CN102094959B - Flexible gear, harmonic speed reducer and joint structure of robot - Google Patents
Flexible gear, harmonic speed reducer and joint structure of robot Download PDFInfo
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- CN102094959B CN102094959B CN201110058242.2A CN201110058242A CN102094959B CN 102094959 B CN102094959 B CN 102094959B CN 201110058242 A CN201110058242 A CN 201110058242A CN 102094959 B CN102094959 B CN 102094959B
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Abstract
The invention discloses a flexible gear comprising an outer layer, an accumulation layer and an output shaft which are sequentially sleeved together from outside to inside, wherein the outer surface of the outer layer is provided with outer teeth; the accumulation layer comprises at least two lamellar structures capable of being radially deformed; the innermost layer of the accumulation layer is fixed on the output shaft; the outermost layers of the outer layer and the accumulation layer are connected together through connecting parts, and the layers of the accumulation layer are also connected together through connecting parts. In the invention, the deformation of the outermost layer of the flexible gear is supplied by multilayer deformation accumulation, deformation amount supplied by each middle layer can be reduced so that the length of a cylinder body is reduced, that is to say, the axial size of the flexible gear is reduced, therefore a harmonic speed reducer adopting the flexible gear can be more compact; in addition, the output shaft and the flexible gear are of an integral structure or rigid solidification without a tooth-meshed output link of an annular flexible gear, therefore the return difference of the harmonic speed reducer is favorably reduced, and the transmission efficiency is enhanced.
Description
Technical field
The present invention relates to a kind of flexbile gear, harmonic speed reducer and robot joint structure.
Background technique
Harmonic reduction transmission is a kind of novel mechanical transmission that relies on controlled elasticity that flexible gear produces to be out of shape to transmit motion and power.As depicted in figs. 1 and 2, its basic building block comprises oval-shaped wave-generator 1, the flexbile gear 2 of thin-wall barrel shape and the firm wheel 3 that has fine rigidity.When wave-generator 1 rotates, force flexbile gear 2 to produce resiliently deformable, its tooth is interacted with just taking turns 3 teeth, thereby realize the object of transmission.
The needs that the inherent characteristics of harmonic reduction transmission needs and manufactures, first manufacture flexbile gear thin walled cylinder tubbiness conventionally.When flexbile gear and wave-generator, after just wheel combination has been joined, the circular end of engagement of flexbile gear will be forced and become ellipse by oval-shaped wave-generator.
In the research and practice process to prior art, the present inventor finds, in above-mentioned prior art: the output terminal of cup-shape flexspline is owing to adopting closing structure, there is very high radial rigidity, be difficult to distortion, and the end of engagement of flexbile gear has radial compliance, easily deformable, therefore the thin walled cylinder that connects two ends in flexbile gear structure must possess compared with big-length, just can make end of engagement have deformability.This further reduces to produce restriction to the whole axial dimension of harmonic speed reducer, makes retarder be difficult to adapt to the exigent occasion of compact structure.
Summary of the invention
In order to solve the thin walled cylinder that connects two ends in prior art in flexbile gear structure, must possess compared with big-length, just can make end of engagement have the problem of deformability, the embodiment of the present invention provides a kind of flexbile gear, harmonic speed reducer and robot joint structure.
The embodiment of the present invention provides a kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, described accumulation layer comprises at least two-layer stratiform structure that can radial deformation, the innermost layer of described accumulation layer is fixed on described output shaft, between described skin and the outermost surface of accumulation layer and between each layer of accumulation layer, by joint, links together.
The embodiment of the present invention also provides a kind of harmonic speed reducer, comprising:
Firm wheel, flexbile gear described above and waveform generator,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
The embodiment of the present invention also provides a kind of robot joint structure, comprise housing, motor and above-mentioned harmonic speed reducer, described motor and described harmonic speed reducer are positioned at described housing, described motor is connected with the input shaft of harmonic speed reducer, drives described harmonic speed reducer to realize joint of robot by output shaft and rotates.
The embodiment of the present invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle every one deck provides can reduce, cylindrical shell length is reduced, that is flexbile gear axial dimension reduce, therefore adopt the harmonic speed reducer of this flexbile gear can accomplish compacter; Simultaneously output shaft, with flexbile gear is structure as a whole or rigidity is fixed, does not have the tooth of ring-shape flexspline to nibble output element, is conducive to reduce the return difference of retarder, increase transmission efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.Wherein
Fig. 1 has shown a kind of plan view of harmonic speed reducer in prior art;
Fig. 2 has shown the side sectional view of Fig. 1;
Fig. 3 has shown the embodiment of the present invention one flexbile gear side structure sectional view;
Fig. 4 has shown the embodiment of the present invention one flexbile gear plan view;
Fig. 5 has shown the embodiment of the present invention two flexbile gear side structure sectional views;
Fig. 6 has shown the embodiment of the present invention two flexbile gear plan views;
Fig. 7 has shown the embodiment of the present invention three flexbile gear side structure sectional views;
Fig. 8 has shown the embodiment of the present invention three flexbile gear plan views;
Fig. 9 has shown the embodiment of the present invention four flexbile gear side structure sectional views;
Figure 10 has shown the embodiment of the present invention four flexbile gear plan views;
Figure 11 has shown the embodiment of the present invention five flexbile gear side structure sectional views;
Figure 12 has shown the embodiment of the present invention five flexbile gear plan views;
Figure 13 has shown the embodiment of the present invention six flexbile gear accumulation layer plan views;
Figure 14 has shown 61 kinds of mode of execution flexbile gear plan views of the embodiment of the present invention;
Figure 15 has shown the another kind of mode of execution flexbile gear of the embodiment of the present invention six plan view.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technological scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment who obtains under creative work prerequisite, belong to the scope of protection of the invention.
A kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, described accumulation layer comprises at least two-layer stratiform structure that can radial deformation, the innermost layer of described accumulation layer is fixed on described output shaft, between described skin and the outermost surface of accumulation layer and between each layer of accumulation layer, by joint, links together.
Between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed at least three joints.
Embodiment one
The embodiment of the present invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises at least two-layer coaxial cylinders being parallel to each other, described accumulation layer is enclosed within on described output shaft, between described skin and accumulation layer and between each layer of accumulation layer, by joint, links together.
On annulus between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed three joints, described joint is successively alternately connected to the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 3 and Figure 4, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, on the formed annulus in one end of one end of described first layer cylinder 21 and skin 1, be uniformly distributed three identical joints, one of them joint is the first joint 31, described second layer cylinder 22 is positioned at described first layer cylinder 21, on the annulus of described first layer cylinder 21 away from one end of the first joint 31 and one end of second layer cylinder 22 formation, be uniformly distributed three identical joints, one of them joint is the second joint 32, on the annulus of described second layer cylinder 22 away from one end of the second joint 32 and one end of the 3rd layer of cylinder 23 formation, be uniformly distributed three identical joints, one of them joint is the 3rd joint 33, on the annulus of described the 3rd layer of cylinder 23 away from one end of the 3rd joint 33 and one end of the 4th layer of cylinder 24 formation, be uniformly distributed three identical joints, one of them joint is the 4th joint 34, on the annulus of described the 4th layer of cylinder 24 away from one end of the 4th joint 34 and one end of layer 5 cylinder 25 formation, be uniformly distributed three identical joints, one of them joint is the 5th joint 35, described layer 5 cylindrical sleeve and be fixed on output shaft 3.
Medial axis being projected on same straight line in same level of described the first joint 31, the second joint 32, the 3rd joint 33, the 4th joint 34 and the 5th joint 35.
Angle between formed three straight lines of the projection of the medial axis of described joint in same level is 120 degree.
The embodiment of the present invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle every one deck provides can reduce, cylindrical shell length is reduced, that is flexbile gear axial dimension reduce, therefore adopt the harmonic speed reducer of this flexbile gear can accomplish compacter; Simultaneously output shaft, with flexbile gear is structure as a whole or rigidity is fixed, does not have the tooth of ring-shape flexspline to nibble output element, is conducive to reduce the return difference of retarder, increase transmission efficiency.
Embodiment two
The embodiment of the present invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises at least two-layer coaxial cylinders being parallel to each other, described accumulation layer is enclosed within on described output shaft, between described skin and accumulation layer and between each layer of accumulation layer, by joint, links together.
On annulus between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed four joints, described joint is successively alternately connected to the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 5 and Figure 6, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, on the formed annulus in one end of one end of described first layer cylinder 21 and skin 1, be uniformly distributed four identical joints, one of them joint is the first joint 41, described second layer cylinder 22 is positioned at described first layer cylinder 21, on the annulus of described first layer cylinder 21 away from one end of the first joint 41 and one end of second layer cylinder 22 formation, be uniformly distributed four identical joints, one of them joint is the second joint 42, on the annulus of described second layer cylinder 22 away from one end of the second joint 42 and one end of the 3rd layer of cylinder 23 formation, be uniformly distributed four identical joints, one of them joint is the 3rd joint 43, on the annulus of described the 3rd layer of cylinder 23 away from one end of the 3rd joint 43 and one end of the 4th layer of cylinder 24 formation, be uniformly distributed four identical joints, one of them joint is the 4th joint 44, on the annulus of described the 4th layer of cylinder 24 away from one end of the 4th joint 44 and one end of layer 5 cylinder 25 formation, be uniformly distributed four identical joints, one of them joint is the 5th joint 45, described layer 5 cylindrical sleeve and be fixed on output shaft 3.
Medial axis being projected on same straight line in same level of described the first joint 41, the second joint 42, the 3rd joint 43, the 4th joint 44 and the 5th joint 45.
It is 90 degree that the projection of described joint medial axis in same level forms four angles between straight line.
The embodiment of the present invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle every one deck provides can reduce, cylindrical shell length is reduced, that is flexbile gear axial dimension reduce, therefore adopt the harmonic speed reducer of this flexbile gear can accomplish compacter; Simultaneously output shaft, with flexbile gear is structure as a whole or rigidity is fixed, does not have the tooth of ring-shape flexspline to nibble output element, is conducive to reduce the return difference of retarder, increase transmission efficiency.
Embodiment three
The embodiment of the present invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises at least two-layer coaxial cylinders being parallel to each other, described accumulation layer is enclosed within on described output shaft, between described skin and accumulation layer and between each layer of accumulation layer, by joint, links together.
On annulus between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed six joints, described joint is alternately connected to the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 7 and Figure 8, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, on the formed annulus in one end of one end of described first layer cylinder 21 and skin 1, be uniformly distributed six identical joints, one of them joint is the first joint 51, described second layer cylinder 22 is positioned at described first layer cylinder 21, on the annulus of described first layer cylinder 21 away from one end of the first joint 51 and one end of second layer cylinder 22 formation, be uniformly distributed six identical joints, one of them joint is the second joint 52, on the annulus of described second layer cylinder 22 away from one end of the second joint 52 and one end of the 3rd layer of cylinder 23 formation, be uniformly distributed six identical joints, one of them joint is the 3rd joint 53, on the annulus of described the 3rd layer of cylinder 23 away from one end of the 3rd joint 53 and one end of the 4th layer of cylinder 24 formation, be uniformly distributed six identical joints, one of them joint is the 4th joint 54, on the annulus of described the 4th layer of cylinder 24 away from one end of the 4th joint 54 and one end of layer 5 cylinder 25 formation, be uniformly distributed six identical joints, one of them joint is the 5th joint 55, described layer 5 cylindrical sleeve and be fixed on output shaft 3.
Medial axis being projected on same straight line in same level of described the first joint 51, the second joint 52, the 3rd joint 53, the 4th joint 54 and the 5th joint 55.
It is 60 degree that the projection of the medial axis of described joint in same level forms six angles between straight line.
The embodiment of the present invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle every one deck provides can reduce, cylindrical shell length is reduced, that is flexbile gear axial dimension reduce, therefore adopt the harmonic speed reducer of this flexbile gear can accomplish compacter; Simultaneously output shaft, with flexbile gear is structure as a whole or rigidity is fixed, does not have the tooth of ring-shape flexspline to nibble output element, is conducive to reduce the return difference of retarder, increase transmission efficiency.
Embodiment four
The embodiment of the present invention provides a kind of flexbile gear, comprise skin 1, accumulation layer 2 and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises at least two-layer coaxial cylinders being parallel to each other, described accumulation layer is enclosed within on described output shaft, between described skin and accumulation layer and between each layer of accumulation layer, by joint, links together.
On annulus between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed four joints, described joint is alternately connected to the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, as shown in Figure 9 and Figure 10, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, on the formed annulus in one end of one end of described first layer cylinder 21 and skin 1, be uniformly distributed four identical joints, one of them joint is the first joint 61, described second layer cylinder 22 is positioned at described first layer cylinder 21, on the annulus of described first layer cylinder 21 away from one end of the first joint 61 and one end of second layer cylinder 22 formation, be uniformly distributed four identical joints, one of them joint is the second joint 62, on the annulus of described second layer cylinder 22 away from one end of the second joint 62 and one end of the 3rd layer of cylinder 23 formation, be uniformly distributed four identical joints, one of them joint is the 3rd joint 63, on the annulus of described the 3rd layer of cylinder 23 away from one end of the 3rd joint 63 and one end of the 4th layer of cylinder 24 formation, be uniformly distributed four identical joints, one of them joint is the 4th joint 64, on the annulus of described the 4th layer of cylinder 24 away from one end of the 4th joint 64 and one end of layer 5 cylinder 25 formation, be uniformly distributed four identical joints, one of them joint is the 5th joint 65, described layer 5 cylindrical sleeve and be fixed on output shaft 3.
Medial axis being projected on same straight line in same level of described the first joint 61, the 3rd joint 63 and the 5th joint 65.
Medial axis being projected on same straight line in same level of described the second joint 62 and the 4th joint 64.
It is 45 degree that the projection of described joint in same level forms eight angles between straight line.
The embodiment of the present invention adopts multilayer distortion accumulation to provide flexbile gear outermost distortion, the amount of deformation that middle every one deck provides can reduce, cylindrical shell length is reduced, that is flexbile gear axial dimension reduce, therefore adopt the harmonic speed reducer of this flexbile gear can accomplish compacter; Simultaneously output shaft, with flexbile gear is structure as a whole or rigidity is fixed, does not have the tooth of ring-shape flexspline to nibble output element, is conducive to reduce the return difference of retarder, increase transmission efficiency.
Embodiment five
The embodiment of the present invention provides a kind of flexbile gear, comprise skin 1, accumulation layer and output shaft 3, described outer outer surface is provided with external teeth 4, described accumulation layer comprises at least two-layer coaxial cylinders being parallel to each other, described accumulation layer is enclosed within on described output shaft, between described skin and accumulation layer and between each layer of accumulation layer, by joint, links together.
On annulus between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed at least three joints, described joint is successively alternately connected to the edge of annulus between each layer.
Described accumulation layer comprises five layers of coaxial circles that is parallel to each other and is nested together, cylinder is as shown in Figure 11 and Figure 12, comprise first layer cylinder 21, second layer cylinder 22, the 3rd layer of cylinder 23, the 4th layer of cylinder 24 and layer 5 cylinder 25, on the formed annulus in one end of one end of described first layer cylinder 21 and skin 1, be uniformly distributed six identical joints, one of them joint is the first joint 71, described second layer cylinder 22 is positioned at described first layer cylinder 21, on the annulus of described first layer cylinder 21 away from one end of the first joint 71 and one end of second layer cylinder 22 formation, be uniformly distributed six identical joints, one of them joint is the second joint 72, on the annulus of described second layer cylinder 22 away from one end of the second joint 72 and one end of the 3rd layer of cylinder 23 formation, be uniformly distributed six identical joints, one of them joint is the 3rd joint 73, on the annulus of described the 3rd layer of cylinder 23 away from one end of the 3rd joint 73 and one end of the 4th layer of cylinder 24 formation, be uniformly distributed three identical joints, one of them joint is the 4th joint 74, on the annulus of described the 4th layer of cylinder 24 away from one end of the 4th joint 74 and one end of layer 5 cylinder 25 formation, be uniformly distributed three identical joints, one of them joint is the 5th joint 75, described layer 5 cylindrical sleeve and be fixed on output shaft 3.
Medial axis being projected on same straight line in same level of described the first joint 71, the second joint 72, the 3rd joint 73, the 4th joint 74 and the 5th joint 75.
It is 60 degree that the projection of described joint in same level forms six angles between straight line.
Embodiment six
A kind of flexbile gear, comprise the skin, accumulation layer and the output shaft that are nested together successively from outside to inside, described outer outer surface is provided with external teeth, described accumulation layer comprises at least two-layer stratiform structure that can radial deformation, the innermost layer of described accumulation layer is fixed on described output shaft, between described skin and the outermost surface of accumulation layer and between each layer of accumulation layer, by joint, links together.
As shown in figure 13, layered body be oval, square or other can radial deformation irregular figure.
Another kind of mode of execution, as shown in figure 14, connects by circular-arc joint between described accumulation layer lamina.
Another kind of mode of execution, as shown in figure 15, described accumulation layer lamina and joint are stepped.
Embodiment seven
A harmonic speed reducer, is characterized in that: comprising:
Just wheel, if embodiment one is to flexbile gear and waveform generator as described in embodiment six,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
Embodiment eight
A kind of robot joint structure, comprise housing, motor and the harmonic speed reducer as described in embodiment seven, described motor and described harmonic speed reducer are positioned at described housing, described motor is connected with the input shaft of harmonic speed reducer, drives described harmonic speed reducer to realize joint of robot by output shaft and rotates.
The embodiment of the present invention couples together each accumulation layer, skin and output shaft by joint.Linkage structure need to guarantee not limit ability and the energy of deformation from inside to outside effectively transmission between each layer that each accumulation layer produces radial deformation.Linkage structure between two-layer is arranged in one end, and the other end is decontroled and made it free deformation; Linkage structure interlaced arrangement between each layer, can be delivered on one deck in the outer part by linkage structure the distortion of one deck in the inner part between adjacent accumulation layer.Joint between each layer leaves space on circumference while arranging, linkage structure itself should possess certain width simultaneously, so that torsional strength and the rigidity of transmitting torque to be provided.Or joint can also be full of whole circumference, because flexbile gear is operated in moderate finite deformation state, and bear alternating stress, for improving its fatigue strength, linkage structure and each layer of connecting part should be left compared with Rouno Cormer Pregrinding Wheel, reduce stress and concentrate.
It is worth mentioning that, in above embodiment, different structure characteristic (example multiple Placement described above) can be used in combination mutually, is not limited to shown in each accompanying drawing.
At above-described embodiment, only the present invention is carried out to exemplary description, but those skilled in the art carry out various modifications to the present invention without departing from the spirit and scope of the present invention after reading present patent application.
Claims (9)
1. a flexbile gear, it is characterized in that: comprise the skin being nested together successively from outside to inside, accumulation layer and output shaft, described outer outer surface is provided with external teeth, described accumulation layer comprises at least two-layer stratiform structure that can radial deformation, layered structure is cylinder, described cylinder is parallel to each other and coaxially arranges, the innermost layer of described accumulation layer is fixed on described output shaft, between described skin and the outermost surface of accumulation layer and between each layer of accumulation layer, by joint, link together, between described skin and accumulation layer outermost surface and between each layer of accumulation layer, be uniformly distributed at least three joints, described joint is successively alternately connected to the edge between each layer,
Described accumulation layer comprises five layers of coaxial cylinders that is parallel to each other and is nested together, comprise first layer cylinder, second layer cylinder, the 3rd layer of cylinder, the 4th layer of cylinder and layer 5 cylinder, on the formed annulus in one end of described first layer cylinder and outer field one end, be uniformly distributed at least three identical joints, one of them joint is the first joint, described second layer cylinder is positioned at described first layer cylinder, on the annulus of described first layer cylinder away from one end of the first joint and one end of second layer cylinder formation, be uniformly distributed at least three identical joints, one of them joint is the second joint, on the annulus of described second layer cylinder away from one end of the second joint and one end of the 3rd layer of cylinder formation, be uniformly distributed at least three identical joints, one of them joint is the 3rd joint, on the annulus of described the 3rd layer of cylinder away from one end of the 3rd joint and one end of the 4th layer of cylinder formation, be uniformly distributed at least three identical joints, one of them joint is the 4th joint, on the annulus of described the 4th layer of cylinder away from one end of the 4th joint and one end of layer 5 cylinder formation, be uniformly distributed at least three identical joints, one of them joint is the 5th joint, described layer 5 cylindrical sleeve and be fixed on output shaft,
The medial axis of described the first joint, the second joint, the 3rd joint, the 4th joint and the 5th joint being projected on same straight line in same level;
Or
The medial axis of described the first joint, the 3rd joint and the 5th joint being projected on same straight line in same level, the medial axis of described the second joint and the 4th joint being projected on same straight line in same level.
2. flexbile gear according to claim 1, it is characterized in that: between described skin and accumulation layer outermost surface and between each layer of accumulation layer, be uniformly distributed three joints, equally distributed three joints are successively alternately connected to the edge between each layer between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
3. flexbile gear according to claim 2, is characterized in that: the projection formed angle of the medial axis of equally distributed three joints in same level is 120 degree between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
4. flexbile gear according to claim 1, it is characterized in that: between described skin and accumulation layer outermost surface and between each layer of accumulation layer, be uniformly distributed four joints, equally distributed four joints are successively alternately connected to the edge between each layer between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
5. flexbile gear according to claim 4, is characterized in that: the projection formed angle of the medial axis of equally distributed four joints in same level is 90 degree between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
6. flexbile gear according to claim 1, it is characterized in that: between described skin and accumulation layer and between each layer of accumulation layer, be uniformly distributed six joints, equally distributed six joints are successively alternately connected to the edge between each layer between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
7. flexbile gear according to claim 6, is characterized in that: the projection formed angle of the medial axis of equally distributed six joints in same level is 60 degree between described skin and accumulation layer outermost surface and between each layer of accumulation layer.
8. a harmonic speed reducer, is characterized in that: comprising:
Just wheel, as weighed flexbile gear and the waveform generator as described in 1 to 7 any one,
Described waveform generator is used for that described flexbile gear is bent to ellipse to be made it and described firm wheel engagement.
9. a robot joint structure, comprise housing, motor and as weighed the harmonic speed reducer as described in 8, described motor and described harmonic speed reducer are positioned at described housing, described motor is connected with the input shaft of harmonic speed reducer, drives described harmonic speed reducer to realize joint of robot by output shaft and rotates.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110058242.2A CN102094959B (en) | 2011-03-11 | 2011-03-11 | Flexible gear, harmonic speed reducer and joint structure of robot |
| PCT/CN2012/070541 WO2012103786A1 (en) | 2011-02-01 | 2012-01-18 | Flexspline, harmonic reducer and robot joint structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110058242.2A CN102094959B (en) | 2011-03-11 | 2011-03-11 | Flexible gear, harmonic speed reducer and joint structure of robot |
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| CN102094959A CN102094959A (en) | 2011-06-15 |
| CN102094959B true CN102094959B (en) | 2014-03-12 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| CN103671727A (en) * | 2013-11-28 | 2014-03-26 | 苏州绿的谐波传动科技有限公司 | Precision harmonic reducer |
| CN112706188B (en) * | 2019-10-24 | 2023-09-19 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
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| CN1436637A (en) * | 2003-03-13 | 2003-08-20 | 重庆大学 | Electrically resonant transverse joint of robot |
| CN201982606U (en) * | 2011-03-11 | 2011-09-21 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and robot joint structure |
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| JPS59205038A (en) * | 1983-05-04 | 1984-11-20 | Matsushita Electric Ind Co Ltd | Motive power transmission device of flexural engagement type |
| JPH08296704A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Harmonic type decelerating mechanism |
| JPH08296703A (en) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | Flexible spline for harmonic type decelerating mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3736540A1 (en) * | 1987-10-28 | 1989-05-24 | Gerhard Dr Huber | Compensating arrangement for epicyclic mechanisms |
| CN1436637A (en) * | 2003-03-13 | 2003-08-20 | 重庆大学 | Electrically resonant transverse joint of robot |
| CN201982606U (en) * | 2011-03-11 | 2011-09-21 | 北京配天大富精密机械有限公司 | Flexible gear, harmonic speed reducer and robot joint structure |
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| JP昭59-205038A 1984.11.20 |
| JP特开平8-296703A 1996.11.12 |
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