Strain wave gear reducer, flexspline assembly and robot

Abstract

To provide a wave gear speed reducer having a small axial dimension and high transmission torque.SOLUTION: The wave gear reducer comprises a circular spline, a wave generator, a flexible flexspline, and a torque transmission component, wherein the wave generator is inserted into the circular spline, and the flexible flexspline is inserted between the circular spline and the wave generator; The flexible flexspline is deformed by the protrusions of the wave generator, so that the external gear portion of the flexible flexspline corresponding to the protrusions and the internal gear portion of the circular spline are engaged with each other, the input connection portion of the torque transmission component is connected to the torque output portion of the flexible flexspline, the output connection portion of the torque transmission component is connected to the fixed component for further torque transmission, and the torque transmission component can be deformed simultaneously with the flexible flexspline component through the design of the deformable elastic portion.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present application relates to the technical field of strain wave gear reducers, and more particularly to a new strain wave gear reducer. [Background technology]

[0002] A conventional wave gear reducer is composed of a circular spline, a flexspline, and a wave generator that generates radial deformation in the flexspline. When the wave generator rotates, it generates controllable elastic deformation in the flexspline, and power is transmitted by meshing the teeth between the circular spline and the flexspline. A conventional, general flexspline structure includes a thin-walled cylindrical structure with both ends open and a flange portion provided perpendicular to one end of the thin-walled cylinder. Here, depending on whether the flange portion is provided on the outside or inside of the thin-walled cylinder, it is classified as a hat-type flexspline or a cup-type flexspline. The same problem exists whether it is a hat-type flexspline or a cup-type flexspline. Since the flange portion structure is less likely to deform than a thin-walled cylinder, when the wave generator rotates and causes deformation of the flexspline, the end of the flexspline away from the flange portion will deform, while the end of the flexspline where the flange portion is provided is less likely to undergo radial deformation or only slight radial deformation will occur due to the rigidity of the flange portion. Therefore, the flexspline The cylindrical part of the inner ring has a coning shape, which makes it difficult for the flexspline and circular spline to mesh over the entire tooth length. As a result, the torque that can be transmitted by conventional wave gear reducers is only 40 to 60% of that when all teeth are meshed. In order to avoid affecting the normal use and safety of the wave gear reducer (a conventional general flexspline usually requires the axial length of the gear to be longer in order to achieve torque output and increase the fatigue life of the flexspline. Taking the typical 17 to 50 model hat-type wave gear reducers on the market as an example, the length of the flexspline is about 60% longer than the thickness of the gear part of the flexspline, the gear part of the circular spline, and the bearing of the wave generator), the conventional solution to this problem requires the axial length of the flexspline to be longer than the length of the gear part and the axial dimensions of the wave generator and circular spline. This increases the axial dimension of the entire wave gear reducer and reduces transmission rigidity. To address this problem, the conventional technology provides an integrated thin-walled elastic structure with a flange, butIn actual production, the processing of such flexsplines is difficult, resulting in poor yields.

[0003] Compared to the above-mentioned related art, conventional wave gear reducers have the drawbacks of large axial dimensions and low transmission torque. Summary of the Invention [Problem to be solved by the invention]

[0004] The present application provides a new wave gear reducer to overcome the drawbacks of conventional wave gear reducers, such as a large axial dimension and low transmission torque. [Means for solving the problem]

[0005] In order to solve the above problems, one technical solution adopted by the present application is a new wave gear reducer including four components: a circular spline, a flexspline, a wave generator, and a torque transmission member, The circular spline has a ring-shaped internal gear formed along its inner circumferential surface, the wave generator includes a cam having N protruding portions that rotate around an axis, and a flexible bearing coupled to an outer peripheral surface of the cam, the rolling elements of the flexible bearing can be realized by using balls, needles, or rollers, and N of the N protruding portions is an integer greater than or equal to 2, the wave generator is inserted into the circular spline, the flexspline has a ring-shaped external gear formed along its outer circumferential surface, the number of teeth of the ring-shaped external gear being smaller than the number of teeth of the ring-shaped internal gear, the flexspline having a torque output portion adjacent to the ring-shaped external gear along the axial direction, the flexspline being inserted between the circular spline and the wave generator, and the inner circumferential side of the flexspline being fitted with and deformed by the outer circumferential side of the wave generator, thereby partially meshing the external gear of the flexspline and the internal gear of the circular spline, The torque transmission members are distributed around the axis along the circumferential direction of the inner or outer circumference of the torque output part, and the torque transmission members include an input connecting part, a deformable elastic part, and an output connecting part, the input connecting part is coupled to the outer or inner circumference of the torque output part to receive torque, and the output connecting part is connected to a fixed connecting member to transmit torque.

[0006] By adopting the above technical solution, a general flexspline structure is configured as a separate flexspline and torque transmission member by installing the torque transmission member, and the torque of the flexspline is transmitted to the outside by the torque transmission member. The torque transmission member has a deformable elastic portion provided therein to give the torque transmission member elasticity. This improves the flexibility of the flexspline when transmitting torque compared to conventional strain wave gear reducers, and further increases the effective meshing length between the ring-shaped internal gear and the ring-shaped external gear, allowing it to approach full tooth meshing, thereby improving the service life and safe torque transmission ability of the flexspline.

[0007] In a conventional wave gear reducer, when the flexspline deforms, the end of the flexspline that engages with the circular spline deforms slightly, while the side of the flexspline that is close to the flange portion deforms little. Therefore, in a conventional wave gear reducer, when the flexspline deforms, the axial cross section deforms into a coning shape, and when the wave generator of the conventional wave gear reducer uses a roller bearing, this increases loss in the flexspline. However, the new wave gear reducer used in the present application has a separator-type arrangement between the flexspline and the torque transmission member, which makes the degree of deformation at both ends similar when the flexspline elastically deforms, and uses the needle bearing or roller bearing to increase the supporting effect of the flexible bearing on the flexspline, thereby reducing loss that occurs when the flexspline elastically deforms and extending the service life of the flexspline.

[0008] Preferably, the torque output portion of the flexspline is coupled to the input connection portion of the torque transmission member by a coupling method including, but not limited to, welding, adhesive bonding, interference fit, spline connection, pressure contact and / or injection molded insert.

[0009] Preferably, the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

[0010] Preferably, the cross section of the deformable elastic portion has a shape including, but not limited to, a straight, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped, and / or O-shaped configuration; the deformable elastic portion includes at least one axial turn; and / or the cross section of the deformable elastic part comprises at least one layer in the radial direction; and / or The deformable elastic portion is a full circle that is integral in the circumferential direction or a full circle that is a combination of a plurality of arcs.

[0011] By adopting the above technical solution, the cross-sectional shape of the torque transmission member may adopt a combination of several of the above forms, or may be a combination of multiple torque transmission members with the same cross-sectional shape in multiple layers, or may be a complete circular structure formed by multiple arcs in the circumferential direction.

[0012] Preferably, the torque transmission member can be manufactured using alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material, but is not limited to these.

[0013] Preferably, the flexible bearing of the wave generator includes four main components: a bearing outer ring, a bearing inner ring, the rolling elements, and a retainer.

[0014] Preferably, the new wave gear reducer further includes a bearing, the bearing being composed of the circular spline, the fixed connecting member, and the rolling element provided between the circular spline and the fixed connecting member; Alternatively, the bearing includes a first collar, a rolling element, and a second collar, the first collar being connected to the circular spline, and the second collar being connected to the fixed connecting member.

[0015] The present application further provides a flexspline including two members, a flexspline and a torque transmission member, wherein: the flexspline has an external gear inserted between the circular spline and a wave generator, the flexspline is stretched around a non-standard circle by the wave generator and is used to partially mesh with the circular spline; The torque transmission member is coupled to the outer peripheral wall or the inner peripheral wall of the flexspline in the radial direction of the flexspline, with a first side edge of the torque transmission member being connected to the flexspline to receive torque, and a second side edge of the torque transmission member being connected to a fixed connecting member to transmit torque.

[0016] By adopting the above technical solution, the torque transmission member is provided with the deformable elastic portion, and therefore is easily deformed in the radial direction together with the flexspline, and can be used to transmit torque output from the flexspline.

[0017] Preferably, the torque transmission member is made of alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy, and / or resin material, and has elasticity, and is connected to the flexspline by welding, bonding, interference fit, pressure contact, and / or an insert by injection molding.

[0018] The present application further provides a robot employing any of the new wave gear reducers described above. [Effects of the Invention]

[0019] The beneficial effects of the present application are as follows: By providing a separator-type arrangement between the flexspline and the torque transmission member in the new wave gear reducer, the axial dimension of the flexspline is reduced, thereby maintaining the safety of the flexspline against deformation and the service life of the new wave gear reducer, while also reducing the axial dimension and weight of the entire new wave gear reducer, and increasing the effective meshing length between the flexspline and the circular spline, allowing meshing to approach the full tooth length, thereby improving the torque transmission capacity of the new wave gear reducer. [Brief explanation of the drawings]

[0020] In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative efforts. [Figure 1] FIG. 1 is a schematic diagram illustrating the assembly structure of a typical top hat type strain wave gear reducer. [Figure 2] FIG. 2 is a schematic diagram of the structure of a flexspline and a circular spline in the general top hat type strain wave gear reducer shown in FIG. 1. [Figure 3] FIG. 2 is a schematic diagram of the structure of the general top hat type strain wave gear reducer in FIG. 1 after the flexspline has elastically deformed. [Figure 4] FIG. 1 is a schematic diagram illustrating the assembly structure of a general cup-type strain wave gear reducer. [Figure 5] FIG. 5 is a schematic diagram of the structure of a flexspline and a circular spline in the general cup-type strain wave gear reducer shown in FIG. 4. [Figure 6] FIG. 5 is a schematic diagram of the structure of the general cup-type strain wave gear reducer in FIG. 4 after the flexspline has elastically deformed. [Figure 7]FIG. 1 is a schematic diagram of the structural assembly of a new wave gear reducer provided in an embodiment of the present application. [Figure 8] FIG. 1 is a schematic diagram of a first type of bearing in a new strain wave gear reducer provided in an embodiment of the present application. [Figure 9] 1 is a schematic diagram of two types of bearings in a new strain wave gear reducer provided in an embodiment of the present application. [Figure 10] FIG. 8 is a schematic diagram of the structure of the flexspline of the new strain wave gear reducer in FIG. 7. [Figure 11] FIG. 8 is a schematic diagram showing the structure of the torque transmission member of the new strain wave gear reducer in FIG. 7. [Figure 12] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is two. [Figure 13] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is three. [Figure 14] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is four. [Figure 15] FIG. 1 is a cross-sectional view of the assembly structure of a typical top hat type strain wave gear reducer. [Figure 16] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with a U-shaped cross section, and a flexible ball bearing, and the torque transmission member is located outside the flexspline. [Figure 17] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed outside the flexspline. [Figure 18]FIG. 1 is a schematic diagram of the cross-sectional structure of a new strain wave gear reducer provided in an embodiment of the present application, which employs a radial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible one-way roller bearing, and in which the torque transmission member is located outside the flexspline. [Figure 19] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible two-way roller bearing, and in which the torque transmission member is provided on the outside of the flexspline. [Figure 20] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses an axial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed outside the flexspline. [Figure 21] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with an S-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed outside the flexspline. [Figure 22] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with an S-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed inside the flexspline. [Figure 23] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member with a C-shaped cross section and a combined use method in a new wave gear reducer provided in an embodiment of the present application. [Figure 24] 1 is a schematic diagram of the cross-sectional structure of a V-shaped torque transmission member and a combined use method in a new wave gear reducer provided in an embodiment of the present application. [Figure 25] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an O-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 26]1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a double V-shaped cross section in the axial direction in a new wave gear reducer provided in an embodiment of the present application. [Figure 27] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member with a U-shaped cross section and a combined use method in a new wave gear reducer provided in an embodiment of the present application. [Figure 28] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an S-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 29] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an N-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 30] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a straight cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 31] FIG. 1 is a simulation diagram of the meshing state between the flexspline and the circular spline of a typical strain wave gear reducer. [Figure 32] FIG. 10 is a simulation diagram of the meshing state between the flexspline and the circular spline of the new wave gear reducer provided in the embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, all other embodiments that can be devised by those skilled in the art without any creative efforts belong to the scope of protection of the present application.

[0022] In the examples of the present application, when directional instructions (e.g., up, down, left, right, front, back, etc.) are used, the directional instructions are used only to interpret the relative positional relationships and movement status between components in a certain specific posture (as shown in the drawings), and when the specific posture changes, the directional instructions also change accordingly.

[0023] Furthermore, when the embodiments of the present application refer to "first," "second," etc., it should be understood that the terms "first," "second," etc. are for descriptive purposes only and do not indicate or imply the relative importance or the number of technical features indicated. Accordingly, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. Furthermore, the technical solutions of each embodiment may be combined with each other if feasible by a person skilled in the art. If a combination of technical solutions contradicts or is not feasible, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by the present application.

[0024] As shown in Figures 7 to 11, the present application provides a new wave gear reducer, where, as shown in Figure 7, the new wave gear reducer includes four basic components: a circular spline 150, a flexspline 140, a wave generator 100, and a torque transmission member 130.

[0025] Of these, the circular spline 150 has a ring-shaped internal gear 151 formed along the circumferential surface.

[0026] As shown in Figures 12, 13 and 14, the wave generator 100 includes a cam 110 having N protruding portions that rotate around an axis, and a flexible bearing 120 coupled to the outer circumferential surface of the cam 110, the rolling elements 121 of the flexible bearing 120 can be realized by using balls 122, needles or rollers 123, where N is an integer greater than or equal to 2, and the wave generator 100 is inserted into a circular spline 150.

[0027] The flexspline 140 has a ring-shaped external gear 146 formed along its outer peripheral surface, the number of teeth of the ring-shaped external gear 146 being smaller than the number of teeth of the ring-shaped internal gear 151, the flexspline 140 has a torque output section 147 adjacent to the ring-shaped external gear 146 along the axial direction, the flexspline 140 is inserted between the circular spline 150 and the wave generator 100, and the inner peripheral side of the flexspline 140 is fitted into the outer peripheral side of the wave generator 100 and deforms, thereby causing the external gear of the flexspline 140 and the internal gear of the circular spline 150 to partially mesh together.

[0028] The torque transmission member 130 is distributed around the axis along the circumferential direction of the inner or outer circumference of the torque output portion 147, and includes an input connecting portion 131, a deformable elastic portion 132, and an output connecting portion 133. The input connecting portion 131 is connected to the outer or inner circumference of the torque output portion 147 to receive torque, and the output connecting portion 133 is connected to the fixed connecting member 160 to transmit torque.

[0029] By adopting the above technical solution, the torque transmission member 130 is installed so that the general flexspline 140 structure is installed as a separate flexspline 140 and torque transmission member 130, and the torque of the flexspline 140 is transmitted to the outside by the torque transmission member 130. The torque transmission member 130 is provided with a deformable elastic portion to give the torque transmission member 130 elasticity. Compared with conventional strain wave gear reducers, this improves the flexibility of the flexspline 140 when transmitting torque, and further increases the effective meshing length between the ring-shaped internal gear 151 and the ring-shaped external gear 146, allowing it to approach full tooth meshing, thereby improving the service life and safe torque transmission ability of the flexspline 140.

[0030] As shown in FIGS. 1 to 6, in a conventional wave gear reducer, when the flexspline 140 deforms, the end of the flexspline 140 that meshes with the circular spline 150 deforms slightly, and the side of the flexspline 140 that approaches the flange portion is less likely to deform. Therefore, in a conventional wave gear reducer, when the flexspline 140 deforms, the cross section in the axial direction deforms into a coning shape, and when the wave generator 100 of the conventional wave gear reducer uses a roller 123 bearing, the loss of the flexspline 140 increases. However, the new wave gear reducer used in this application uses a separator-type arrangement between the flexspline 140 and the torque transmission member 130 to make the degree of deformation at both ends of the flexspline 140 similar when the flexspline 140 elastically deforms, and uses needle bearings or roller 123 bearings to enhance the supporting effect of the flexible bearing 120 on the flexspline 140, thereby reducing the loss that occurs when the flexspline 140 elastically deforms and extending the service life of the flexspline 140.

[0031] As shown in Figures 1 to 6, in a typical hat-type wave gear reducer and a typical cup-type wave gear reducer, the flexspline 140 includes an external tooth portion 141 that meshes with the circular spline 150, a flexspline wall portion 142, a thin flange portion 143, and a fixed flange portion 144.

[0032] As shown in FIG. 15, FIG. 15 is a schematic cross-sectional view of a typical top hat type strain wave gear reducer currently available on the market.

[0033] As shown in Figures 31 and 32, the indicated areas in Figure 31 are actual meshing length section 170 of the conventional strain wave gear reducer and theoretical meshing length section 180 of the conventional strain wave gear reducer, and the indicated areas in Figure 32 are actual meshing length section 170 of the new type strain wave gear reducer and theoretical meshing length section 180 of the new type strain wave gear reducer. A comparison of the simulation diagrams shows that actual meshing length section 170 of the new type strain wave gear reducer is longer than actual meshing length section 170 of the conventional strain wave gear reducer. The new type strain wave gear reducer has a longer meshing length between the flexspline and circular spline than the conventional strain wave gear reducer, and can mesh with the entire tooth length, thereby improving the torque transmission capacity and transmission efficiency of the new type strain wave gear reducer. The new type strain wave gear reducer increases the meshing length between the flexspline 140 and the circular spline 150 under various load conditions.

[0034] The torque output portion 147 of the flexspline 140 is connected to the input connection portion 131 of the torque transmission member 130 by a connection method including, but not limited to, welding, adhesive bonding, interference fit, spline connection, pressure contact, and / or injection molding insert, and the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

[0035] As shown in Figures 23 to 30, the cross section of the deformable elastic portion 132 may have a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape, and the deformable elastic portion 132 may have at least one circumference in the axial direction, and / or the cross section of the deformable elastic portion 132 may have at least one layer in the radial direction, and / or the deformable elastic portion 132 may be a full circle that is integrated in the circumferential direction or a full circle that is a combination of multiple arcs.

[0036] The cross-sectional shape of the torque transmission member 130 may adopt a combination of several of the above forms, or may be a combination of multiple torque transmission members 130 of the same cross-sectional shape in multiple layers, or may be a complete circular structure formed by multiple arcs in the circumferential direction.

[0037] The torque transmission member 130 may be manufactured using, but is not limited to, alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material, and the torque transmission member 130 is manufactured using a material that can be processed to have an elastic deformation structure.

[0038] As shown in FIGS. 1 to 6, the flexible bearing 120 of the wave generator 100 includes four main components: a bearing outer ring 124, a bearing inner ring 125, rolling elements 121, and a retainer 126. Of these, the rolling elements 121 can be balls 122 or rollers 123. In the wave generator 100 used in a general wave gear reducer, when the flexspline 140 is deformed, the degree of deformation in the axial direction is uneven, so when the flexspline 140 is deformed, the cross section in the axial direction is deformed into a coning-shaped structure. Therefore, the flexible bearing 120 in a general wave gear reducer is made up of rollers 122 or rollers 123. If rollers 123 were used as rolling elements 121, the flexspline 140 would be prone to damage; however, the flexspline 140 in the new wave gear reducer provided in this application is designed with the deformable elastic portion 132 of the torque transmission member 130 so that the degree of deformation of the entire flexspline 140 is uniform when the flexspline 140 deforms; and using rollers 123 as rolling elements 121 of the flexible bearing 120 can improve the supporting effect of the flexible bearing 120 on the flexspline 140, reducing losses that occur when the flexspline 140 deforms and thereby extending the service life of the flexspline 140.

[0039] As shown in FIG. 8, the new wave gear reducer further includes a bearing, which is composed of a circular spline 150, a fixed connecting member 160, and a rolling element 121 provided between the circular spline 150 and the fixed connecting member 160. Alternatively, as shown in FIG. 9, the bearing includes a first collar 152, a rolling element 121, and a second collar 153, where the first collar 152 is connected to the circular spline 150 and the second collar 153 is connected to a fixed connecting member 160.

[0040] The present application further provides a flexspline, which includes two members, a flexspline 140 and a torque transmission member 130, of which the flexspline 140 has an external gear and is inserted between the circular spline 150 and the wave generator 100, and the flexspline 140 is stretched around a non-standard circle by the wave generator 100 to partially mesh with the circular spline 250.

[0041] The torque transmission member 130 is coupled to the outer peripheral wall or the inner peripheral wall of the flexspline 140 in the radial direction of the flexspline 140, a first side edge of the torque transmission member 130 is connected to the flexspline 140 to receive torque, and a second side edge of the torque transmission member 130 is connected to the fixed connecting member 160 to transmit torque. The torque transmission member 130 is designed with a deformable elastic portion 132, so that it is easily deformed in the radial direction together with the flexspline 140 and can be used to transmit torque output from the flexspline 140.

[0042] The torque transmission member 130 is made of alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy, and / or resin material, and has elasticity. The torque transmission member 130 is connected to the flexspline 140 by welding, bonding, interference fit, pressure contact, and / or an insert by injection molding.

[0043] The present application further provides a robot employing any of the new wave gear reducers described above.

[0044] Specific Example 1: As shown in Figures 16, 17, 18, 19 and 21, in the new wave gear reducer, the rotation of the wave generator 100 generates elastic deformation in the flexspline 140, and the flexspline 140 transmits torque outward through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 with the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible bearing 120, of which the flexible bearing 120 can be a needle bearing, a roller bearing 123 or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120, causing the flexspline 140 to deform, and torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing. Therefore, the radial cross bearing is directly used as the circular spline 150, and the torque transmission member 130 is connected to the outer wall of the end of the flexspline 140 away from the external gear. The fixed connecting member 160 may be a torque sensor for measuring the torque output from the torque transmission member 130. The fixed connecting member 160 is provided on one side of the bearing and connected to the torque transmission member 130. The cross section of the deformable elastic portion 132 of the torque transmission member 130 may be straight, U-shaped, S-shaped, V-shaped, N-shaped, The shapes may include, but are not limited to, a C-shape and / or an O-shape, and may be stacked in multiple layers along the axial direction or in multiple layers along the radial direction. By installing the flexspline 140 and the torque transmission member 130 in a separator-type configuration, the new wave gear reducer can reduce the axial height of the entire new wave gear reducer and reduce the weight of the new wave gear reducer while maintaining the safety of deformation and rotation of the flexspline 140 and its service life, thereby improving the transmission efficiency of the new wave gear reducer.

[0045] Specific Example 2: As shown in FIG. 20, in the new wave gear reducer, the rotation of the wave generator 100 generates elastic deformation in the flexspline 140, and the flexspline 140 transmits torque outward through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 with that of the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible bearing 120, of which the flexible bearing 120 can be adopted as a needle bearing, a roller 123 bearing or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120, causing the flexspline 140 to deform, and torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the axial cross bearing, so that the axial cross bearing can be directly used as the circular spline 150 to transmit torque. The extension member 130 is connected to the outer wall of the end of the flexspline 140 away from the external gear, and the fixed connecting member 160 may be a torque sensor for measuring the torque output from the torque transmission member 130. The fixed connecting member 160 is integral with an axial cross bearing and connected to one side of the torque transmission member 130. The cross section of the deformable elastic portion 132 of the torque transmission member 130 may have a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape, and may be formed in multiple shapes along the axial direction. They may be used in layers or stacked in multiple layers along the radial direction. By arranging the flexspline 140 and the torque transmission member 130 in a separator-type manner, the new wave gear reducer can reduce the axial height of the entire new wave gear reducer while maintaining the safety of deformation and rotation of the flexspline 140 and its service life. By arranging the fixed connecting member 160 and the axial cross bearing as one unit, the axial dimension of the entire new wave gear reducer can be further reduced, reducing the weight of the new wave gear reducer and thereby improving the transmission efficiency of the new wave gear reducer.

[0046] Specific Example 3: As shown in FIG. 22, in the new wave gear reducer, the rotation of the wave generator 100 causes elastic deformation in the flexspline 140, and the flexspline 140 transmits torque outward through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 with the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120, causing the flexspline 140 to deform. Torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing, and the radial cross bearing is directly used as the circular spline 150, and the torque transmission member 130 is attached to the inner wall of the end of the flexspline 140 away from the external gear. The fixed connecting member 160 is provided on one side of the radial cross bearing and is fitted onto the flexspline 140 to connect to the torque transmitting member 130. A transmission bearing is further provided between the fixed connecting member 160 and the cam 110 to improve the assembly stability of the fixed connecting member 160. The cross section of the deformable elastic portion 132 of the torque transmitting member 130 may have a shape including, but not limited to, a straight, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped, and / or O-shaped shape, and may be stacked in multiple layers along the axial direction or in multiple layers along the radial direction. The separator-type installation of the flexspline 140 and the torque transmitting member 130 allows the new wave gear reducer to reduce the axial height of the entire new wave gear reducer and reduce the weight of the new wave gear reducer, while maintaining the safety of deformation and rotation of the flexspline 140 and its service life.

[0047] As described above, the separator-type installation of the flexspline 140 and the torque transmission member 130 in the new wave gear reducer reduces the axial dimension of the flexspline 140, thereby maintaining the safety against deformation and service life of the flexspline 140 in the new wave gear reducer, while reducing the axial dimension and weight of the entire new wave gear reducer, increasing the effective meshing length between the flexspline 140 and the circular spline 150 and enabling meshing over the entire tooth length to be approached, thereby improving the torque transmission capacity of the new wave gear reducer.

[0048] The above are all preferred embodiments of the present application, and do not limit the scope of protection of the present application. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be included within the scope of protection of the present application. [Explanation of symbols]

[0049] 100...wave generator, 110...cam, 120...flexible bearing, 121...rolling element, 122...ball, 123...roller, 124...bearing outer ring, 125...bearing inner ring, 126...retainer, 130...torque transmission member, 131...input connecting portion, 132...deformable elastic portion, 133...output connecting portion, 140...flexspline, 141...external tooth portion, 142...flexspline wall portion, 143...thin flange portion, 144...fixed flange portion, 145...flexspline wall initial position, 146...ring-shaped external gear, 147...torque output portion, 150...circular spline, 151...ring-shaped internal gear, 152...first collar, 153...second collar, 160...fixed connecting member, 170...actual meshing length section, 180...theoretical meshing length section.

Claims

1. A new wave gear reducer including four members: a circular spline (150), a flexspline (140), a wave generator (100), and a torque transmission member (130), The circular spline (150) has a ring-shaped internal gear (151) formed along the inner peripheral surface, The wave generator (100) includes a cam (110) having N protrusions rotating around an axis, and a flexible bearing (120) coupled to the outer circumferential surface of the cam (110), the rolling elements of the flexible bearing (120) can be balls (122), needles, or rollers (123), and N of the N protrusions is an integer greater than or equal to 2. The wave generator (100) is inserted into the circular spline (150). The flexspline (140) has a ring-shaped external gear (146) formed along its outer circumferential surface, the number of teeth of the ring-shaped external gear (146) being smaller than the number of teeth of the ring-shaped internal gear (151), the flexspline (140) has a torque output portion (147) adjacent to the ring-shaped external gear (146) along the axial direction, the flexspline (140) is inserted between the circular spline (150) and the wave generator (100), and the inner circumferential side of the flexspline (140) is fitted with and deformed on the outer circumferential side of the wave generator (100), thereby partially meshing the external gear of the flexspline (140) with the internal gear of the circular spline (150), The torque transmission members (130) are distributed around the axis along the circumferential direction of the inner or outer circumference of the torque output part (147), and the torque transmission members (130) include an input connecting part (131), a deformable elastic part (132), and an output connecting part (133), the input connecting part (131) is coupled to the outer or inner circumference of the torque output part (147) to receive torque, and the output connecting part (133) is connected to a fixed connecting member (160) to transmit torque.

2. 2. The novel strain wave gear reducer according to claim 1, wherein the torque output portion (147) of the flexspline (140) is coupled to the input connection portion (131) of the torque transmission member (130), and the coupling method includes, but is not limited to, welding, adhesive bonding, interference fit, spline coupling, pressure contact, and / or injection molding inserts.

3. The new wave gear reducer according to claim 2, wherein the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

4. the cross section of the deformable elastic portion (132) may be shaped, including but not limited to, straight, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped, and / or O-shaped; The deformable elastic portion (132) includes at least one axial turn; and / or The cross section of the deformable elastic portion (132) comprises at least one layer in the radial direction, and / or The new wave gear reducer according to claim 1, wherein the deformable elastic portion (132) is a full circle that is integrated in the circumferential direction or a full circle that is a combination of multiple arcs.

5. 2. The strain wave gear reducer according to claim 1, wherein the torque transmission member (130) can be manufactured using, but is not limited to, alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material.

6. 2. The strain wave gear reducer according to claim 1, wherein the flexible bearing (120) of the wave generator (100) includes four main components: a bearing outer ring (124), a bearing inner ring (125), the rolling elements (121), and a retainer (126).

7. The new wave gear reducer further includes a bearing, the bearing being composed of the circular spline (150), the fixed connecting member (160), and the rolling element (121) provided between the circular spline (150) and the fixed connecting member (160); Alternatively, the new strain wave gear reducer according to claim 1, characterized in that the bearing includes a first collar (152), rolling elements (121), and a second collar (153), the first collar (152) being connected to the circular spline (150), and the second collar (153) being connected to the fixed connecting member (160).

8. A flexspline including two members, a flexspline (140) and a torque transmission member (130), The flexspline (140) is inserted between the circular spline (150) and the wave generator (100) and has an external gear, and the flexspline (140) is stretched around a non-standard circle by the wave generator (100) and is used to partially mesh with the circular spline (150); A flexspline characterized in that a torque transmission member (130) is connected to an outer peripheral wall or an inner peripheral wall of the flexspline (140) in the radial direction of the flexspline (140), a first side edge of the torque transmission member (130) is connected to the flexspline (140) to receive torque, and a second side edge of the torque transmission member (130) is connected to a fixed connecting member (160) to transmit torque.

9. The novel flexspline according to claim 8, characterized in that the torque transmission member (130) is manufactured using alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material, and has elasticity, and the torque transmission member (130) is connected to the flexspline (140) by welding, adhesive, interference fit, pressure contact and / or an insert by injection molding.

10. A robot employing the new strain wave gear reducer according to any one of claims 1 to 7.

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