Variable wall thickness thin wall cup type flexspline
Patent Information
- Application Number
- CN202522476537.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-21
- Publication Date
- 2026-10-20
- Estimated Expiration
- 2035-11-21
AI Technical Summary
[0005]目前，随着技术的不断进步和使用要求的逐步提高，航空、航天、机器人等高新技术领域对谐波减速器提出了更高的要求，不但要求谐波减速器具有更高的承载能力和更长的使用寿命，还要求谐波减速器具有更小的体积和更高的功率密度，然而，由于谐波减速器的体积和承载能力主要由薄壁柔轮的体积和承载能力所决定，因此，现有技术中普通谐波减速器常常使用的等壁厚的薄壁杯型柔轮就逐渐暴露出了其承载能力较小和轴向尺寸较大的问题，因为目前使用的这种等壁厚的薄壁杯型柔轮的一个显著的特点就是在齿轮参数即杯径相同的情况下，其承载能力在一定范围内与其轴向尺寸存在着正相关的关系，具体地说就是在齿轮参数即杯径相同的情况下，在轴向尺寸的一定范围内其承载能力随着轴向尺寸的增大而提高，随着轴向尺寸的减小而降低；换句话说就是，在齿轮参数即杯径相同的情况下要增加薄壁杯型柔轮的承载能力和使用寿命，就必须增加其轴向尺寸和体积，这就意味着目前使用的这种等壁厚的薄壁杯型柔轮已经不能满足航空、航天、机器人等高新技术领域对谐波减速器提出的新的要求
[0011]本实用新型的有益效果：与现有技术相比，本实用新型采用上述的技术方案，在齿轮参数（即杯径）、轴向尺寸及负载相同的情况下，与等壁厚的薄壁杯型柔轮相比较，柔轮杯体、齿部和杯底的受力情况均发生了较大的变化，柔轮齿部的应力和应变下降15.3%左右，柔轮杯体的应力和应变下降17.2%左右，柔轮在杯底圆环形凸缘r=r0处和柔轮在杯底边缘r=rm处的应力和应变变化最大，分别下降27%左右；因此，本实用新型的变壁厚的薄壁杯型柔轮，在齿轮参数（即杯径）和轴向尺寸相同的情况下，具有比等壁厚的薄壁杯型柔轮更高的承载能力，在齿轮参数（即杯径）相同的情况下，可使其具有更短的轴向尺寸和体积而保持其承载能力不变。
Smart Images
Figure CN224871824U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a thin-walled cup-shaped flexible wheel, and more particularly to a thin-walled cup-shaped flexible wheel with variable wall thickness, belonging to the field of harmonic reducer technology. Background Technology
[0002] Harmonic reducers are mainly composed of three basic components: a flexible gear, a rigid gear, and a wave generator. They are a type of gear reducer with a simple structure, small size, high transmission accuracy, and large transmission ratio, and are widely used in high-tech fields such as aviation, aerospace, and robotics.
[0003] The working principle of the 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 continuously generates 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] In harmonic reducers, thin-walled flexible wheels operate under repeated elastic deformation. During operation, they are subjected not only to bending stress caused by the deformation of the wave generator, but also to the bending moment of the gear meshing force. Therefore, thin-walled flexible wheels are the most complex parts in harmonic reducers and are most prone to fatigue failure.
[0005] Currently, with continuous technological advancements and increasingly stringent usage requirements, high-tech fields such as aviation, aerospace, and robotics are placing higher demands on harmonic reducers. These demands not only require higher load-bearing capacity and longer service life, but also smaller size and higher power density. However, since the size and load-bearing capacity of a harmonic reducer are primarily determined by the size and load-bearing capacity of its thin-walled flexure, the commonly used thin-walled cup-shaped flexure with uniform wall thickness in existing harmonic reducers is gradually revealing its relatively low load-bearing capacity and large axial dimension. This is because a significant drawback of the currently used thin-walled cup-shaped flexure with uniform wall thickness... The characteristic is that, under the same gear parameters (i.e., cup diameter), its load-bearing capacity is positively correlated with its axial dimension within a certain range. Specifically, under the same gear parameters (i.e., cup diameter), within a certain range of axial dimension, its load-bearing capacity increases with the increase of axial dimension and decreases with the decrease of axial dimension. In other words, to increase the load-bearing capacity and service life of thin-walled cup-shaped flexible gears under the same gear parameters (i.e., cup diameter), its axial dimension and volume must be increased. This means that the currently used thin-walled cup-shaped flexible gears with equal wall thickness can no longer meet the new requirements of harmonic reducers in high-tech fields such as aviation, aerospace, and robotics. Utility Model Content
[0006] The purpose of this invention is to provide a thin-walled cup-shaped flexible wheel with variable wall thickness. On the one hand, it achieves a shorter axial dimension and volume while maintaining the same load-bearing capacity, while keeping the gear parameters (cup diameter) the same. On the other hand, it achieves a higher load-bearing capacity while keeping the gear parameters (cup diameter and axial dimension) the same. This overcomes the shortcomings of existing medium-thickness thin-walled cup-shaped flexible wheels, which have lower load-bearing capacity and larger axial dimension, thus meeting the requirements for use in confined and compact spaces in high-tech fields such as aviation, aerospace, and robotics.
[0007] The technical solution of this utility model is as follows: A variable wall thickness thin-walled cup-shaped flexible wheel includes a variable wall thickness thin-walled cup bottom and a fixed wall thickness thin-walled cup body; the head end of the variable wall thickness thin-walled cup bottom is the output end, and the open end of the fixed wall thickness thin-walled cup body is the input end; the output end has an outwardly protruding annular flange in the middle; the inner hole of the input end has a wave generator mounting port, and the outer circle of the wave generator mounting port has a flexible toothed ring; the inner side of the variable wall thickness thin-walled cup bottom is flush with the inner side of the annular flange; the outer side of the variable wall thickness thin-walled cup bottom is smoothly connected to the outer side of the fixed wall thickness thin-walled cup body and the annular flange through a transition arc.
[0008] In the aforementioned variable-wall-thickness thin-walled cup-shaped flexible wheel, the thickness t of the bottom of the variable-wall-thickness cup varies with the extreme diameter r of the cup bottom, and the two have a relationship of t=c1r. 2 The relationship between +c2r+c3 is given by the formula, where c1, c2, and c3 are correction coefficients that form the thickness variation curve of the bottom of the thin-walled cup with variable wall thickness.
[0009] In the aforementioned variable wall thickness thin-walled cup-shaped flexible wheel, the bottom of the variable wall thickness thin-walled cup has a minimum thickness t1 at the midpoint value r=r1 of the bottom of the flexible wheel cup, and the minimum thickness t1 has a relationship with the thickness h of the fixed wall thickness thin-walled cup body, which is t1=(0.718~0.925)h.
[0010] In the aforementioned variable-wall-thickness thin-walled cup-shaped flexible wheel, the thickness t0 of the bottom of the variable-wall-thickness thin-walled cup at the annular flange r=r0 and its thickness at the edge r=r0 of the flexible wheel cup bottom are... m Thickness t at the location m The thickness h of the thin-walled cup with a fixed wall thickness has t0 = (3.32~3.57)h and t, respectively. m = (2.78~3.27)h relationship.
[0011] The beneficial effects of this utility model are as follows: Compared with the prior art, this utility model, using the above-mentioned technical solution, under the same gear parameters (i.e., cup diameter), axial dimensions, and load, shows a significant change in the stress conditions of the flexible wheel cup body, teeth, and cup bottom compared to a thin-walled cup-shaped flexible wheel with the same wall thickness. The stress and strain of the flexible wheel teeth decrease by about 15.3%, and the stress and strain of the flexible wheel cup body decrease by about 17.2%. The stress and strain at the annular flange r=r0 at the cup bottom and at the edge r=r of the cup bottom are also significantly reduced. m The stress and strain changes are greatest at the point where they decrease by about 27% respectively. Therefore, the variable wall thickness thin-walled cup-shaped flexible wheel of this invention has a higher load-bearing capacity than the thin-walled cup-shaped flexible wheel with equal wall thickness when the gear parameters (i.e., cup diameter) and axial dimensions are the same. When the gear parameters (i.e., cup diameter) are the same, it can have a shorter axial dimension and volume while maintaining its load-bearing capacity. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of this utility model;
[0013] Figure 2 for Figure 1 A magnified schematic diagram of a local structure.
[0014] Reference numerals: 1- Variable wall thickness thin-walled cup bottom, 2- Fixed wall thickness thin-walled cup body, 3- Circular flange, 4- Wave generator mounting port, 5- Flexible gear ring. 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 variable wall thickness thin-walled cup-shaped flexible wheel includes a variable wall thickness thin-walled cup bottom 1 and a fixed wall thickness thin-walled cup body 2; the head end of the variable wall thickness thin-walled cup bottom 1 is the output end, and the open end of the fixed wall thickness thin-walled cup body 2 is the input end; the output end has an outwardly protruding annular flange 3 in the middle; the inner hole of the input end has a wave generator mounting port 4, and the outer circle of the wave generator mounting port 4 has a flexible toothed ring 5; the inner side of the variable wall thickness thin-walled cup bottom 1 is flush with the inner side of the annular flange 3; the outer side of the variable wall thickness thin-walled cup bottom 1 is smoothly connected to the outer side of the fixed wall thickness thin-walled cup body 2 and the annular flange 3 through a transition arc.
[0017] The thickness t of the thin-walled cup bottom 1 with variable wall thickness varies with the extreme diameter r of the flexible wheel cup bottom, and the two have a relationship of t=c1r. 2The relationship between c1, c2, and c3 is given by the formula +c2r+c3, where c1, c2, and c3 are correction coefficients for forming the thickness variation curve of the thin-walled cup bottom 1 with variable wall thickness. The thin-walled cup bottom 1 with variable wall thickness has a minimum thickness t1 at the midpoint r=r1 of the flexible wheel cup bottom, and the minimum thickness t1 has a relationship of t1 = (0.718~0.925)h with respect to the thickness h of the thin-walled cup body 2 with fixed wall thickness. The thickness t0 of the thin-walled cup bottom 1 at r=r0 of the annular flange 3 of the cup bottom and its thickness at the edge r=r of the flexible wheel cup bottom are also discussed. m Thickness t at the location m The thickness h of the thin-walled cup 2 with a fixed wall thickness has t0 = (3.32~3.57)h and t, respectively. m = (2.78~3.27)h relationship.
[0018] This invention provides a variable-wall-thickness thin-walled cup-shaped flexible wheel using the aforementioned technical solution. Finite element simulation calculations show that, under the same gear parameters (i.e., cup diameter), axial dimensions, and load, compared to a thin-walled cup-shaped flexible wheel with equal wall thickness, the stress conditions of the flexible wheel cup body, teeth, and cup bottom all change significantly. The stress and strain of the flexible wheel teeth decrease by approximately 15.3%, and the stress and strain of the flexible wheel cup body decrease by approximately 17.2%. The stress and strain at the annular flange 3 at the cup bottom (r=r0) and at the edge of the cup bottom (r=r) are also significantly reduced. m The stress and strain changes are greatest at the point where they decrease by about 27%. Therefore, this invention has a higher load-bearing capacity than a thin-walled cup-shaped flexible wheel with the same wall thickness, while having a shorter axial dimension and volume while maintaining the same load-bearing capacity, under the same gear parameters (i.e., cup diameter).
[0019] This invention overcomes the shortcomings of existing medium-thickness thin-walled cup-shaped flexible wheels, which have low load-bearing capacity and large axial dimensions, thus meeting the requirements for use in confined and compact spaces in high-tech fields such as aviation, aerospace, and robotics.
Claims
1. A thin-walled cup-shaped flexible wheel with variable wall thickness, characterized in that: It includes a thin-walled cup bottom (1) with variable wall thickness and a thin-walled cup body (2) with fixed wall thickness; the head end of the thin-walled cup bottom (1) with variable wall thickness is the output end, and the open end of the thin-walled cup body (2) with fixed wall thickness is the input end; the middle of the output end is provided with an outwardly protruding annular flange (3); the inner hole of the input end is provided with a wave generator mounting port (4), and the outer circle of the wave generator mounting port (4) is provided with a flexible toothed ring (5); the inner side of the thin-walled cup bottom (1) with variable wall thickness is flush with the inner side of the annular flange (3); the outer side of the thin-walled cup bottom (1) with variable wall thickness is smoothly connected to the outer side of the thin-walled cup body (2) with fixed wall thickness and the outer side of the annular flange (3) through a transition arc.
2. The variable wall thickness thin-walled cup-shaped flexible wheel according to claim 1, characterized in that: The thickness t of the thin-walled cup bottom (1) with variable wall thickness varies with the extreme diameter r of the flexible wheel cup bottom, and the two have a relationship of t=c1r. 2 The relationship between +c2r+c3 is given by the formula, where c1, c2, and c3 are the correction coefficients for forming the thickness variation curve of the thin-walled cup bottom (1) with variable wall thickness.
3. The variable wall thickness thin-walled cup-shaped flexible wheel according to claim 2, characterized in that: The variable wall thickness thin-walled cup bottom (1) has a minimum thickness t1 at the middle position r=r1 of the flexible wheel cup bottom, and the minimum thickness t1 has a relationship t1=(0.718~0.925)h with the thickness h of the fixed wall thickness thin-walled cup body (2).
4. A variable wall thickness thin-walled cup-shaped flexible wheel according to claim 2, characterized in that: The thickness t0 of the thin-walled cup bottom (1) with variable wall thickness at the annular flange (3) at r=r0 and its thickness at the edge of the flexible cup bottom at r=r0 m Thickness t at the location m The thickness h of the thin-walled cup (2) with a fixed wall thickness has t0 = (3.32~3.57)h and t, respectively. m = (2.78~3.27)h relationship.