Cam, harmonic reducer, robot

Abstract

This invention provides a cam, a harmonic reducer, and a robot. The cam includes a cam body with a groove extending radially to the outer edge of the cam body and penetrating the cam body along its thickness. According to this invention, by constructing a groove extending radially to the outer edge of the cam body and penetrating the cam body along its thickness, this design not only reduces the cam's own weight and decreases the contact area between the cam and the flexible bearing, resulting in better structural mechanical properties, but also provides a buffer space for elastic deformation and vibration absorption during the operation of the harmonic reducer. This facilitates high-speed, low-noise, and low-vibration operation of the harmonic reducer, thus meeting the design requirements of the robot.

Description

Technical Field

[0001] This utility model belongs to the field of harmonic reducer technology, specifically relating to a cam, a harmonic reducer, and a robot. Background Technology

[0002] A harmonic reducer is a gear transmission structure that transmits motion and power by mounting a flexible bearing on a wave generator and causing the flexible wheel to undergo controllable elastic deformation, which then meshes with a rigid wheel. The wave generator consists of a cam and a flexible bearing, and the outer contour of the cam is usually elliptical.

[0003] In recent years, with the rapid development of the robotics industry, especially the upgrading of collaborative robots and humanoid robots, the requirements for harmonic reducers used in robots have gradually increased. However, the performance of existing harmonic reducers in terms of lightweighting, high speed, low noise, and low vibration is insufficient to meet the design needs of robots. Therefore, optimizing the structure of harmonic reducers to improve their performance in terms of lightweighting, high speed, low noise, and low vibration is particularly important. Utility Model Content

[0004] Therefore, this utility model provides a cam that can solve the technical problem that the performance of existing harmonic reducers in terms of lightweight, high speed, low noise, and low vibration is difficult to meet the design requirements of robots.

[0005] To solve the above problems, the present invention provides a cam, including a cam body, on which a groove is formed. The groove extends radially along the cam body and extends to the outer edge of the cam body, and the groove penetrates the cam body along the thickness direction of the cam body.

[0006] In some embodiments, there are multiple grooves, and each groove is distributed at intervals along the circumference of the cam body.

[0007] In some embodiments, the width of the groove gradually increases from the bottom of the groove to the opening of the groove.

[0008] In some embodiments, the outer contour of the cam body is elliptical, the major semi-axis of the cam body is a, the minor semi-axis of the cam body is b, and the depth of the groove along the radial direction of the cam body is h, where 0.4b≤h≤0.5a.

[0009] In some embodiments, the outer perimeter of the cam body is L, and the groove has two opposing groove walls with an included angle α between them, where 0.00995L / h°≤α≤0.0398L / h°.

[0010] In some embodiments, the cam body on both sides of the opening of the groove is transitioned and rounded along the circumference of the cam body.

[0011] In some implementations, the radius of the fillet is r, where 0.026h ≤ r ≤ 0.067h.

[0012] In some embodiments, the bottom of each groove is equidistant from the center of the cam body along the radial direction of the cam body.

[0013] This utility model also provides a harmonic reducer, including the aforementioned cam.

[0014] This utility model also provides a robot, including the aforementioned harmonic reducer.

[0015] The cam, harmonic reducer, and robot provided by this utility model have the following beneficial effects:

[0016] By constructing a groove on the cam body that extends radially to the outer edge of the cam body and penetrates the cam body along the thickness direction, this design not only reduces the cam's own weight and the contact area between the cam and the flexible bearing, giving the cam better structural mechanical properties, but also provides a buffer space for elastic deformation and vibration absorption during the operation of the harmonic reducer. This is beneficial for the high-speed, low-noise, and low-vibration operation of the harmonic reducer, thus meeting the design requirements of the robot. Attached Figure Description

[0017] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] Figure 1 This is a front view of the cam according to an embodiment of the present invention;

[0019] Figure 2 This is a three-dimensional schematic diagram of the cam according to an embodiment of the present utility model;

[0020] Figure 3 This is a front view of the cam in an embodiment of the present invention.

[0021] The reference numerals in the attached figures are as follows:

[0022] 1. Cam body; 2. Groove; 3. Rounded corner. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0024] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0025] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0026] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0027] See also Figures 1 to 3As shown, according to an embodiment of the present invention, a cam is provided, including a cam body 1, a groove 2 is formed on the cam body 1, the groove 2 extends radially along the cam body 1 and extends to the outer edge of the cam body 1, and the groove 2 penetrates the cam body 1 along the thickness direction of the cam body 1.

[0028] In this technical solution, by constructing a groove on the cam body 1 that extends radially to the outer edge of the cam body 1, and the groove 2 penetrating the cam body 1 along the thickness direction of the cam body 1, this design not only reduces the self-weight of the cam and reduces the contact area between the cam and the flexible bearing, giving the cam better structural mechanical properties, but also provides a buffer space for elastic deformation and vibration absorption during the operation of the harmonic reducer, which is conducive to the high-speed, low-noise, and low-vibration operation of the harmonic reducer, thus meeting the design requirements of the robot.

[0029] See also Figures 1 to 3 As shown, there are multiple grooves 2, which are spaced apart circumferentially along the cam body 1. This reduces the cam's own weight and the contact area between the cam and the flexible bearing, resulting in better structural mechanical properties. It also provides more elastic deformation and vibration absorption buffer space, leading to a more uniform load distribution and smoother operation of the harmonic reducer during operation. This is more conducive to high-speed, low-noise, and low-vibration operation of the harmonic reducer. Preferably, the grooves 2 are evenly distributed circumferentially along the cam body 1.

[0030] See Figure 1 As shown, the width of the groove 2 gradually increases from the bottom of the groove 2 to the opening of the groove 2. This design of the groove 2 can ensure the strength of the cam and provide sufficient elastic deformation and vibration absorption buffer space.

[0031] See Figure 1 As shown, the outer contour of the cam body 1 is elliptical, the major semi-axis of the cam body 1 is a, the minor semi-axis of the cam body 1 is b, and the depth of the groove 2 along the radial direction of the cam body 1 is h, where 0.4b≤h≤0.5a.

[0032] In this embodiment, for different models of cam bodies 1, the size of the cam body 1 is mainly reflected in the size of its long half-axis a and short half-axis b. The long and short half-axis and the depth of the groove 2 are all radial quantities. The larger the cam body 1 is, the larger the long and short half-axis are, and the greater the depth of the groove 2 needs to be. When 0.4b≤h≤0.5a, the depth of the groove 2 can be correlated with the long and short half-axis of the cam body 1, so that grooves 2 of appropriate depth can be opened on different models of cam bodies 1, thereby enabling different models of cam bodies 1 to obtain appropriate elastic deformation and vibration absorption buffer space.

[0033] See Figure 1 As shown, the outer perimeter of the cam body 1 is L, and the groove 2 has two opposing groove walls with an included angle α between them, where 0.00995L / h°≤α≤0.0398L / h°.

[0034] In this technical solution, the depth h of the groove 2 is associated with the long half-axis a and the short half-axis b of the cam body 1. When 0.00995L / h°≤α≤0.0398L / h°, it means that the included angle α formed between the two groove walls is also associated with the long half-axis a, the short half-axis b of the cam body 1 and the outer contour circumference L of the cam body 1. In this way, the cam body 1 of different models can be opened with the groove 2 of the appropriate included angle.

[0035] See also Figures 1 to 3 As shown, along the circumference of the cam body 1, both sides of the opening of the groove 2 of the cam body 1 are transitioned and rounded to form a fillet 3. The rounded fillet 3 formed by the transition process can prevent stress concentration problems in the fit between the cam and the flexible bearing.

[0036] In one specific implementation, the radius of fillet 3 is r, where 0.026h ≤ r ≤ 0.067h.

[0037] In this embodiment, the depth h of the groove 2 is associated with the long half-axis a and the short half-axis b of the cam body 1. When 0.026h≤r≤0.067h, it means that the radius r of the fillet 3 is also associated with the long half-axis a and the short half-axis b of the cam body 1. This allows different models of cam bodies 1 to obtain a fillet 3 of a suitable size, thereby preventing the fillet 3 from being too large or too small.

[0038] In one specific implementation, along the radial direction of the cam body 1, the bottom of each groove 2 is equidistant from the center of the cam body 1. This ensures that the depth of the groove 2 meets the requirements while also exhibiting a certain regularity. For example... Figure 1 As shown, the distance from the bottom of each groove 2 to the center of the cam body 1 is s.

[0039] This utility model also provides a harmonic reducer, including the aforementioned cam.

[0040] This utility model also provides a robot, including the aforementioned harmonic reducer.

[0041] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0042] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. The above are only preferred embodiments of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A cam, characterized in that, Includes a cam body (1), on which a groove (2) is formed, the groove (2) extending radially along the cam body (1) and extending to the outer edge of the cam body (1), and the groove (2) penetrating the cam body (1) along the thickness direction of the cam body (1).

2. The cam according to claim 1, characterized in that, The number of grooves (2) is multiple, and each groove (2) is distributed at intervals along the circumference of the cam body (1).

3. The cam according to claim 1, characterized in that, The width of the groove (2) gradually increases from the bottom of the groove (2) to the opening of the groove (2).

4. The cam according to any one of claims 1 to 3, characterized in that, The outer contour of the cam body (1) is elliptical. The major semi-axis of the cam body (1) is a, the minor semi-axis of the cam body (1) is b, and the depth of the groove (2) along the radial direction of the cam body (1) is h, where 0.4b≤h≤0.5a.

5. The cam according to claim 4, characterized in that, The outer perimeter of the cam body (1) is L, and the groove (2) has two opposing groove walls with an included angle α between them, where 0.00995L / h°≤α≤0.0398L / h°.

6. The cam according to claim 4, characterized in that, Along the circumference of the cam body (1), the cam body (1) on both sides of the opening of the groove (2) is transitioned and rounded (3).

7. The cam according to claim 6, characterized in that, The radius of the fillet (3) is r, where 0.026h ≤ r ≤ 0.067h.

8. The cam according to claim 1, characterized in that, Along the radial direction of the cam body (1), the bottom of each groove (2) is equidistant from the center of the cam body (1).

9. A harmonic reducer, characterized in that, Includes the cam as described in any one of claims 1 to 8.

10. A robot, characterized in that, Includes the harmonic reducer as described in claim 9.

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