Flexible gear of hollow harmonic reducer

Abstract

The flexible gear of the hollow harmonic reducer comprises a thin-wall cylinder A and a thin-wall cylinder B. The diameter D1 of the thin-wall cylinder A is smaller than the diameter D of the thin-wall cylinder B. The thin-wall cylinder A and the thin-wall cylinder B are connected in the radial direction through a thin-wall web. The open end of the thin-wall cylinder A is an input end, an inner hole of the input end is a wave generator installation opening, and a transmission gear is arranged on the outer circle of the wave generator installation opening. The open end of the thin-wall cylinder B is an output end, the output end is provided with an output connecting flange, the output connecting flange is connected with the thin-wall cylinder B through an arc, and the bottom of the output connecting flange protrudes outwards. The hollow size of the flexible gear is obviously larger than that of a cup-shaped flexible gear with the same gear parameter, and the appearance size and the size of the flexible gear are smaller than those of a hat-shaped flexible gear with the same gear parameter. The defects existing when a cup-shaped flexible gear and a hat-shaped flexible gear are used for a hollow harmonic reducer in the prior art are overcome.

Description

Technical Field

[0001] This utility model relates to a flexible wheel of a hollow harmonic reducer, belonging to the technical field of harmonic reducers. Background Technology

[0002] A hollow harmonic reducer is a specially designed type of harmonic reducer, named for its hollow internal structure. The hollow portion inside the reducer can be used for wiring or mounting functional components such as sensors. Hollow harmonic reducers are commonly used in applications requiring compact design and lightweight construction, and are widely used in high-tech fields such as industrial automation, aerospace, and robotics.

[0003] In current hollow harmonic reducers, the flexure wheels still commonly adopt the traditional cup-shaped and top-hat-shaped structures. Cup-shaped flexure wheels, due to the outward protrusion of their output connection flange from the bottom of the cup, suffer from a smaller hollow dimension and lower load-bearing capacity compared to top-hat-shaped flexure wheels. While top-hat-shaped flexure wheels offer larger load-bearing capacity and hollow dimension, their radially extending output connection flange results in a larger overall size and volume. Therefore, the existing cup-shaped and top-hat-shaped flexure wheels for hollow harmonic reducers still have shortcomings and require further improvement. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible wheel for a hollow harmonic reducer. This flexible wheel has the advantages of a large hollow size and load-bearing capacity while having a small external size and volume, thus overcoming the shortcomings of existing cup-shaped and top-hat-shaped flexible wheels used in hollow harmonic reducers.

[0005] The technical solution of this utility model is as follows: A flexible wheel of a hollow harmonic reducer includes a thin-walled cylinder A and a thin-walled cylinder B. The diameter D1 of the thin-walled cylinder A is smaller than the diameter D of the thin-walled cylinder B. The thin-walled cylinder A and the thin-walled cylinder B are radially connected by a thin-walled web. The open end of the thin-walled cylinder A is the input end, and the inner hole of the input end is the wave generator mounting port. A transmission gear is provided on the outer circle of the wave generator mounting port. The open end of the thin-walled cylinder B is the output end, and the output end is provided with an output connection flange. The output connection flange is connected to the thin-walled cylinder B by an arc, and the bottom of the output connection flange protrudes outward.

[0006] In the aforementioned hollow harmonic reducer flexure, the diameter D1 of the thin-walled cylinder A and the diameter D of the thin-walled cylinder B have the relationship D = (1.32~1.48)D1.

[0007] In the aforementioned hollow harmonic reducer, the opening size d1 of the thin-walled cylinder B at the output end and the diameter D1 of the thin-walled cylinder A have the relationship d1 = (1.0 ~ 1.14)D1.

[0008] In the aforementioned hollow harmonic reducer, the diameter d of the output connection flange and the diameter D of the thin-walled cylinder B have a relationship of D = (1.12~1.18)d.

[0009] In the aforementioned hollow harmonic reducer, the axial dimension L1 of the thin-walled cylinder A and the axial dimension L of the flexure have the relationship L1 = (0.46~0.62)L.

[0010] In the aforementioned hollow harmonic reducer, the axial dimension L2 of the thin-walled cylinder B and the axial dimension L of the flexure have the relationship L2 = (0.24~0.32)L.

[0011] The beneficial effects of this utility model are as follows: Compared with the prior art, after adopting the above technical solution, the size D1 of the thin-walled cylinder 1 still maintains the original structural size of the cup-shaped flexible wheel, while the size D of the thin-walled cylinder 2 is larger than the original structural size of the cup-shaped flexible wheel and smaller than the external size of the top hat-shaped flexible wheel connecting flange. Furthermore, the opening size d1 of the flexible wheel output end is significantly larger than the opening size of the original cup-shaped flexible wheel output end. Therefore, the hollow size of the flexible wheel of this utility model is significantly larger than that of the cup-shaped flexible wheel with the same gear parameters, and its external size and volume are smaller than those of the top hat-shaped flexible wheel with the same gear parameters.

[0012] By adjusting the dimensions of each part in the flexible gear structure of this utility model, and based on the flexible gear thin shell theory and finite element simulation analysis and calculation, it is shown that, under the same gear parameters and axial dimensions, the load-bearing capacity of the flexible gear of this utility model will be increased by 48% to 62% compared with the existing cup-shaped flexible gear, and its load-bearing capacity can reach more than 96% of that of the top hat-shaped flexible gear with the same gear parameters and axial dimensions. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the structure of a cup-shaped flexible wheel in the prior art;

[0015] Figure 3 This is a schematic diagram of the structure of a hat-shaped flexible wheel in the prior art.

[0016] Reference numerals: 1-Thin-walled cylinder A, 2-Thin-walled cylinder B, 3-Thin-walled web, 4-Wave generator mounting port, 5-Transmission gear, 6-Output connection flange. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0018] An embodiment of this utility model: A flexible wheel of a hollow harmonic reducer includes a thin-walled cylindrical body A1 and a thin-walled cylindrical body B2. The size of the thin-walled cylindrical body A1 is smaller than the size of the thin-walled cylindrical body B2. The thin-walled cylindrical bodies A1 and B2 are radially connected by a thin-walled web 3. The open end of the thin-walled cylindrical body A1 is the input end, and the inner hole of the input end is a wave generator mounting port 4. A transmission gear 5 is provided on the outer circle of the wave generator mounting port 4. The open end of the thin-walled cylindrical body B2 is the output end, and the output end is provided with an output connection flange 6. The output connection flange 6 is connected to the thin-walled cylindrical body B2 by an arc, and the bottom of the output connection flange 6 protrudes outward.

[0019] In this utility model, the structure of the flexible wheel is improved compared to the existing cup-shaped flexible wheel. The cup body of the thin-walled cup-shaped flexible wheel is designed as two parts: a thin-walled cylindrical body A1 and a thin-walled cylindrical body B2. The size of the thin-walled cylindrical body A1 is smaller than that of the thin-walled cylindrical body B2. The thin-walled cylindrical bodies A1 and B2 are radially connected by a thin-walled web 3 to form an integrated thin-walled cylindrical body. The open end of the thin-walled cylindrical body A1 is the input end, and the inner hole of the input end is the wave generator mounting port 4. A transmission gear 5 is provided on the outer circle of the wave generator mounting port 4. The open end of the thin-walled cylindrical body B2 is the output end, and the output end is provided with an output connection flange 6. The output connection flange 6 is connected to the thin-walled cylindrical body B2 by an arc and protrudes outward. After this improvement, the size D1 of the thin-walled cylinder A1 still maintains the structural size of the original cup-shaped flexible wheel, while the size D of the thin-walled cylinder B2 is larger than the structural size of the original cup-shaped flexible wheel and smaller than the external size of the top hat-shaped flexible wheel connecting flange. Furthermore, the opening size d1 of the flexible wheel output end is significantly larger than the opening size of the original cup-shaped flexible wheel output end. Therefore, the hollow size of the flexible wheel of this invention is significantly larger than that of the cup-shaped flexible wheel with the same gear parameters, and its external size and volume are smaller than those of the top hat-shaped flexible wheel with the same gear parameters.

[0020] The diameter D1 of the thin-walled cylinder A1 and the diameter D of the thin-walled cylinder B2 are related by the formula D = (1.32~1.48)D1; the opening size d1 of the output end of the thin-walled cylinder B2 and the diameter D1 of the thin-walled cylinder A1 are related by the formula d1 = (1.0~1.14)D1; the diameter d of the output connecting flange 6 and the diameter D of the thin-walled cylinder B2 are related by the formula D = (1.12~1.18)d; the axial dimension L1 of the thin-walled cylinder A1 and the axial dimension L of the flexible wheel are related by the formula L1 = (0.46~0.62)L; the axial dimension L2 of the thin-walled cylinder B2 and the axial dimension L of the flexible wheel are related by the formula L2 = (0.24~0.32)L. In the flexible gear structure of this utility model, by limiting the dimensional relationships of each part, and based on the flexible gear thin shell theory and finite element simulation analysis and calculation, it is shown that, under the same gear parameters and axial dimensions, the load-bearing capacity of the flexible gear of the hollow harmonic reducer of this utility model will be increased by 48% to 62% compared with the existing cup-shaped flexible gear, and its load-bearing capacity can reach more than 96% of that of the top hat-shaped flexible gear with the same gear parameters and axial dimensions.

Claims

1. A flexible wheel in a hollow harmonic reducer, characterized in that: The device includes a thin-walled cylindrical body A (1) and a thin-walled cylindrical body B (2). The diameter D1 of the thin-walled cylindrical body A (1) is smaller than the diameter D of the thin-walled cylindrical body B (2). The thin-walled cylindrical body A (1) and the thin-walled cylindrical body B (2) are radially connected by a thin-walled web (3). The open end of the thin-walled cylindrical body A (1) is the input end. The inner hole of the input end is the wave generator mounting port (4). The outer circle of the wave generator mounting port (4) is provided with a transmission gear (5). The open end of the thin-walled cylindrical body B (2) is the output end. The output end is provided with an output connection flange (6). The output connection flange (6) is connected to the thin-walled cylindrical body B (2) by an arc, and the bottom of the output connection flange (6) protrudes outward.

2. The flexible wheel of a hollow harmonic reducer according to claim 1, characterized in that: The diameter D1 of the thin-walled cylinder A (1) and the diameter D of the thin-walled cylinder B (2) have the relationship D = (1.32~1.48)D1.

3. The flexible wheel of a hollow harmonic reducer according to claim 1, characterized in that: The opening size d1 of the output end of the thin-walled cylinder B (2) and the diameter D1 of the thin-walled cylinder A (1) have the relationship d1 = (1.0 ~ 1.14)D1.

4. The flexible wheel of a hollow harmonic reducer according to claim 1, characterized in that: The diameter d of the output connection flange (6) and the diameter D of the thin-walled cylinder B (2) have the relationship D = (1.12 ~ 1.18)d.

5. The flexible wheel of a hollow harmonic reducer according to claim 1, characterized in that: The axial dimension L1 of the thin-walled cylinder A (1) and the axial dimension L of the flexible wheel have the relationship L1 = (0.46 ~ 0.62)L.

6. The flexible wheel of a hollow harmonic reducer according to claim 1, characterized in that: The axial dimension L2 of the thin-walled cylinder B (2) and the axial dimension L of the flexible wheel have the relationship L2 = (0.24 ~ 0.32)L.

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