of the inner wall of the flexible gear by opening the track groove. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.

[0024] Figure 1 It is a structure schematic view of a low-wear flexible gear embodiment 1 of the present application.

[0025] Figure 2 It is a structure schematic view of a low-wear flexible gear embodiment 2 of the present application.

[0026] Figure 3 It is a sectional view of the low-wear flexible gear embodiment 2 of the present application.

[0027] Figure 4 It is Figure 3 It is a local enlarged view of A in the figure.

[0028] Figure 5 It is Figure 3 It is a local enlarged view of B in the figure.

[0029] Explanation of reference numerals:

[0030] 100, cylinder; 110, track groove; 120, oil storage groove; 200, tooth part; 300, connecting flange; 410, first reinforcing rib; 420, second reinforcing rib; 430, third reinforcing rib; 440, oil storage groove;

[0031] The realization, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0033] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0034] In the utility model, unless another definite provision and limitation, the term "connect", "fix" and the like should do the broad sense understanding, for example, "fix" can be fixed connection, also can be detachable connection, or become an integral whole, can be mechanical connection, also can be electrical connection, can be direct connection, also can through the indirect connection of intermediate medium, can be the communication or the interaction of two elements of two elements inside, unless another definite limitation. For ordinary skilled person in the art, can understand the specific meaning of the above-mentioned term in the utility model according to specific circumstances.

[0035] In addition, if the embodiment of the utility model involves "first", "second" and the like, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously satisfy the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled person in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0036] Referring to Figures 1-5 The utility model proposes a kind of low-wear flexible gear, comprising:

[0037] Barrel 100, the inner wall of barrel 100 has track groove 110, the bearing of wave generator moves along track groove 110;

[0038] Tooth portion 200, tooth portion 200 is located on the outer circumferential wall of one end of barrel 100 and is formed with a plurality of external teeth, tooth portion 200 is engaged with rigid gear;

[0039] Connecting flange 300, connecting flange 300 is located at the other end of barrel 100 and is connected with barrel 100, and connecting flange 300 is provided with connecting hole.

[0040] The track groove 110 is designed on the barrel 100 of the flexible gear, and provides a movement track for the bearing of the wave generator. The structure of the track groove 110 reduces the path deviation of the bearing during movement, such as the movement deviation along the axial direction of the barrel 100, so as to reduce the sliding friction between the bearing and the inner wall of the barrel 100, and to reduce the wear. In addition, the track groove 110 can also store oil, and the track groove 110 can temporarily store oil, so as to ensure that the bearing can be lubricated by sufficient lubricating oil during movement, to ensure the lubricity between the bearing and the inner wall of the barrel 100, and the sufficient lubricating liquid can reduce the wear of the inner wall of the barrel 100 to a certain extent. In summary, the track groove 110 can solve the technical problem of the wear of the inner wall of the flexible gear.

[0041] Embodiment 1

[0042] Reference Figure 1 In this embodiment, the track groove 110 can be directly formed on the inner wall of the barrel 100 to provide a movement path for the bearing.

[0043] In addition to the above-mentioned effects, the track groove 110 of this embodiment has a simple structure, so that the processing difficulty is low, and no other structures are added to the flexible gear, so that the overall quality of the flexible gear changes little. Specifically, the track groove 110 can be processed by micro-diameter milling or inner wall precision grinding process.

[0044] However, since the track groove 110 has a certain depth, the flexible gear with a larger wall thickness of the barrel 100 is preferred to be processed and opened. In addition, after the track groove 110 is directly opened, the wall thickness of the flexible gear at the track groove 110 is reduced, which affects the structural strength of the flexible gear.

[0045] Embodiment 2

[0046] Reference Figures 2-5 In this embodiment, in order to overcome the technical problem that the structural strength of the flexible gear is reduced in Embodiment 1, two reinforcing ribs are arranged in the barrel 100, and the two reinforcing ribs are a first reinforcing rib 410 and a second reinforcing rib 420.

[0047] Specifically, the first reinforcing rib 410 and the second reinforcing rib 420 are arranged at intervals, and the track groove 110 is formed between the two reinforcing ribs, and is used to provide a movement path for the bearing of the wave generator. Unlike Embodiment 1, the track groove 110 in this embodiment is formed by the two reinforcing ribs, and the structural strength of the flexible gear is improved by arranging the reinforcing ribs.

[0048] The first reinforcing rib 410 is a gradually thickening structure. When the wave generator is installed, the wave generator is inserted into the cylinder body 100 from the thin end of the first reinforcing rib 410. Since the flexible gear has a certain elasticity, the tooth part 200 of the flexible gear expands as the wave generator is gradually inserted. When the wave generator is completely inserted into the track groove 110, the tooth part 200 of the flexible gear retracts, and the first reinforcing rib 410 and the second reinforcing rib 420 limit the wave generator, avoiding radial sliding or disengagement of the wave generator during movement.

[0049] Strict motion path constraints synchronize the elliptical trajectory of the wave generator with the deformation height of the flexible gear, reduce the meshing phase error, eliminate the risk of sudden change of backlash, and reduce the transmission backlash through the precise movement of the tooth surface contact point along the theoretical conjugate curve, laying a foundation for high-precision scenarios such as robot joints.

[0050] On this basis, the suppression of radial degrees of freedom greatly optimizes the tribological properties, reduces the tooth surface slip rate of the flexible gear, effectively delays the initiation of micro-cracks, and prolongs the fatigue life.

[0051] Further, the design forms a failure protection mechanism through closed-loop control of the motion path, which not only constrains the maximum radial deformation of the flexible gear within the elastic limit to avoid plastic collapse, but also maintains a force-closed state in the event of sudden overload, greatly improving the reliability of the system under extreme working conditions. In addition, from the perspective of energy, the transmission efficiency is improved by about 4%-7%, which not only reduces frictional heat, but also prolongs the service life of the lubricating medium through thermal management optimization.

[0052] Further, the cylinder body 100 is also provided with a third reinforcing rib 430, and the third reinforcing rib 430 and the second reinforcing rib 420 form an oil storage groove 440.

[0053] After adding the third reinforcing rib 430, in addition to the improvement of structural strength, the oil storage groove 440 formed by the third reinforcing rib 430 can improve the lubricity of the flexible gear. Before the wave generator is installed, the oil storage groove 440 can be pre-filled with lubricating grease, and when the flexible gear deforms, the oil storage groove 440 deforms to pump lubricating oil to the wave generator, ensuring that there is enough lubricating oil between the wave generator and the inner wall of the flexible gear.

[0054] In addition to the first reinforcing rib 410, the cross section of the second reinforcing rib 420 and the third reinforcing rib 430 is isosceles trapezoidal. The symmetrical inclined surface design can form a bilinear stiffness transition zone, optimize the stress distribution, and guide the flow of lubricating oil in the oil storage groove 440, facilitating the inflow and outflow of lubricating oil.

[0055] In addition, the connection between the reinforcing rib and the inner wall of the cylinder body 100 is a round corner structure.

[0056] The round corner design weakens stress concentration phenomenon through smooth transition, makes stress distribution under alternating load more uniform, and prolongs fatigue life. In addition, the round corner design also hinders linear extension of cracks along the connecting place through continuous curvature structure, forces the cracks to change direction around the curvature, prolongs the critical extension path, and improves material fracture toughness. The round corner design avoids material accumulation or cutting residue at sharp corners, reduces casting shrinkage, cold shut defects and machining tool wear, and promotes uniform release of residual stress in the heat treatment process, improves process stability. In addition, the round corner structure also optimizes the fluid dynamics performance, reduces the lubricant flow resistance, and makes the oil film coverage rate increase by about 10%, effectively guaranteeing the lubrication stability under high-speed heavy load working condition.

[0057] Further, the oil storage groove 120 is arranged at the bottom of the track groove 110, and specifically, the oil storage groove 120 is arranged at the corner of the bearing.

[0058] The utility model embodiment further proposes a harmonic reducer, the vehicle includes the flexible wheel structure, specifically, the flexible wheel structure refers to the above -mentioned embodiment, because the harmonic reducer adopts all technical schemes of the above -mentioned embodiment, therefore has all beneficial effects brought by the technical scheme of the above -mentioned embodiment at least, does not repeat here.

[0059] The above is only the optional embodiment of the utility model, and does not limit the patent range of the utility model, and all equivalent structural transformations made by the utility model specification and the attached drawings under the inventive concept of the utility model, or direct / indirect application in other related technical fields are included in the patent protection range of the utility model.

Claims

1. A low wear flexspline characterized by, The application relates to a wave generator, comprising: a cylinder body, an inner wall of the cylinder body being provided with a track groove, a bearing of a wave generator moving along the track groove; a tooth part provided on an outer circumferential wall of one end of the cylinder body and formed with a plurality of external teeth, the tooth part being engaged with a rigid wheel; a connecting flange provided on the other end of the cylinder body and connected with the cylinder body, the connecting flange being provided with a connecting hole.

2. The low wear flexspline of claim 1 wherein, The cylinder body is provided with two reinforcing ribs, namely a first reinforcing rib and a second reinforcing rib, the first reinforcing rib and the second reinforcing rib being arranged at intervals to form the track groove.

3. The low wear flexspline of claim 2, wherein, The first reinforcing rib is a gradually thickened reinforcing rib, the first reinforcing rib gradually thickening from the tooth part to the connecting flange.

4. The low wear flexspline of claim 3 wherein, The cylinder body is further provided with a third reinforcing rib, the third reinforcing rib being arranged on a side of the second reinforcing rib away from the first reinforcing rib, the second reinforcing rib and the third reinforcing rib forming an oil storage groove.

5. The low wear flexspline of claim 4, wherein, Along the circumference of the cylinder body, the second reinforcing rib and the third reinforcing rib are isosceles trapezoidal in cross section.

6. The low wear flexspline of claim 2, wherein, The connection between the reinforcing rib and the cylinder body is a round corner.

7. The low wear flexspline of claim 1 wherein, The inner wall of the cylinder body is provided with the track groove.

8. The low wear flexspline of claim 7, wherein, The bottom of the track groove is provided with an oil storage groove.

9. The low wear flexspline of claim 1 wherein, The connecting flange is in the form of a circular ring, and the connecting flange surrounds the cylinder body.

10. A harmonic reducer characterized by, The application relates to a wave generator, comprising: a shell forming a containing cavity; a wave generator arranged in the containing cavity; a flexible wheel in driving connection with the wave generator, the flexible wheel being the flexible wheel as claimed in any one of claims 1-9; a rigid wheel engaged with the flexible wheel.

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