A high-rigidity harmonic reducer flexspline

Abstract

The utility model discloses a kind of high rigidity harmonic reducer flexspline, output connecting flange is connected with the cover plate of cup bottom of "semicircular" structure and the smooth transition connection of flexspline cylinder body with corrugated unloading groove, corrugated unloading groove is located on the outside wall of flexspline cylinder body, corrugated unloading groove is formed by the smooth transition connection of arc-shaped wave crest and arc-shaped wave trough, the wave crest radius r1 of corrugated unloading groove is 42%~65% of the wave trough arc radius r2, the thickness h1 of flexspline cylinder body at its wave trough is 64%~72% of the thickness h of flexspline cylinder body at wave crest.Corrugated unloading groove improves the structural rigidity of flexspline cylinder body, can make the stress and deformation generated at flexspline cylinder body reduce 25%-32%;The cover plate of cup bottom of "semicircular" structure improves the structural rigidity of flexspline cup bottom, can withstand 55%-62% of the stress and deformation generated in radial direction and axis direction of flexspline body;Therefore, the utility model has higher carrying capacity and service life.

Description

Technical Field

[0001] This utility model relates to a harmonic reducer flexure, and more particularly to a high-rigidity harmonic reducer flexure. Background Technology

[0002] Harmonic reducers are gear reducers that utilize the elastic deformation of flexible gears to achieve meshing transmission. They are characterized by compact structure, light weight, large reduction ratio, and high transmission accuracy, and are widely used in aerospace, robotics, precision machine tools, instrumentation and other fields.

[0003] Harmonic reducers mainly consist of three basic components: a flexible wheel, a rigid wheel, and a cam wave generator. The working principle of a harmonic reducer is as follows: when the cam wave generator with flexible bearings is installed in the thin-walled flexible wheel and rotates continuously, the thin-walled flexible wheel with external teeth undergoes controllable elastic deformation. Its teeth mesh with the teeth of the rigid wheel with internal teeth at both ends of the long shaft of the cam wave generator, thereby realizing speed reduction transmission.

[0004] Harmonic reducer flexures come in various structural forms, among which the thin-walled cup-shaped flexure is widely used. The typical structural feature of the existing thin-walled cup-shaped flexure is that the thin-walled flexure cylinder and the cup-bottom output connection flange are connected by a thin-walled flat plate cup-bottom connection cover. The inner side of the output connection flange is flush with the cup-bottom connection cover, while the outer side protrudes towards the cup bottom.

[0005] Existing thin-walled cup-shaped flexible wheels suffer from insufficient rigidity during use. When a cam wave generator with flexible bearings is installed in the thin-walled flexible wheel and rotates continuously, the externally toothed wheel undergoes continuous radial deformation under the action of the cam wave generator. When its teeth mesh with the internally toothed rigid wheel teeth at both ends of the long shaft of the cam wave generator, its axial direction also undergoes continuous torsional deformation under the bending moment of the gear meshing force. At this time, the stress and deformation generated at the connection plate between the flexible wheel cylinder and the cup bottom are the greatest, making the flexible wheel cylinder and the cup bottom connection plate the weakest link in the entire flexible wheel body. When the load of the harmonic reducer increases to a certain extent, the stress and deformation generated at the connection plate between the flexible wheel cylinder and the cup bottom will exceed its maximum withstand stress and deformation, leading to fracture failure at the junction of the flexible wheel cylinder and the cup bottom connection plate, thus limiting its load-bearing capacity and application range. Utility Model Content

[0006] The purpose of this invention is to provide a high-rigidity harmonic reducer flexure. When a cam wave generator with a flexible bearing is installed in the thin-walled flexure and rotates continuously, the stress and deformation at the connection between the flexure cylinder and the bottom cover plate are greatly reduced, thereby improving its load-bearing capacity and application range, and overcoming the shortcomings of the existing technology.

[0007] The technical solution of this utility model is as follows: A high-rigidity harmonic reducer flexure includes a flexure cylinder with a corrugated unloading groove, a cup bottom connecting cover with a "semi-circular" structure, and an output connecting flange located at the cup bottom; the output connecting flange is smoothly connected to the flexure cylinder with the corrugated unloading groove through the cup bottom connecting cover with a "semi-circular" structure. The corrugated unloading groove is provided on the outer wall of the flexure cylinder. The corrugated unloading groove is formed by a smooth transition between arc-shaped crests and arc-shaped troughs. The arc radius r1 of the crest of the corrugated unloading groove is 42% to 65% of the arc radius r2 of its trough. The thickness h1 of the flexure cylinder at its trough is 64% to 72% of the thickness h of the flexure cylinder at its crest.

[0008] In the aforementioned high-rigidity harmonic reducer flexure, the thickness of the cup bottom connecting cover plate of the "semi-circular" structure is the same as the thickness h at the crest of the flexure cylinder, and its "semi-circular" structure protrudes towards the cup bottom.

[0009] In the aforementioned high-rigidity harmonic reducer flexure, the outer side of the cup bottom connecting cover plate of the "semi-circular" structure is connected to the outer side of the output connecting flange by a circular arc transition; the inner side of the output connecting flange protrudes into the cup, while its outer side is basically flush with the outer side of the cup bottom connecting cover plate of the "semi-circular" structure.

[0010] The beneficial effects of this utility model are as follows: Compared with the prior art, due to the adoption of the above technical solution, the overall structural shape of the flexure wheel of the harmonic reducer of this utility model is still a thin-walled cup shape. On the one hand, because this utility model has a corrugated unloading groove on the outside of the flexure wheel cylinder, the radius r1 of the crest arc of the corrugated unloading groove is 42% to 65% of the radius r2 of the trough arc, and the thickness h1 of the flexure wheel cylinder at the trough is 64% to 72% of the thickness h of the flexure wheel cylinder at the crest. When the cam wave generator with flexible bearing is installed in the thin-walled flexure wheel and rotates continuously, the corrugated unloading groove improves the structural rigidity of the flexure wheel cylinder, which can reduce the stress and deformation generated at the flexure wheel cylinder by 25%-32%. On the other hand, because this utility model adopts a cup bottom connecting cover plate with a "semi-circular" structure, and It is a thin-walled structure protruding outward from the cup. Its outer side is connected to the outer side of the output connection flange by an arc transition. Its thickness is the same as the thickness h at the crest of the flexible wheel cylinder. After this change, the inner side of the output connection flange protrudes into the cup, while its outer side is basically flush with the outer side of the cup bottom connection cover plate of the "semi-circular" structure. When the cam wave generator with flexible bearing is installed in the thin-walled flexible wheel and rotates continuously, the cup bottom connection cover plate of the "semi-circular" structure improves the structural rigidity of the flexible wheel cup bottom, and can withstand 55%-62% of the stress and deformation generated by the flexible wheel body in the radial and axial directions. Since this utility model improves the structural rigidity of both the flexible wheel cylinder body and the flexible wheel cup bottom, this utility model has a higher load-bearing capacity and service life than the thin-walled cup type flexible wheel in the prior art. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model;

[0012] Figure 2 This is a partially enlarged schematic diagram of the flexible gear cylinder;

[0013] Figure 3 This is a schematic diagram of an existing thin-walled cup-shaped flexible wheel.

[0014] Attached reference numerals: 1-flexible cylinder, 2-cup bottom connecting cover plate, 3-output connecting flange, 4-corrugated unloading groove. Detailed Implementation

[0015] 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.

[0016] An embodiment of this utility model: A high-rigidity harmonic reducer flexure includes a flexure cylinder 1 with a corrugated unloading groove 4, a cup bottom connecting cover plate 2 with a "semi-circular" structure, and an output connecting flange 3 located at the cup bottom; the output connecting flange 3 is smoothly connected to the flexure cylinder 1 with the corrugated unloading groove 4 through the cup bottom connecting cover plate 2 with a "semi-circular" structure. The corrugated unloading groove 4 is provided on the outer side wall of the flexure cylinder 1. The corrugated unloading groove 4 is formed by a smooth transition between arc-shaped crests and arc-shaped troughs. The arc radius r1 of the crest of the corrugated unloading groove 4 is 42% to 65% of the arc radius r2 of its trough. The thickness h1 of the flexure cylinder 1 at its trough is 64% to 72% of the thickness h of the flexure cylinder 1 at its crest.

[0017] This invention features a corrugated unloading groove 4 on the outer side of the flexible wheel cylinder 1. The corrugated unloading groove 4 is formed by a smooth transition between arc-shaped crests and arc-shaped troughs. The arc radius r1 of the crest of the corrugated unloading groove 4 is 42% to 65% of the arc radius r2 of its trough. The thickness h1 of the flexible wheel cylinder at the trough is 64% to 72% of the thickness h of the flexible wheel cylinder at the crest. When a cam wave generator with a flexible bearing is installed in the thin-walled flexible wheel and rotates continuously, the corrugated unloading groove 4 improves the structural rigidity of the flexible wheel cylinder 1, reducing the stress and deformation generated at the flexible wheel cylinder 1 by 25% to 32%.

[0018] The thickness of the cup bottom connecting cover plate 2 with the "semi-circular" structure is the same as the thickness h at the crest of the flexible wheel cylinder 1. Its "semi-circular" structure protrudes towards the bottom of the cup. The outer side of the cup bottom connecting cover plate 2 with the outer side of the output connecting flange 3 is connected by an arc transition. After this change, the inner side of the output connecting flange 3 protrudes into the cup, while its outer side is basically flush with the outer side of the cup bottom connecting cover plate 2 with the "semi-circular" structure. When the cam wave generator with flexible bearing is installed in the thin-walled flexible wheel and rotates continuously, the cup bottom connecting cover plate 2 with the "semi-circular" structure improves the structural rigidity of the flexible wheel cup bottom and can withstand 55%-62% of the stress and deformation generated by the flexible wheel body in the radial and axial directions.

Claims

1. A high-rigidity harmonic reducer flexspline, characterized in that: It includes a flexible wheel cylinder (1) with a corrugated unloading groove (4), a cup bottom connecting cover plate (2) with a "semi-circular" structure, and an output connecting flange (3) located at the bottom of the cup. The output connecting flange (3) is smoothly connected to the flexible wheel cylinder (1) with a corrugated unloading groove (4) through the cup bottom connecting cover plate (2) with a "semi-circular" structure. The corrugated unloading groove (4) is located on the outer side wall of the flexible wheel cylinder (1). The corrugated unloading groove (4) is formed by a smooth transition between the crest and trough of the arc shape. The arc radius r1 of the crest of the corrugated unloading groove (4) is 42% to 65% of the arc radius r2 of the trough. The thickness h1 of the flexible wheel cylinder (1) at the trough is 64% to 72% of the thickness h of the flexible wheel cylinder (1) at the crest.

2. The high-rigidity harmonic reducer flexspline according to claim 1, characterized in that: The thickness of the cup bottom connecting cover plate (2) with the "semi-circular" structure is the same as the thickness h at the crest of the flexible wheel cylinder (1), and its "semi-circular" structure protrudes towards the cup bottom.

3. The high-rigidity harmonic reducer flexspline according to claim 1, characterized in that: The outer side of the cup bottom connecting cover plate (2) of the "semi-circular" structure is connected to the outer side of the output connecting flange (3) by a circular arc transition; the inner side of the output connecting flange (3) protrudes into the cup, while its outer side is basically flush with the outer side of the cup bottom connecting cover plate (2) of the "semi-circular" structure.

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