Harmonic reducer flexspline structure

Abstract

The utility model belongs to the field of harmonic reducer, and disclose a kind of harmonic reducer flexspline structure, including flexspline and wave generator, the wave generator is installed in the inside of flexspline, the barrel wall on the open end of flexspline is equipped with gear tooth, the position of gear tooth corresponds with the long axis of wave generator, and the addendum of gear tooth is parallel with barrel wall;The bottom of flexspline is provided with diaphragm, the diameter of diaphragm is same with the length of the long axis of deformation pitch circle of flexspline, and the included angle between diaphragm and barrel wall is right angle.The technical scheme of the utility model can improve the bearing capacity of flexspline, reduce deformation and prolong fatigue life, and has important practical significance for promoting the development of harmonic reducer technology.

Description

Technical Field

[0001] This utility model belongs to the field of harmonic reducers, and in particular relates to a flexible gear structure for a harmonic reducer. Background Technology

[0002] Harmonic reducers are high-precision, high-reduction-ratio transmission devices widely used in robotics, aerospace, and precision instruments. One of their core components is the flexspline, whose performance directly affects the transmission accuracy, load-bearing capacity, and lifespan of the harmonic reducer. However, traditional flexspline structures have many problems in practical applications, limiting the overall performance improvement of harmonic reducers.

[0003] The cyclic stress experienced by the flexspline in a harmonic reducer is the primary cause of its fatigue failure. Studies have shown that the magnitude and distribution of cyclic stress have a significant impact on the fatigue life of the flexspline, especially at the transition fillet, where stress concentration exacerbates local deformation. However, traditional flexspline structural designs have failed to effectively reduce the amplitude and concentration of cyclic stress, resulting in a short fatigue life that cannot meet the requirements of high-reliability applications.

[0004] In existing flexible gear structures, after installing a wave generator, the flexible gear cylinder wall deforms, and the flexible gear teeth are no longer parallel to the rotation center line. Although this can meet basic transmission requirements when mating with a rigid gear, under high torque conditions, the force distribution on the teeth is uneven. This causes some teeth to bear excessive stress, while others fail to fully utilize their load-bearing capacity. This uneven force distribution not only reduces the overall load-bearing capacity of the flexible gear but may also lead to accelerated localized wear of the teeth, affecting transmission efficiency and service life.

[0005] Although various methods have been developed to improve the performance of flexsplines, most focus on material selection and surface treatment processes, with less attention paid to optimizing the flexspline's structural design. Therefore, optimizing the flexspline's structure is key to solving the aforementioned problems. Utility Model Content

[0006] The purpose of this invention is to provide a flexible gear structure for a harmonic reducer to solve the problems existing in the prior art.

[0007] To achieve the above objectives, this utility model provides a flexure structure for a harmonic reducer, including a flexure and a wave generator. The wave generator is installed inside the flexure. Gear teeth are installed on the cylindrical wall at the open end of the flexure, and the position of the gear teeth corresponds to the long axis of the wave generator, with the tooth tips parallel to the cylindrical wall. A diaphragm is provided at the bottom of the flexure, and the diameter of the diaphragm is the same as the length of the long axis of the deformable pitch circle of the flexure. The angle between the diaphragm and the cylindrical wall is a right angle.

[0008] Optionally, the diameter of the diaphragm is larger than the diameter of the open end of the flexible wheel.

[0009] Optionally, before the wave generator is installed on the flexible wheel, the angle between the diaphragm and the cylinder wall is an acute angle.

[0010] Optionally, the cylinder wall of the flexible wheel has a tapered structure of uniform thickness.

[0011] Optionally, the tooth profile of the gear teeth may include involute tooth profile or circular arc tooth profile.

[0012] The technical effects of this utility model are as follows:

[0013] This invention improves the stress characteristics, increases the load-bearing capacity, reduces deformation, and extends fatigue life through optimized design. It has important practical significance and broad application prospects for promoting the development of harmonic reducer technology. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] 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:

[0016] Figure 1 This is a schematic diagram of the structure of a conventional flexible wheel in an embodiment of this utility model, wherein, Figure 1 (a) is a schematic diagram of the initial state of a traditional flexible wheel. Figure 1 (b) is a schematic diagram of a wave generator installed on a traditional flexspline;

[0017] Figure 2 This is a schematic diagram of the improved flexible wheel structure in an embodiment of the present invention, wherein, Figure 2 (a) is a schematic diagram of the improved flexspline structure. Figure 2 (b) is a schematic diagram of the improved flexspline with the wave generator installed. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. 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 protection scope of the present utility model.

[0019] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, and several embodiments of the utility model will be provided. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and complete.

[0020] 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.

[0021] 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.

[0022] 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 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.

[0023] 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.

[0024] Example 1

[0025] like Figures 1-2 As shown, this embodiment provides a harmonic reducer flexure structure, including a flexure and a wave generator. The wave generator is installed inside the flexure. Gear teeth are installed on the cylinder wall at the open end of the flexure. The position of the gear teeth corresponds to the long axis of the wave generator, and the tooth tips are parallel to the cylinder wall. A diaphragm is provided at the bottom of the flexure. The diameter of the diaphragm is the same as the length of the long axis of the deformable pitch circle of the flexure, and the angle between the diaphragm and the cylinder wall is a right angle.

[0026] This embodiment discloses a novel harmonic reducer flexure structure with uniform force distribution. Through optimized design, its force characteristics are improved, load-bearing capacity is increased, deformation is reduced, and fatigue life is extended. This has significant practical implications and broad application prospects for promoting the development of harmonic reducer technology. The structure provided in this embodiment includes gear teeth, a cylinder wall, transition fillets, a diaphragm, and a flange. The diameter of the open end remains unchanged, while the diaphragm diameter is increased to the same length as the major axis of the deformable pitch circle. The flexure tooth tips are parallel to the cylinder wall, and the cylinder wall forms a certain angle β with the rotation centerline. After installing the wave generator, the tooth tips corresponding to the major axis of the wave generator are parallel to the rotation centerline. The tooth profile adopts involute, circular arc, or other non-standard tooth profiles. The flexure structure undergoes dimensional optimization design, reducing the tooth modification process. During meshing, the inter-tooth contact area is larger, the force on the gear teeth is more uniform, and the flexure can withstand greater torque. Its features are as follows: Figure 2 As shown, the diaphragm diameter is larger than the opening diameter, the angle between the flexible wheel cylinder wall and the diaphragm is acute, and the tooth tips are parallel to the cylinder wall. Figure 2 (b) Install the wave generator. The angle between the generatrix of the flexible wheel cylinder wall corresponding to the long axis of the wave generator and the diaphragm is right angle. At this time, the tooth tip is horizontal and parallel to the rotation center line. There is no problem of tooth interference when it is engaged with the rigid wheel, and it can be fully meshed.

[0027] Combination Figures 1-2 This embodiment will be described in detail. The flexure structure of the harmonic reducer includes a wave generator and a flexure. The wave generator is placed inside the open end of the flexure, forcing the flexure to deform, such as... Figure 1 As shown, the traditional flexible wheel has a straight cylindrical wall of uniform thickness, and the flexible wheel wall is perpendicular to the diaphragm. After installing the wave generator, the major axis of the open end is greater than the diameter of the open end, causing tooth point A to be higher than tooth point B. When meshing with the rigid wheel, tooth point A interferes with the rigid wheel tooth. To achieve complete meshing, tooth modification is required. Figure 1 (b) Adjusting the inclined tooth tip to a horizontal tooth tip is a complex process and reduces the contact area between the teeth.

[0028] To address this issue, this embodiment designs a novel harmonic reducer flexspline structure with uniform force distribution, such as... Figure 2 As shown in (a), the flexible wheel cylinder wall structure is a conical structure of uniform thickness. The diameter of the open end of the flexible wheel remains unchanged, while the diaphragm diameter is increased to the same length as the major axis of the deformable section circle. The flexible wheel as a whole is a tapered cone, with the diaphragm diameter larger than the open end diameter. The angle between the flexible wheel cylinder wall and the diaphragm is an acute angle, and the tooth tips are parallel to the cylinder wall. Figure 2 (b) When the wave generator is installed, the angle between the generatrix of the flexure cylinder wall corresponding to the long axis of the wave generator and the diaphragm is right angle. At this time, the tooth tip is horizontal and parallel to the rotation center line. There is no problem of tooth interference when it is engaged with the rigid wheel, and it can be fully meshed. For the same model of harmonic reducer, the number of meshing teeth remains unchanged when using the new type of harmonic reducer flexure structure with uniform force distribution.

[0029] In summary, this embodiment improves the stress characteristics of the flexspline structure, increases its load-bearing capacity, reduces deformation, and extends fatigue life through optimized design. This has significant practical implications and broad application prospects for promoting the development of harmonic reducer technology.

[0030] 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 flex drive structure for a harmonic reducer, comprising a flex drive and a wave generator, characterized in that, The wave generator is installed inside the flexible wheel. Gear teeth are installed on the cylinder wall at the open end of the flexible wheel. The position of the gear teeth corresponds to the long axis of the wave generator, and the tooth tips are parallel to the cylinder wall. A diaphragm is provided at the bottom of the flexible wheel. The diameter of the diaphragm is the same as the length of the long axis of the deformable pitch circle of the flexible wheel, and the angle between the diaphragm and the cylinder wall is a right angle.

2. The flexspline structure of a harmonic reducer according to claim 1, characterized in that, The diameter of the diaphragm is larger than the diameter of the open end of the flexible wheel.

3. The flexspline structure of a harmonic reducer according to claim 1, characterized in that, Before the wave generator is installed on the flexible wheel, the angle between the diaphragm and the cylinder wall is an acute angle.

4. The flexspline structure of a harmonic reducer according to claim 1, characterized in that, The flexible wheel has a tapered structure with equal thickness.

5. The flexspline structure of a harmonic reducer according to claim 1, characterized in that, The tooth profile of the gear includes involute tooth profile or circular arc tooth profile.

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