Flexible pin-tooth harmonic reducer

Abstract

A flexible pin-tooth harmonic reducer, comprising: a wave generator assembly (1), a flexible gear (2), and an inner gear assembly (3). The inner gear assembly (3) comprises an inner gear body (301), pin-tooth components (303), and a pin-tooth spacer sleeve (302). The pin-tooth components (303) are uniformly distributed in small holes on the inner gear body (301). The wave generator assembly (1) comprises a wave generator body (101) and a wave generator bearing (104). The wave generator bearing (104) is mounted between the wave generator body (101) and the flexible gear (2). The flexible gear (2) and the inner gear assembly (3) are connected by means of a flexible gear support bearing (5), so as to achieve coaxial movement. By means of the pin-tooth structure, the equidistant line or equivalent tooth profile of circular teeth of the inner gear is degenerated into a zero-radius circle or point, so that all teeth on the flexible gear (2) and the inner gear (3) can engage simultaneously. Moreover, rigid control grooves are provided on the inner gear body (301) to regulate the tangential rigidity of the inner teeth, so that all teeth can achieve simultaneous contact and controlled load uniformity even at low manufacturing precision, thereby improving the load-bearing capacity of the reducer, increasing the service life of the reducer, and reducing manufacturing precision requirements.

Description

A flexible pin-tooth harmonic reducer Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a flexible pin-tooth harmonic reducer. Background Art

[0002] Harmonic reducers are high-reduction-ratio reducers that have been very successfully applied in the robotics industry. They are characterized by compact structure, high transmission ratio, and low number of parts. However, this type of reducer also has a fatal flaw. Its gear tooth profile is typically composed of two curved lines, one on the left and one on the right. As shown in Figure 1, the double-arc tooth profile of the former Soviet Union, the S-shaped tooth profile of Japan, and the P-shaped tooth profile of Suzhou Green Co., Ltd., are prone to multiple interferences during structural design. Therefore, interference must be avoided by reducing the number of simultaneously meshing teeth. Although both the flex spline and the internal gear have a large number of teeth, only 20-30% of these teeth are in simultaneous contact. Increasing the number of simultaneously meshing teeth has become a key development direction for harmonic reducers. Furthermore, this multi-segment curved tooth profile design results in severe line contact sliding friction between the flex spline and the internal gear, which is prone to tooth wear. This not only limits the transmission efficiency of the reducer (currently generally less than 70%), but also severely restricts the reducer's operating life and load-bearing capacity.

[0003] In addition, the current harmonic reducer structure needs to improve the gear manufacturing accuracy to achieve multi-tooth engagement and load distribution, which will increase the reducer manufacturing cost. It is very important to find a harmonic reducer structure that can achieve load distribution and reduce costs.

[0004] Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a flexible pin-tooth harmonic reducer to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a flexible pin-tooth harmonic reducer, comprising a shock wave assembly, a flexible gear and an internal gear assembly; the flexible gear is located between the internal gear assembly and the shock wave assembly;

[0007] The internal gear assembly includes an internal gear body, a needle tooth assembly and a needle tooth spacer. The flexible gear is located inside the internal gear body. The needle tooth assembly is installed in a group of evenly distributed incomplete semicircular holes on the inner cylindrical surface of the internal gear body, and the needle tooth spacer is located at one end of the needle tooth assembly. The needle tooth spacer is used to block the needle tooth assembly from axial movement. Surface contact sliding is achieved between the needle tooth assembly and the group of incomplete semicircular holes on the internal gear body to reduce contact stress and wear between gear teeth. The needle tooth assembly and the flexible gear contact each other to achieve rolling friction to improve load-bearing capacity and transmission efficiency.

[0008] The shock wave assembly includes a shock wave body and a shock wave bearing. The shock wave body is located inside the flexible gear, and its outer shape is actually a cylindrical cam. The cam section line is an ellipse or other curve close to an ellipse. The tooth shape of the flexible gear can be adjusted by modifying the shape of the curve, or vice versa. The shock wave bearing is located on the cam structure surface outside the shock wave body and contacts the outer end of the inner surface of the flexible gear. When the shock wave body rotates, all the teeth of the flexible gear can be squeezed by the shock wave bearing to perform radial deformation movement. By making the tooth profile on the outer ring of the flexible gear, which has 2 or more fewer teeth than the internal gear assembly, contact with the pin tooth assembly on the internal gear assembly in turn and push the flexible gear to perform slow rotational movement relative to the internal gear assembly, the flexible gear can achieve a slight tangential rotation while achieving radial deformation, thereby forming a deceleration effect in which the rotation speed of the flexible gear is much lower than the rotation speed of the shock wave.

[0009] A flexible gear support bearing is provided at the outer end of the other side of the flexible gear, and is connected to the flexible gear and the internal gear assembly respectively through the flexible gear support bearing, thereby enabling the flexible gear and the internal gear assembly to achieve coaxial motion. Furthermore, by using a pin-tooth structure on the internal gear, the equivalent curve of the internal gear's cylindrical tooth profile is degenerated into a single point or a circle with a zero radius, thereby effectively resolving the multiple tooth profile interference problem that exists between the internal gear and the flexspline of the harmonic reducer due to the use of multi-segment curves. This allows all teeth on the flexible gear to engage with all teeth on the internal gear simultaneously, while increasing the number of meshing teeth from 20-30% of a conventional harmonic reducer to nearly 100%, thereby significantly improving the reducer's load-bearing capacity and reducing its size.

[0010] Preferably, a first shock wave bearing baffle is provided at the front end of the needle tooth assembly, and a first shock wave spring retaining ring is also provided at the front end of the first shock wave bearing baffle to prevent the needle tooth from moving axially in the incomplete small hole.

[0011] Preferably, second shock wave bearing baffles are respectively provided on the outer wall surfaces on both sides of the shock wave body, and second shock wave spring retaining rings are respectively provided on both sides of the second shock wave bearing baffles close to the axis to ensure the stability of the axial position of the shock wave bearing and the shock wave body.

[0012] Preferably, the contact area between the internal gear body and the flexible gear is also provided with the same number of rigid control grooves as the number of the needle tooth assemblies. The rigid control grooves are evenly distributed on the internal gear body and correspond to the number of teeth of the needle tooth assemblies in an interlaced manner.

[0013] Preferably, the tangential rigidity of the pinion assembly teeth is controlled by the rigidity control groove, and the actual shape and size of the rigidity control groove are adjusted according to the actual reducer rigidity and limit load, so as to achieve the uniformity of the load on each pinion tooth under a certain manufacturing accuracy.

[0014] Preferably, the flexible gear support bearing is respectively provided with a first connecting screw and a second connecting screw, and the first connecting screw is located at the outer ring of the flexible gear support bearing, and the second connecting screw is located at the inner ring of the flexible gear support bearing. The flexible gear support bearing is connected to the internal gear body through the first connecting screw, and the flexible gear support bearing is connected to the flexible gear through the second connecting screw.

[0015] Preferably, steel balls or rollers are arranged around the interior of the shock wave bearing.

[0016] Preferably, the flexible gear tooth profile curve passes through the intersection of the center line of the flexible gear teeth and the outer ring of the shock wave bearing. The arc length distance to the end point of the major axis or minor axis of the shock wave elliptical curve remains unchanged from the arc length distance of the two before deformation, and the center line of the tooth is perpendicular to the shock wave elliptical curve. The coordinate origin and coordinate axis of each tooth on the gear can be obtained, and then the tooth profile curve can be obtained according to the meshing principle.

[0017] Preferably, radial undercut grooves are provided between the needle tooth assembly and the internal gear body so that the needle teeth are supported at both ends and suspended in the middle. By appropriately reducing and controlling the radial rigidity of the needle teeth, the load uniformity of the contact between the needle tooth assembly and the multiple teeth of the flexible gear is regulated to improve the load-bearing capacity and effectively prevent jamming.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention proposes a flexible pin-tooth harmonic reducer, which changes the sliding friction between the internal gear and the flexspline teeth of the traditional harmonic reducer into rolling friction and surface contact sliding friction between the pin teeth and the incomplete cylindrical holes on the internal gear body. The large contact area between the pin teeth and the pin tooth housing is used to improve the working conditions of sliding friction, improve the traditional efficiency, significantly increase the load-bearing capacity and extend its service life. This solution is expected to increase the transmission efficiency of the harmonic reducer from below 70% to above 80%.

[0020] 2. The present invention proposes a scheme for grooving internal gears to achieve load balancing and reduce manufacturing precision requirements. By cutting stiffness control grooves with a certain shape and length on the internal gear, the stiffness of the internal gear teeth is reduced, and the stiffness is ensured to meet the design requirements under the rated load. At the same time, the manufacturing precision requirements of the reducer are reduced and the manufacturing cost of the harmonic reducer is further reduced.

[0021] 3. In this invention, the use of an internal gear with a pin-tooth structure allows the equivalent tooth profile of the internal gear's circular tooth curve to degenerate to a single point (the center of the pin-tooth). This avoids the various interference issues that arise when multiple tooth curves form a single tooth profile. Theoretically, all teeth on the flexspline can mesh simultaneously with all teeth on the internal gear, increasing the number of simultaneously meshing teeth by at least double that of a conventional harmonic reducer. The use of pin-tooth structures allows for simultaneous meshing of all teeth, significantly improving the reducer's load capacity. While maintaining the same load capacity, it is expected to further reduce the size and weight of the harmonic reducer, which has significant implications for the development of space robots and humanoid robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0023] In the attached figure:

[0024] Figure 1 is a schematic diagram of the tooth profiles of several typical harmonic reducers;

[0025] FIG2 is an axial cross-sectional view of the flexible pin-tooth harmonic reducer of the present invention;

[0026] FIG3 is a cross-sectional view of the flexible pin-tooth harmonic reducer of the present invention;

[0027] FIG4 is a schematic diagram of the initial position transmission principle of the flexible pin-tooth harmonic reducer of the present invention;

[0028] FIG5 is a schematic diagram of the transmission principle of the flexible pin-tooth harmonic reducer of the present invention at any position;

[0029] Numbers in the figure: 1. Shock wave assembly; 101. Shock wave body; 102. First shock wave spring retaining ring; 103. First shock wave bearing baffle; 104. Shock wave bearing; 2. Flexible gear; 3. Internal gear assembly; 301. Internal gear body; 302. Needle tooth spacer; 303. Needle tooth assembly; 304. Second shock wave spring retaining ring; 305. Second shock wave bearing baffle; 4. First connecting screw; 5. Flexible gear support bearing; 6. Second connecting screw. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] In the pin tooth structure used in the internal gear of a conventional cycloid pinwheel reducer, there is a semi-cylindrical mating surface between the pin teeth and the pin tooth housing. The pin teeth can slide relative to the semi-circular hole on the internal gear. Due to the large contact area between them, sliding friction with oil film isolation can be achieved when the gap is properly designed and the load is appropriate. At this time, although there is still line contact between the cycloid wheel and the pin teeth, the contact between the pin teeth and the cycloid wheel is rolling friction. This not only significantly improves the transmission efficiency of the reducer, but also reduces the sliding friction wear between the gear teeth of the internal gear and the flexible wheel.

[0032] Therefore, the present invention provides a flexible pin-tooth harmonic reducer, as shown in FIG2 and FIG3 , comprising a shock wave assembly 1, a flexible gear 2 and an internal gear assembly 3; the flexible gear is located between the internal gear assembly 3 and the shock wave assembly 1;

[0033] The internal gear assembly 3 includes an internal gear body 301, a needle tooth assembly 303 and a needle tooth spacer 302. The flexible gear 2 is located inside the internal gear body 301. The needle tooth assembly 303 is installed in a group of evenly distributed incomplete semicircular holes on the inner cylindrical surface of the internal gear body 301. The needle tooth gasket and spring retaining ring are used to prevent the needle teeth from moving axially in the needle tooth housing. A radial undercut groove is set between the needle tooth assembly 303 and the internal gear body 301 to support the needle teeth at both ends and suspend them in the middle. By appropriately reducing and controlling the radial rigidity of the needle teeth, the load uniformity of the multi-tooth contact between the needle tooth assembly 303 and the flexible gear 2 is adjusted to improve the load-bearing capacity and effectively prevent jamming. The needle tooth spacer 302 is located at one end of the needle tooth assembly 303. The needle tooth spacer 302 is used to block the needle tooth assembly 303 from axial movement. The front end of the needle tooth assembly 303 is provided with a first shock wave bearing baffle 103. The first shock wave bearing A first shock wave spring retaining ring 102 is also provided at the front end of the baffle 103 to prevent the needle teeth from moving axially in the incomplete small hole. The contact area between the internal gear body 301 and the flexible gear 2 is also provided with the same number of rigid control grooves as the needle tooth assembly 303. The rigid control grooves are evenly distributed on the internal gear body 301 and are staggered and correspond to the number of teeth of the needle tooth assembly 303. The tangential rigidity of the gear teeth of the needle tooth assembly 303 is controlled by the rigid control grooves, and the actual shape and size of the rigid control grooves are adjusted according to the actual reducer stiffness and limit load to achieve the uniformity of the load on each needle tooth under a certain manufacturing accuracy; surface contact sliding is achieved between the needle tooth assembly 303 and a group of incomplete semicircular small holes on the internal gear body 301 to reduce contact stress and wear between the gear teeth, and rolling friction is achieved between the mutual contact between the needle tooth assembly 303 and the flexible gear 2 to improve the load-bearing capacity and transmission efficiency.

[0034] The shock wave assembly 1 includes a shock wave body 101 and a shock wave bearing 104. The shock wave body 101 is located inside the flexible gear 2. Its shape is actually a cylindrical cam. Its cam section line is an ellipse or other curve close to an ellipse. The tooth shape of the flexible gear 2 can be adjusted by modifying the shape of the curve, or vice versa. The shock wave bearing 104 is located on the cam structure surface outside the shock wave body 101. Steel balls or rollers are arranged around the interior of the shock wave bearing 104 and are in contact with the outer end of the inner surface of the flexible gear 2. The outer wall surfaces on both sides of the shock wave body 101 are respectively provided with second shock wave bearing baffles 305. The second shock wave bearing baffles 305 are close to both sides of the axis. A second shock wave spring collar 304 is respectively provided to ensure the stability of the axial position of the shock wave bearing 104 and the shock wave body 101. When the shock wave body 101 rotates, all the gear teeth of the flexible gear 2 can be squeezed by the shock wave bearing 104 to perform radial deformation movement. By making the tooth profile on the outer ring of the flexible gear 2, which has two or more fewer teeth than the internal gear assembly 3, contact with the pin tooth assembly 303 on the internal gear assembly 3 in sequence and push the flexible gear 2 to perform slow rotational movement relative to the internal gear assembly 3, a slight tangential rotation is achieved while the flexible gear 2 realizes radial deformation, thereby forming a deceleration effect in which the speed of the flexible gear 2 is much lower than the speed of the shock wave;

[0035] A flexible gear support bearing 5 is provided at the outer end of the other side of the flexible gear 2, and is connected to the flexible gear 2 and the internal gear assembly 3 respectively through the flexible gear support bearing 5, so that the flexible gear 2 and the internal gear assembly 3 can achieve coaxial movement; a first connecting screw 4 and a second connecting screw 6 are respectively provided on the flexible gear support bearing 5, and the first connecting screw 4 is located on the outer ring of the flexible gear support bearing 5, and the second connecting screw 6 is located on the inner ring of the flexible gear support bearing 5. The flexible gear support bearing 5 is connected to the internal gear body 301 through the first connecting screw 4, and the flexible gear support bearing 5 is connected to the flexible gear 2 through the second connecting screw 6. The tooth profile curve of the flexible gear 2 passes through the intersection of the center line of the gear tooth of the flexible gear 2 and the outer ring of the shock wave bearing 104. The arc length distance from the intersection of the center line of the gear tooth to the end point of the major axis or minor axis of the shock wave elliptical curve remains unchanged from the arc length distance of the two before deformation, and the center line of the gear tooth is perpendicular to the shock wave elliptical curve. The coordinate origin and coordinate axis of each gear tooth on the gear can be obtained, and then the tooth profile curve can be obtained according to the meshing principle. By adopting a pin-tooth structure on the internal gear, the equivalent curve of the cylindrical tooth profile of the internal gear is degenerated into a point or a circle with a radius of zero, thereby effectively solving the problem of multiple tooth profile interference between the internal gear and the flexible wheel of the harmonic reducer due to the use of multi-segment curves, so that all teeth on the flexible gear 2 can mesh with all teeth on the internal gear at the same time, and the number of meshing teeth is increased from 20-30% of the traditional harmonic reducer to nearly 100%, thereby greatly improving the load-bearing capacity of the reducer and reducing its volume.

[0036] Figure 4 is the initial position transmission principle diagram of the flexible needle tooth harmonic reducer. 10 The outer contour of the shock wave generator body 101 is uniformly distributed with a row of steel balls or rollers with a radius of D1. The outer surface of the steel balls is provided with a flexible gear 2 with a thickness of H2. 20 is the tooth bottom curve S of flexible gear 2 20 , O 30 and R 30 are the initial center position and radius of the first pin tooth of the internal gear assembly 3, S 210 and S 21 They are the theoretical tooth shape and actual tooth shape of the first tooth of the flexible gear 2. Point P is the point on the first tooth of the flexible gear 2 located on the curve S 20 The point on the tooth is also the coordinate origin of the tooth, PX 41 -Y 41 is the local coordinate system of the gear tooth.

[0037] Figure 5 is a transmission principle diagram of the flexible pin-tooth harmonic reducer at any position. Assume that the flexible gear 2 does not rotate, the rotation angle of the shock wave assembly 1 relative to the flexible gear 2 is A1, and the rotation angle of the internal gear assembly 3 relative to the flexible gear 2 is A3. X1 and X3 are the positions of the X-axis coordinate axes of the shock wave assembly 2 and the internal gear assembly 3, respectively. R is the position of point P on the flexible gear 2 at this moment. The corresponding first gear tooth coordinate system is RX 42- Y 42 , O3 is the position of the center of the first pinion of the internal gear assembly 3 at that moment, S 220 and S 22 These are the theoretical and actual tooth profiles of the first tooth of flexible gear 2 at that moment, respectively. O1 is the intersection of flexible gear 2 with axis X1. This point is an endpoint of a segment of curve S2. Its position during the deformation of flexible gear 2 is always on axis X1 (although there are slight changes, these are negligible). Therefore, it can be regarded as a fixed point in the tooth profile, that is, its angular position is the same as its initial position. Assuming the circumference of the tooth bottom curve S2 of flexible gear 2 remains unchanged, the position of point R can be determined based on the arc length of its initial position relative to point O1.

[0038] In order to design a complete gear tooth profile, considering the symmetry of the tooth profile, the shock wave assembly 1 can be rotated 90 degrees relative to the flexible gear 2. In this interval, the motion trajectory of point R and the equation of the tangent line of the S2 curve at point R can be obtained, thereby obtaining the coordinate system RX 42- Y 42 Vector equations of each coordinate axis. Assuming that the tooth shape of the flexible gear 2 does not change significantly during the core process, the coordinate transformation can be used to obtain the point O3 in the coordinate system RX. 42- Y 42 The relative motion equation on the curve S 220 The equation is further based on S 22 With S 220 The equidistant relationship can further obtain the actual tooth shape S of the first tooth of the flexible gear 2 22 .

[0039] In addition, a solution symmetrical to the above-mentioned structural solution is to interchange the internal and external tooth structures, that is, the flexible gear teeth in Figures 2 and 3 are changed to needle teeth, and the internal gear is changed to a conventional gear, that is, a gear with integrated teeth and base, so as to further reduce the radial rigidity of the flexible gear 2 and reduce its requirements for material fatigue strength.

[0040] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A flexible pin-tooth harmonic reducer, characterized in that: It includes a vibration exciter assembly, a flexible gear, and an internal gear assembly; the flexible gear is located between the internal gear assembly and the vibration exciter assembly; The internal gear assembly includes an internal gear body, a pin tooth assembly, and a pin tooth spacer sleeve. The flexible gear is located inside the internal gear body; the pin tooth assembly is located in a group of uniformly distributed incomplete semi-circular small holes on the inner cylindrical surface of the internal gear body, and the pin tooth spacer sleeve is located at one end of the pin tooth assembly. The pin tooth spacer sleeve is used to prevent the pin tooth assembly from moving axially. The pin tooth assembly realizes surface contact sliding friction with the incomplete small holes on the internal gear body and rolling friction with the flexible gear to improve the load-bearing capacity and transmission efficiency; The vibration exciter assembly includes a vibration exciter body and a vibration exciter bearing. The vibration exciter body is located inside the flexible gear, and the vibration exciter bearing is located on the surface of the cam structure outside the vibration exciter body and contacts the outer end of the inner surface of the flexible gear. When the vibration exciter body rotates, it squeezes the flexible gear to make a radial deformation movement through the vibration exciter bearing. By making the tooth profiles on the outer ring of the flexible gear with 2 or more fewer teeth than the internal gear assembly sequentially contact the pin tooth assembly on the internal gear assembly and push the flexible gear to make a slow rotational movement relative to the internal gear assembly, a deceleration effect is formed; 2. The flexible pin-tooth harmonic reducer according to claim 1, wherein: On the outer end of the other side of the flexible gear, a flexible gear support bearing is provided, and the flexible gear and the internal gear assembly are respectively connected through the flexible gear support bearing, so that the flexible gear and the internal gear assembly realize coaxial movement. And by adopting a pin tooth structure, the cylindrical pin tooth profile of the internal gear degenerates into a point or a circle with a radius of zero, thereby solving the tooth profile interference between the internal gear and the flexible gear and enabling all the teeth on the flexible gear to mesh with all the teeth on the internal gear simultaneously.

3. A flexible pin-tooth harmonic reducer according to claim 1, characterized in that: A first vibration exciter bearing baffle is provided at the front end of the pin tooth assembly, and a first vibration exciter spring snap ring is simultaneously provided at the front end of the first vibration exciter bearing baffle to prevent the pin tooth assembly from moving axially relative to the internal gear body.

4. A flexible pin-tooth harmonic reducer according to claim 1, characterized in that: Second vibration exciter bearing baffles are respectively provided on the outer wall surfaces on both sides of the vibration exciter body, and second vibration exciter spring snap rings are respectively provided on both sides close to the axis of the second vibration exciter bearing baffles to ensure the axial position stability of the vibration exciter bearing and the vibration exciter body.

5. A flexible pin-tooth harmonic reducer according to claim 4, characterized in that: Rigid control grooves with the same number as the pin tooth assembly are provided in the contact area between the internal gear body and the flexible gear. The rigid control grooves are uniformly distributed on the internal gear body and are staggered with the number of teeth of the pin tooth assembly. The tangential rigidity of the pin teeth of the pin tooth assembly is controlled through the rigid control grooves, and the actual shape and size of the rigid control grooves are adjusted according to the actual stiffness and ultimate load of the reducer, so as to control the uniformity of the load on each pin tooth under a certain manufacturing accuracy.

6. A flexible pin-tooth harmonic reducer according to claim 1, wherein: The flexible gear support bearing is respectively provided with a first connecting screw and a second connecting screw. The first connecting screw is located on the outer ring of the flexible gear support bearing, and the second connecting screw is located on the inner ring of the flexible gear support bearing. The flexible gear support bearing is connected to the inner gear body through the first connecting screw, and the flexible gear support bearing is connected to the flexible gear through the second connecting screw.

7. A flexible pin-tooth harmonic reducer according to claim 1, characterized in that: Steel balls or rollers are arranged around the inside of the shaker bearing.

8. A flexible pin-tooth harmonic reducer according to claim 1, characterized in that: The tooth profile curve of the flexible gear is obtained by finding the coordinate origin and the coordinate axis direction on the gear according to the principle of constant arc length of the distance between the intersection point of the center line of the flexible gear tooth and the shaker curve and the endpoint of the long axis or short axis of the shaker curve, and the principle that the symmetric center line of the flexible gear tooth is perpendicular to the shaker curve.

9. A flexible pin-tooth harmonic reducer according to claim 1, characterized in that: Between the pin tooth assembly and the inner gear body, by setting a radial undercut groove to support both ends of the pin tooth and make the middle part suspended, and by appropriately reducing and controlling the radial rigidity of the pin tooth, the load uniformity of the multi-tooth contact between the pin tooth assembly and the flexible gear is regulated to improve the bearing capacity and effectively prevent the jamming phenomenon.

Images