CN114934991A - Wave generator subassembly, harmonic speed reducer ware and robot - Google Patents

Abstract

The invention provides a wave generator assembly, a harmonic reducer and a robot, wherein the wave generator assembly comprises: the rotating shaft comprises a shaft shoulder and two first shaft sections which are respectively positioned at two opposite sides of the shaft shoulder; the two eccentric disc assemblies are respectively sleeved on the two first shaft sections; each eccentric disc assembly comprises at least one eccentric disc, and a first bearing is sleeved on each eccentric disc; the center line of the outer peripheral surface of each eccentric disc is parallel to the rotating axis of the rotating shaft and is positioned on the same preset plane with the rotating axis, and the center line of the outer peripheral surface of one part of eccentric discs and the center line of the outer peripheral surface of the other part of eccentric discs are symmetrically arranged around the rotating axis; the long axis of the wave generator component is perpendicular to the rotation axis and is positioned on a preset plane, and the short axis of the wave generator component is perpendicular to the rotation axis and is perpendicular to the preset plane, so that the problem that the transmission performance of the harmonic reducer in the prior art is poor is solved.

Description

Wave generator subassembly, harmonic speed reducer ware and robot

Technical Field

The invention relates to the technical field of speed reducers, in particular to a wave generator assembly, a harmonic speed reducer and a robot.

Background

The harmonic reducer is developed by a wave deformation principle, belongs to a precise transmission device, and is widely applied to joint modules of industrial robots.

The harmonic reducer is generally composed of three large components, namely a flexible gear, a rigid gear and a wave generator, wherein the flexible gear is an elastic component and is sleeved on the wave generator to generate periodic elastic deformation under the action of the wave generator, and the deformation enables gear teeth of the flexible gear and gear teeth of the rigid gear to be meshed with each other, so that transmission of motion and torque is realized.

The wave generator in the prior art consists of a cam and a flexible bearing, the damage of the flexible bearing is the most common failure mode of the harmonic reducer, and the flexible bearing is caused by bearing radial load and alternating stress in the transmission process, the buses of cup-shaped, silk-hat-shaped and thin-cake-shaped flexible wheels can generate taper deformation along the axial direction under the action of the wave generator, the buses and the axial line are in parallel relation before deformation, and a certain included angle is generated between the buses and the axial line after deformation, namely, the taper is formed, so that the front section and the rear section of the flexible wheel teeth can not simultaneously meet the meshing position when the wheel teeth are designed, the meshing line of the flexible wheel along the tooth width direction is shortened, the abrasion of the wheel teeth is increased, and the transmission performance of the harmonic reducer is influenced.

Disclosure of Invention

The invention mainly aims to provide a wave generator assembly, a harmonic reducer and a robot, and aims to solve the problem that the transmission performance of the harmonic reducer in the prior art is poor.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a wave generator assembly comprising: the rotating shaft comprises a shaft shoulder and two first shaft sections which are respectively positioned at two opposite sides of the shaft shoulder, and the outer diameter of each first shaft section is smaller than that of the shaft shoulder; the two eccentric disc assemblies are respectively sleeved on the two first shaft sections; each eccentric disc assembly comprises at least one eccentric disc, the number of the eccentric discs in the two eccentric disc assemblies is equal, and each eccentric disc is sleeved with a first bearing to be connected with the flexible wheel assembly; the center line of the outer peripheral surface of each eccentric disc is parallel to the rotating axis of the rotating shaft and is positioned on the same preset plane with the rotating axis, and the center line of the outer peripheral surface of one part of eccentric discs and the center line of the outer peripheral surface of the other part of eccentric discs are symmetrically arranged around the rotating axis; the long axis of the wave generator component is perpendicular to the axis of the rotating shaft and is positioned on a preset plane, and the short axis of the wave generator component is perpendicular to the axis of the rotating shaft and is perpendicular to the preset plane.

Further, each of the eccentric disc assemblies includes an eccentric disc, the two eccentric disc assemblies are a first eccentric disc assembly and a second eccentric disc assembly, respectively, and a center line of an outer circumferential surface of the eccentric disc in the first eccentric disc assembly and a center line of an outer circumferential surface of the eccentric disc in the second eccentric disc assembly are symmetrically arranged with respect to the rotation axis; or each of the eccentric disc assemblies includes a plurality of eccentric discs, and the center lines of the outer circumferential surfaces of any adjacent two of the eccentric discs in each of the eccentric disc assemblies are symmetrically disposed about the rotation axis.

Further, the number of the eccentric discs in each eccentric disc assembly is two, the two eccentric discs are respectively a first eccentric disc and a second eccentric disc located on one side, far away from the shaft shoulder, of the first eccentric disc, and the center line of the outer peripheral surface of the first eccentric disc and the center line of the outer peripheral surface of the second eccentric disc in each eccentric disc assembly are located on two opposite sides of the rotation axis respectively.

Furthermore, the eccentric disc comprises an annular main body and an annular bulge arranged on the outer peripheral surface of the annular main body, the annular main body is sleeved on the rotating shaft, and the central line of the inner peripheral surface of the annular main body and the central line of the outer peripheral surface of the annular main body are parallel to each other and arranged at intervals; the annular bulge is positioned at one end of the annular main body far away from the shaft shoulder; a stop ring is arranged on the peripheral surface of one end of the annular main body close to the shaft shoulder; the annular main body, the annular bulge and the stop ring jointly enclose a first mounting space for mounting a corresponding first bearing; or the annular bulge is positioned at one end of the annular main body close to the shaft shoulder; the eccentric disc also comprises a first annular groove which is arranged on the outer peripheral surface of the annular main body and is positioned at one end of the annular main body, which is far away from the shaft shoulder, so as to install a first check ring; the annular main body, the annular protrusion and the first retainer ring jointly enclose a second mounting space for mounting the corresponding first bearing.

Furthermore, each first shaft section is provided with a second annular groove, and each second annular groove is located at one end, far away from the shaft shoulder, of the corresponding first shaft section and is used for mounting a second retaining ring; and each second retainer ring and the corresponding first shaft section and the shaft shoulder jointly form a third mounting space for mounting the corresponding eccentric disc assembly.

The rotating shaft further comprises two second shaft sections, the two second shaft sections and the two first shaft sections are arranged in a one-to-one correspondence mode, the outer diameter of each second shaft section is smaller than that of the corresponding first shaft section, each second shaft section is located on one side, far away from the shaft shoulder, of the corresponding first shaft section, the wave generator assembly further comprises two rigid bearings, the two rigid bearings and the two second shaft sections are arranged in a one-to-one correspondence mode, and each rigid bearing is sleeved on the corresponding second shaft section and used for being connected with the rigid wheel assembly; and/or the rotating shaft is a hollow shaft or a solid shaft.

According to a second aspect of the present invention, there is provided a harmonic reducer comprising: the wave generator component is the wave generator component; the flexible gear component is sleeved outside the wave generator component and is rotatably arranged relative to the wave generator component; and the rigid wheel assembly is sleeved outside the flexible wheel assembly and is rotatably connected with the wave generator assembly so as to be meshed with the flexible wheel assembly.

Furthermore, the flexible gear assembly comprises a hollow flexible gear and a flexible sleeve, the flexible sleeve is sleeved outside the first bearing of the wave generator assembly, the hollow flexible gear is sleeved outside the flexible sleeve and is connected with the first bearing through the flexible sleeve, and outer gear teeth are arranged on the outer peripheral surface of the hollow flexible gear.

Furthermore, the rigid wheel assembly comprises an end cover rigid wheel, a bearing rigid wheel and an end cover which are sequentially arranged along the rotation axis and are mutually connected, and outer gear teeth of the flexible wheel assembly are mutually meshed with inner gear teeth of the end cover rigid wheel and inner gear teeth of the bearing rigid wheel; one end of the end cover rigid wheel, which is far away from the bearing rigid wheel, is sleeved outside the rigid bearing at one end of the wave generator assembly, and one end of the end cover, which is far away from the bearing rigid wheel, is sleeved outside the rigid bearing at the other end of the wave generator assembly.

Further, the number of inner gear teeth on one of the end cover rigid wheel and the bearing rigid wheel is the same as that of outer gear teeth of the flexible gear component, and the number of inner gear teeth on the other one of the end cover rigid wheel and the bearing rigid wheel is larger than that of outer gear teeth of the flexible gear component; the bearing rigid wheel comprises a bearing outer ring and a bearing inner ring which are connected in a relatively rotating mode, inner gear teeth of the bearing rigid wheel are located on the bearing inner ring, the bearing outer ring is fixedly connected with the end cover rigid wheel, and the bearing inner ring is fixedly connected with the end cover.

According to a third aspect of the present invention, there is provided a robot comprising the harmonic reducer described above.

By applying the technical scheme of the invention, the wave generator assembly comprises: the rotating shaft comprises a shaft shoulder and two first shaft sections which are respectively positioned at two opposite sides of the shaft shoulder, and the outer diameter of each first shaft section is smaller than that of the shaft shoulder; the two eccentric disc assemblies are respectively sleeved on the two first shaft sections; each eccentric disc assembly comprises at least one eccentric disc, the number of the eccentric discs in the two eccentric disc assemblies is equal, and each eccentric disc is sleeved with a first bearing to be connected with the flexible wheel assembly; the center line of the outer peripheral surface of each eccentric disc is parallel to the rotating axis of the rotating shaft and is positioned on the same preset plane with the rotating axis, and the center line of the outer peripheral surface of one part of eccentric discs and the center line of the outer peripheral surface of the other part of eccentric discs are symmetrically arranged around the rotating axis; wherein the long axis of the wave generator assembly is perpendicular to the rotation axis and is located on the predetermined plane, and the short axis of the wave generator assembly is perpendicular to the rotation axis and is perpendicular to the predetermined plane. Thus, the wave generator component of the invention, which consists of the rotating shaft, each eccentric disc and the first bearing sleeved on each eccentric disc, has the function of the wave generator of the harmonic reducer in the prior art, and the first bearing is a common bearing rather than a flexible bearing, the flexible gear component is sleeved outside the first bearings and is contacted with each first bearing, so that the flexible gear component can generate fluctuation deformation (even if the section of the flexible gear component is changed from a circle to a non-circle) under the action of the wave generator component, and each section of the flexible gear along the axial direction has the same deformation in the same polar angle direction, full tooth width can be engaged, compared with the wave generator of the harmonic reducer in the prior art, the problem of aggravation of the damage of the bearing due to the fluctuation deformation of the flexible bearing is avoided, and the service life of the harmonic reducer is prolonged, the flexible gear component is reduced in the possibility of generating taper deformation, the length of an axial meshing line between gear teeth of the flexible gear component and the rigid gear component is increased, and the pressure caused by meshing force on the gear teeth is reduced under the working condition of transmitting the same torque, so that the abrasion of the gear teeth in the transmission process is reduced, the retention time of transmission precision is prolonged, and the problem that the transmission performance of a harmonic speed reducer in the prior art is poor is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

figure 1 shows a schematic structural view of an embodiment of a wave generator assembly according to the invention;

FIG. 2 shows a front view of the rotary shaft of the wave generator assembly shown in FIG. 1;

FIG. 3 illustrates a schematic structural view of a first eccentric disc assembly of the wave generator assembly shown in FIG. 1;

FIG. 4 illustrates a schematic structural view of a second eccentric disc assembly of the wave generator assembly shown in FIG. 1;

FIG. 5 illustrates a cross-sectional view of a harmonic reducer having the wave generator assembly shown in FIG. 1;

FIG. 6 illustrates an assembly view of the wave generator assembly and the flexspline assembly of the harmonic reducer of FIG. 5;

FIG. 7 shows an exploded view of a harmonic reducer having the wave generator assembly shown in FIG. 1;

FIG. 8 illustrates a schematic structural view of a flexspline assembly of the harmonic reducer of FIG. 7;

fig. 9 shows a schematic structural view of a rigid wheel assembly of the harmonic reducer shown in fig. 7.

Wherein the figures include the following reference numerals:

100. a wave generator assembly; 101. a rotating shaft; 1010. a rotational axis; 1011. a shaft shoulder; 1012. a first shaft section; 10121. a second annular groove; 10122. a first keyway; 10123. a second retainer ring; 1013. a second shaft section; 10131. a third annular groove; 10132. a third retainer ring; 1014. a third shaft section; 102. an eccentric disc assembly; 1020. an eccentric disc; 10201. a first eccentric disc; 10202. a second eccentric disc; 1021. a first eccentric disc assembly; 1022. a second eccentric disc assembly; 1023. an annular body; 1024. an annular projection; 1025. a first annular groove; 1026. a first retainer ring; 1027. a stop ring; 103. a first bearing; 104. a rigid bearing; 105. a flat bond;

200. a flexspline assembly; 201. a hollow flexible gear; 202. a flexible sleeve;

300. a rigid wheel assembly; 301. an end cover rigid wheel; 3011. a fourth annular groove; 3012. a fourth retainer ring; 302. a bearing rigid wheel; 3021. an outer race of the bearing; 3022. a bearing inner race; 303. an end cap; 304. a first fastener; 305. a second fastener; 306. a first seal ring; 307. a second seal ring;

400. and (5) framework oil seal.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 9, the present invention provides a wave generator assembly including: the rotating shaft 101 comprises a shaft shoulder 1011 and two first shaft sections 1012 respectively located on two opposite sides of the shaft shoulder 1011, and the outer diameter of each first shaft section 1012 is smaller than that of the shaft shoulder 1011; two eccentric disc assemblies 102, respectively fitted over the two first shaft sections 1012; each eccentric disc assembly 102 comprises at least one eccentric disc 1020, the number of the eccentric discs 1020 in the two eccentric disc assemblies 102 is equal, and each eccentric disc 1020 is sleeved with a first bearing 103 to be connected with the flexible gear assembly 200; the center line of the outer peripheral surface of each eccentric disc 1020 is parallel to the rotation axis 1010 of the rotating shaft 101 and is located on the same predetermined plane as the rotation axis 1010, and the center line of the outer peripheral surface of one part of the eccentric discs 1020 and the center line of the outer peripheral surface of the other part of the eccentric discs 1020 are symmetrically arranged with respect to the rotation axis 1010 (specifically, the center lines are axisymmetric, and the rotation axis 1010 is a symmetric axis); wherein a major axis of the wave generator assembly is perpendicular to the rotation axis 1010 and lies on the predetermined plane and a minor axis of the wave generator assembly is perpendicular to the rotation axis 1010 and perpendicular to the predetermined plane.

The wave generator component consisting of the rotating shaft 101, the eccentric discs 1020 and the first bearings 103 sleeved on the eccentric discs 1020 has the function of a wave generator of a harmonic reducer in the prior art, the first bearings 103 are ordinary bearings rather than flexible bearings, the flexible gear component 200 is sleeved outside the first bearings 103 and is in contact with the first bearings 103, the flexible gear component 200 can generate fluctuation deformation (even if the section of the flexible gear component is changed from a circular shape to a non-circular shape) under the action of the wave generator component, and each section of the flexible gear along the axial direction has the same deformation in the same polar angle direction, so that full tooth width engagement can be realized, compared with the wave generator of the harmonic reducer in the prior art, the problem of aggravation of bearing damage caused by the fluctuation deformation of the flexible bearings is avoided, and the service life of the harmonic reducer is prolonged, the possibility of taper deformation of the flexible gear assembly 200 is reduced, the length of an axial meshing line between gear teeth of the flexible gear assembly 200 and the rigid gear assembly 300 is increased, and the pressure caused by meshing force on the gear teeth is reduced under the working condition of transmitting the same torque, so that the abrasion of the gear teeth in the transmission process is reduced, the retention time of transmission precision is prolonged, and the problem of poor transmission performance of a harmonic reducer in the prior art is solved.

Specifically, the number of the eccentric discs 1020 in the eccentric disc assemblies 102 may be one, or may be multiple, as long as the number of the eccentric discs 1020 in the two eccentric disc assemblies 102 is ensured to be equal to satisfy the requirement of the radial support stiffness required by the flexspline assembly 200.

In an embodiment of the present invention, which is not shown in the drawings, each of the eccentric disc assemblies 102 includes one eccentric disc 1020, the two eccentric disc assemblies 102 are a first eccentric disc assembly 1021 and a second eccentric disc assembly 1022, respectively, a center line of an outer circumferential surface of the eccentric disc 1020 in the first eccentric disc assembly 1021 and a center line of an outer circumferential surface of the eccentric disc 1020 in the second eccentric disc assembly 1022 are symmetrically disposed about the rotation axis 1010 (specifically, axisymmetric, the rotation axis 1010 is a symmetric axis), that is, the center line of the outer circumferential surface of the eccentric disc 1020 in the first eccentric disc assembly 1021 and the center line of the outer circumferential surface of the eccentric disc 1020 in the second eccentric disc assembly 1022 are located at opposite sides of the rotation axis 1010, and the distance between the center line of the outer circumferential surface of the eccentric disc 1020 in the first eccentric disc assembly 1021 and the rotational axis 1010 is equal to the distance between the center line of the outer circumferential surface of the eccentric disc 1020 in the second eccentric disc assembly 1022 and the rotational axis 1010.

In another embodiment of the present invention, each of the eccentric disc assemblies 102 includes a plurality of eccentric discs 1020, the center lines of the outer circumferential surfaces of any two adjacent eccentric discs 1020 in each of the eccentric disc assemblies 102 are symmetrically disposed about the rotation axis 1010 (specifically, are axisymmetric, and the rotation axis 1010 is a symmetry axis), that is, the center lines of the outer circumferential surfaces of any two adjacent eccentric discs 1020 in each of the eccentric disc assemblies 102 are respectively located at two opposite sides of the rotation axis 1010, and the distances between the center lines of the outer circumferential surfaces of any two adjacent eccentric discs 1020 in each of the eccentric disc assemblies 102 and the rotation axis 1010 are equal.

In the embodiment of the present invention shown in fig. 1, 3 and 4, the number of the eccentric disks 1020 in each eccentric disk assembly 102 is two, the two eccentric disks 1020 are respectively a first eccentric disk 10201 and a second eccentric disk 10202 located at a side of the first eccentric disk 10201 away from the shoulder 1011, and the center line of the outer peripheral surface of the first eccentric disk 10201 and the center line of the outer peripheral surface of the second eccentric disk 10202 in each eccentric disk assembly 102 are located at opposite sides of the rotation axis 1010.

The eccentric disc 1020 of the present invention includes a ring main body 1023 and a ring-shaped protrusion 1024 arranged on the outer circumference of the ring main body 1023, the ring main body 1023 is used to cover the rotating shaft 101, the center line of the inner circumference of the ring main body 1023 and the center line of the outer circumference of the ring main body 1023 are parallel with each other and arranged at intervals; wherein the annular protrusion 1024 is located at an end of the annular body 1023 away from the shoulder 1011; a stopper ring 1027 is mounted on the outer peripheral surface of one end of the annular body 1023 near the shoulder 1011; the annular body 1023, the annular projection 1024 and the stop ring 1027 together enclose a first mounting space for mounting the respective first bearing 103; or the annular protrusion 1024 is located at an end of the annular body 1023 near the shoulder 1011; the eccentric disc 1020 further includes a first annular groove 1025, the first annular groove 1025 being provided on the outer circumferential surface of the annular body 1023 at an end of the annular body 1023 away from the shoulder 1011 for mounting a first retainer 1026; the annular body 1023, the annular projection 1024 and the first retainer 1026 jointly enclose a second mounting space for mounting the respective first bearing 103.

In the embodiment of the present invention shown in fig. 1, 3 and 4, the first eccentric disk 10201 includes a ring-shaped body 1023 and a ring-shaped protrusion 1024 disposed on the outer circumferential surface of the ring-shaped body 1023, the ring-shaped body 1023 is configured to be fitted over the rotating shaft 101, and the center line of the inner circumferential surface of the ring-shaped body 1023 and the center line of the outer circumferential surface of the ring-shaped body 1023 are parallel to each other and spaced apart; wherein the annular protrusion 1024 is located at an end of the annular body 1023 away from the shoulder 1011; a stopper ring 1027 is mounted on the outer peripheral surface of one end of the annular body 1023 near the shoulder 1011; the annular body 1023, the annular projection 1024 and the stop ring 1027 together enclose a first mounting space for mounting the respective first bearing 103.

In the embodiment of the present invention shown in fig. 1, 3 and 4, the second eccentric disk 10202 includes a ring-shaped body 1023 and a ring-shaped protrusion 1024 disposed on the outer circumferential surface of the ring-shaped body 1023, the ring-shaped body 1023 is configured to be fitted over the rotating shaft 101, and the center line of the inner circumferential surface of the ring-shaped body 1023 and the center line of the outer circumferential surface of the ring-shaped body 1023 are parallel to each other and spaced apart; wherein the annular protrusion 1024 is located at an end of the annular body 1023 near the shoulder 1011; the eccentric disc 1020 further includes a first annular groove 1025, the first annular groove 1025 being provided on the outer circumferential surface of the annular body 1023 at an end of the annular body 1023 away from the shoulder 1011 for mounting a first retainer 1026; the annular body 1023, the annular projection 1024 and the first retainer 1026 jointly enclose a second mounting space for mounting the respective first bearing 103.

As shown in fig. 1 and 2, each first shaft segment 1012 is provided with a second annular groove 10121, and each second annular groove 10121 is located at one end of the corresponding first shaft segment 1012 far away from the shaft shoulder 1011 for mounting a second stop ring 10123; wherein each second collar 10123 and the corresponding first shaft section 1012 together with the shoulder 1011 enclose a third mounting space for mounting the corresponding eccentric disc assembly 102.

As shown in fig. 1 and 2, the rotating shaft 101 further includes two second shaft sections 1013, the two second shaft sections 1013 are disposed in one-to-one correspondence with the two first shaft sections 1012, an outer diameter of each second shaft section 1013 is smaller than an outer diameter of the corresponding first shaft section 1012, each second shaft section 1013 is located on one side of the corresponding first shaft section 1012 away from the shaft shoulder 1011, the wave generator assembly further includes two rigid bearings 104, the two rigid bearings 104 are disposed in one-to-one correspondence with the two second shaft sections 1013, and each rigid bearing 104 is sleeved on the corresponding second shaft section 1013 for connecting with the rigid wheel assembly 300.

Specifically, a third annular groove 10131 is provided on at least one second shaft segment 1013, the third annular groove 10131 is located on a side of the corresponding rigid bearing 104 far from the shoulder 1011 for mounting a third retainer 10132, one side of the inner ring of the rigid bearing 104 mounted on the second shaft segment 1013 contacts with the end face of the corresponding first shaft segment 1012, and the other side of the inner ring of the rigid bearing 104 mounted on the second shaft segment 1013 contacts with the end face of the corresponding third retainer 10132, so as to axially limit the inner ring of the corresponding rigid bearing 104 by the corresponding first shaft segment 1012 and the third retainer 10132.

Alternatively, the rotating shaft 101 of the present invention is a hollow shaft or a solid shaft.

According to the invention, the rotating shaft 101 and each eccentric disc 1020 are circumferentially positioned through the flat key 105, the outer peripheral surface of each first shaft section 1012 is provided with a first key slot 10122, the inner peripheral surface of each eccentric disc 1020 is also provided with a second key slot corresponding to the first key slot 10122 on the corresponding first shaft section 1012, one part of each flat key 105 is inserted into the corresponding first key slot 10122, and the other part of each flat key 105 is inserted into the corresponding second key slot.

As shown in fig. 1 to 9, the present invention provides a harmonic reducer including: a wave generator assembly 100, the wave generator assembly being the wave generator assembly described above; a flexspline assembly 200 sleeved outside the wave generator assembly 100 and rotatably disposed with respect to the wave generator assembly 100; and a rigid gear assembly 300 sleeved outside the flexible gear assembly 200 and rotatably connected with the wave generator assembly 100 to be engaged with the flexible gear assembly 200.

As shown in fig. 5 to 8, the flexspline assembly 200 includes a hollow flexspline 201 and a flexible sleeve 202, the flexible sleeve 202 is sleeved outside the first bearing 103 of the wave generator assembly 100, the hollow flexspline 201 is sleeved outside the flexible sleeve 202 to be connected with the first bearing 103 through the flexible sleeve 202, and outer gear teeth are arranged on the outer circumferential surface of the hollow flexspline 201.

Wherein, the hollow flexible gear 201 and the flexible sleeve 202 are both elastic thin-wall components, if the hollow flexible gear 201 and the flexible sleeve 202 are of an integral structure, the wall thickness of the gear ring of the flexible gear is increased, which is not beneficial to the fluctuation deformation of the flexible gear and can reduce the service life of the flexible gear when the flexible gear resists fatigue damage, therefore, the flexible gear assembly 200 is set to be a split structure comprising the hollow flexible gear 201 and the flexible sleeve 202 so as to reduce the wall thickness of the gear ring of the flexible gear, and the flexible sleeve 202 is positioned between the outer circumferential surface of the wave generator assembly 100 and the inner circumferential surface of the hollow flexible gear 201, which can increase the radial supporting area of the inner circumferential surface of the hollow flexible gear 201, improve the radial supporting rigidity of the wave generator assembly 100 to the hollow flexible gear 201, further reduce the abrasion to the inner circumferential surface of the hollow flexible gear 201 so as to cause the flexible gear to generate fluctuation deformation, and enable each part of the flexible gear in the tooth width direction to reach the designed meshing position, finally, the transmission precision and the service life of the harmonic reducer are improved.

As shown in fig. 5, 7 and 9, the rigid gear assembly 300 includes an end cover rigid gear 301, a bearing rigid gear 302 and an end cover 303 which are sequentially arranged along a rotation axis 1010 and connected with each other, and the outer gear teeth of the flexible gear assembly 200 are engaged with the inner gear teeth of the end cover rigid gear 301 and the inner gear teeth of the bearing rigid gear 302; one end of the end cover rigid wheel 301, which is far away from the bearing rigid wheel 302, is sleeved outside the rigid bearing 104 at one end of the wave generator assembly 100, and one end of the end cover 303, which is far away from the bearing rigid wheel 302, is sleeved outside the rigid bearing 104 at the other end of the wave generator assembly 100, so as to ensure the assembly precision of the rigid wheel assembly 300.

Specifically, the end cover rigid wheel 301 of the invention is an end cover integrated rigid wheel, i.e. the end cover rigid wheel 301 has both the functions of an end cover and a rigid wheel; the bearing rigid wheel 302 of the invention is a crossed roller bearing integrated rigid wheel, namely the bearing rigid wheel 302 has the functions of both a bearing and a rigid wheel.

As shown in fig. 9, a fourth annular groove 3011 is provided on the inner circumferential surface of the end-capped rigid wheel 301 for mounting the rigid bearing 104, so as to mount a fourth stop 3012, the fourth stop 3012 is located on the side of the corresponding rigid bearing 104 close to the shaft shoulder 1011 to axially limit one side of the outer ring of the corresponding rigid bearing 104, and the other side of the outer ring of the rigid bearing 104 is axially limited by the groove bottom surface of the rigid bearing mounting groove on the end-capped rigid wheel 301.

Preferably, the number of inner gear teeth on one of the end cap rigid gear 301 and the bearing rigid gear 302 is the same as the number of outer gear teeth of the flexspline assembly 200, and the number of inner gear teeth on the other of the end cap rigid gear 301 and the bearing rigid gear 302 is greater than the number of outer gear teeth of the flexspline assembly 200; the bearing rigid wheel 302 comprises a bearing outer ring 3021 and a bearing inner ring 3022 which are connected in a relatively rotatable manner, inner gear teeth of the bearing rigid wheel 302 are positioned on the bearing inner ring 3022, the bearing outer ring 3021 is fixedly connected with the end cover rigid wheel 301, and the bearing inner ring 3022 is fixedly connected with the end cover 303.

In one embodiment of the present invention, the number of internal gear teeth on the bearing rigid wheel 302 is two more than the number of external gear teeth of the compliant wheel assembly 200.

Specifically, the bearing outer ring 3021 and the end cover rigid gear 301 are detachably connected through a plurality of first fasteners 304, and a first sealing ring 306 is clamped between the bearing outer ring 3021 and the end cover rigid gear 301; the bearing inner ring 3022 and the end cover 303 are detachably connected through a plurality of second fasteners 305, and a second sealing ring 307 is clamped between the bearing inner ring 3022 and the end cover 303; wherein, the first fastener 304 and the second fastener 305 are both screws, and the first sealing ring 306 and the second sealing ring 307 are both O-rings.

As shown in fig. 5, a skeleton oil seal 400 is further interposed between the end cover rigid gear 301 and the rotating shaft 101, and the skeleton oil seal 400 is arranged on the second shaft section 1013 for mounting the corresponding rigid bearing 104 and is positioned on the side of the corresponding rigid bearing 104 far from the shaft shoulder 1011; a frame oil seal 400 is further interposed between the end cap 303 and the rotating shaft 101, the frame oil seal 400 is disposed on a third shaft section 1014 for mounting on a side of the second shaft section 1013 of the corresponding rigid bearing 104 away from the shoulder 1011, and the frame oil seal 400 is disposed on a side of the corresponding rigid bearing 104 away from the shoulder 1011.

The harmonic reducer has the functions of a common harmonic reducer and differential transmission; when one of the end cover rigid wheel 301, the bearing rigid wheel 302 and the rotating shaft 101 is used as an input end, the transmission function of a common harmonic reducer can be realized, namely a fixed end, an input end and an output end; when one of the end cover rigid gear 301 and the bearing rigid gear 302 and the rotating shaft 101 are used as input ends, a differential transmission function can be realized, namely one input end, one output end and one input end for adjustment (when the input rotating speed of the input end for adjustment is zero, the differential transmission is changed into the transmission of a common harmonic reducer).

In the harmonic reducer of the invention, the bearing outer ring 3021 and the end cover rigid wheel 301 are detachably connected through a plurality of first fasteners 304, and the bearing inner ring 3022 and the end cover 303 are detachably connected through a plurality of second fasteners 305; the first fastener 304 and the second fastener 305 are both screws, the nut end of the first fastener 304 is located on one side, away from the bearing rigid wheel 302, of the end cover rigid wheel 301 and located in the end cover rigid wheel 301, and the nut end of the second fastener 305 is located on one side, away from the bearing rigid wheel 302, of the end cover 303 and located in the end cover 303.

When the harmonic reducer of the present invention is a harmonic reducer with a differential transmission function, a plurality of countersunk through holes are provided on a side of the bearing outer ring 3021 away from the end cover rigid gear 301, and the plurality of countersunk through holes are provided in one-to-one correspondence with the plurality of first through holes on the end cover rigid gear 301, and the threaded ends of a plurality of third fasteners are connected to an external component (e.g., a gear) after passing through the plurality of countersunk through holes on the bearing outer ring 3021 and the plurality of first through holes on the end cover rigid gear 301 in one-to-one correspondence, and the nut end of each third fastener is located on a side of the bearing outer ring 3021 away from the end cover rigid gear 301 and in the corresponding countersunk through hole; a plurality of second through holes are formed in the end cover 303, a plurality of threaded holes are formed in the bearing inner ring 3022, threaded ends of a plurality of fourth fasteners penetrate through the plurality of second through holes in a one-to-one correspondence manner and then are screwed in the plurality of threaded holes, and the nut end of each fourth fastener is located on one side, far away from the bearing rigid wheel 302, of the end cover 303 and located outside the end cover 303; wherein, the third fastener and the fourth fastener are both screws.

The invention also provides a robot comprising the harmonic reducer.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

the wave generator assembly of the present invention comprises: the rotating shaft 101 comprises a shaft shoulder 1011 and two first shaft sections 1012 respectively positioned at two opposite sides of the shaft shoulder 1011, and the outer diameter of each first shaft section 1012 is smaller than that of the shaft shoulder 1011; two eccentric disc assemblies 102, respectively fitted over the two first shaft sections 1012; each eccentric disc assembly 102 comprises at least one eccentric disc 1020, the number of the eccentric discs 1020 in the two eccentric disc assemblies 102 is equal, and each eccentric disc 1020 is sleeved with a first bearing 103 to be connected with the flexible gear assembly 200; the center line of the outer peripheral surface of each eccentric disc 1020 is parallel to the rotation axis 1010 of the rotating shaft 101 and is located on the same predetermined plane as the rotation axis 1010, and the center line of the outer peripheral surface of one part of the eccentric discs 1020 and the center line of the outer peripheral surface of the other part of the eccentric discs 1020 are symmetrically arranged around the rotation axis 1010; wherein the major axis of the wave generator assembly is perpendicular to the axis of rotation 1010 and lies on a predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the axis of rotation 1010 and perpendicular to the predetermined plane. Thus, the wave generator assembly of the present invention, which is composed of the rotating shaft 101, each eccentric disc 1020 and the first bearing 103 sleeved on each eccentric disc 1020, has the function of the wave generator of the harmonic reducer in the prior art, and the first bearing 103 is a common bearing rather than a flexible bearing, and the flexible gear assembly 200 is sleeved outside the plurality of first bearings 103 and is in contact with each first bearing 103, so that the flexible gear assembly 200 can generate fluctuation deformation (even if the section of the flexible gear assembly is changed from circular to non-circular) under the action of the wave generator assembly, and each section of the flexible gear along the axial direction has the same deformation in the same polar angle direction, thereby realizing full tooth width engagement, compared with the wave generator of the harmonic reducer in the prior art, avoiding the problem of aggravation of bearing damage due to fluctuation deformation of the flexible bearing, and prolonging the service life of the harmonic reducer, the possibility of taper deformation of the flexible gear assembly 200 is reduced, the length of an axial meshing line between gear teeth of the flexible gear assembly 200 and the rigid gear assembly 300 is increased, and the pressure caused by meshing force on the gear teeth is reduced under the working condition of transmitting the same torque, so that the abrasion of the gear teeth in the transmission process is reduced, the retention time of the transmission precision is prolonged, and the problem of poor transmission performance of a harmonic reducer in the prior art is solved.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A wave generator assembly, comprising:

the rotating shaft (101) comprises a shaft shoulder (1011) and two first shaft sections (1012) which are respectively positioned at two opposite sides of the shaft shoulder (1011), and the outer diameter of each first shaft section (1012) is smaller than that of the shaft shoulder (1011);

two eccentric disc assemblies (102) respectively sleeved on the two first shaft sections (1012); each eccentric disc assembly (102) comprises at least one eccentric disc (1020), the number of the eccentric discs (1020) in the two eccentric disc assemblies (102) is equal, and each eccentric disc (1020) is sleeved with a first bearing (103) to be connected with a flexible wheel assembly (200);

the central line of the outer peripheral surface of each eccentric disc (1020) is parallel to the rotation axis (1010) of the rotating shaft (101) and is positioned on the same preset plane with the rotation axis (1010), and the central line of the outer peripheral surface of one part of the eccentric discs (1020) and the central line of the outer peripheral surface of the other part of the eccentric discs (1020) are symmetrically arranged around the rotation axis (1010);

wherein a major axis of the wave generator assembly is perpendicular to the axis of rotation (1010) and lies on the predetermined plane, and a minor axis of the wave generator assembly is perpendicular to the axis of rotation (1010) and perpendicular to the predetermined plane.

2. The wave generator assembly according to claim 1,

each of the eccentric disc assemblies (102) includes one eccentric disc (1020), the two eccentric disc assemblies (102) are respectively a first eccentric disc assembly (1021) and a second eccentric disc assembly (1022), and a center line of an outer circumferential surface of the eccentric disc (1020) in the first eccentric disc assembly (1021) and a center line of an outer circumferential surface of the eccentric disc (1020) in the second eccentric disc assembly (1022) are symmetrically disposed about the rotation axis (1010); or

Each of the eccentric disc assemblies (102) includes a plurality of the eccentric discs (1020), and center lines of outer circumferential surfaces of any adjacent two of the eccentric discs (1020) in each of the eccentric disc assemblies (102) are symmetrically arranged with respect to the rotation axis (1010).

3. The wave generator assembly according to claim 1, wherein the number of the eccentric discs (1020) in each of the eccentric disc assemblies (102) is two, the two eccentric discs (1020) being a first eccentric disc (10201) and a second eccentric disc (10202) located on a side of the first eccentric disc (10201) remote from the shoulder (1011), a centerline of an outer circumferential surface of the first eccentric disc (10201) and a centerline of an outer circumferential surface of the second eccentric disc (10202) in each of the eccentric disc assemblies (102) being located on opposite sides of the axis of rotation (1010), respectively.

4. The wave generator assembly according to any one of claims 1 to 3, wherein the eccentric disc (1020) comprises an annular main body (1023) and an annular protrusion (1024) provided on an outer circumferential surface of the annular main body (1023), the annular main body (1023) being adapted to be fitted over the rotary shaft (101), a center line of an inner circumferential surface of the annular main body (1023) and a center line of an outer circumferential surface of the annular main body (1023) being parallel to and spaced apart from each other; wherein the content of the first and second substances,

the annular projection (1024) is located at an end of the annular body (1023) remote from the shoulder (1011); a stop ring (1027) is mounted on the outer peripheral surface of one end of the annular main body (1023) close to the shaft shoulder (1011); the annular body (1023), the annular projection (1024) and the stop ring (1027) jointly enclose a first mounting space for mounting the respective first bearing (103); or

The annular projection (1024) is located at one end of the annular body (1023) close to the shoulder (1011); the eccentric disc (1020) further comprises a first annular groove (1025), the first annular groove (1025) being disposed on the outer circumferential surface of the annular body (1023) at an end of the annular body (1023) distal from the shoulder (1011) to mount a first retainer ring (1026); the annular body (1023), the annular projection (1024) and the first retainer ring (1026) together enclose a second mounting space for mounting the respective first bearing (103).

5. -the wave generator assembly according to any of the claims 1 to 3, characterized in that a second annular groove (10121) is provided on each first shaft segment (1012), each second annular groove (10121) being located at an end of the respective first shaft segment (1012) remote from the shoulder (1011) for mounting a second collar (10123); wherein each of the second retainer rings (10123) and the corresponding first shaft segment (1012) together with the shaft shoulder (1011) enclose a third mounting space for mounting the corresponding eccentric disc assembly (102).

6. The wave generator assembly according to any one of claims 1 to 3,

the rotating shaft (101) further comprises two second shaft sections (1013), the two second shaft sections (1013) are arranged in one-to-one correspondence with the two first shaft sections (1012), the outer diameter of each second shaft section (1013) is smaller than the outer diameter of the corresponding first shaft section (1012), and each second shaft section (1013) is located on one side of the corresponding first shaft section (1012) far away from the shaft shoulder (1011); the wave generator assembly further comprises two rigid bearings (104), the two rigid bearings (104) and the two second shaft sections (1013) are arranged in a one-to-one correspondence, and each rigid bearing (104) is sleeved on the corresponding second shaft section (1013) for connecting with a rigid wheel assembly (300); and/or

The rotating shaft (101) is a hollow shaft or a solid shaft.

7. A harmonic reducer, comprising:

a wave generator assembly (100) being as defined in any one of claims 1 to 6;

the flexible gear assembly (200) is sleeved outside the wave generator assembly (100) and can be rotatably arranged relative to the wave generator assembly (100);

and the rigid wheel assembly (300) is sleeved outside the flexible wheel assembly (200) and is rotatably connected with the wave generator assembly (100) so as to be meshed with the flexible wheel assembly (200).

8. The harmonic reducer of claim 7, wherein the flexspline assembly (200) comprises a hollow flexspline (201) and a flexible sleeve (202), the flexible sleeve (202) is sleeved outside the first bearing (103) of the wave generator assembly (100), the hollow flexspline (201) is sleeved outside the flexible sleeve (202) to be connected with the first bearing (103) through the flexible sleeve (202), and outer gear teeth are arranged on the outer peripheral surface of the hollow flexspline (201).

9. The harmonic reducer of claim 7, wherein the rigid gear assembly (300) comprises an end cover rigid gear (301), a bearing rigid gear (302) and an end cover (303) which are arranged along the rotation axis (1010) in sequence and are connected with each other, and the outer gear teeth of the flexible gear assembly (200) are meshed with the inner gear teeth of the end cover rigid gear (301) and the inner gear teeth of the bearing rigid gear (302); one end of the end cover rigid gear (301), which is far away from the bearing rigid gear (302), is sleeved outside the rigid bearing (104) at one end of the wave generator component (100), and one end of the end cover (303), which is far away from the bearing rigid gear (302), is sleeved outside the rigid bearing (104) at the other end of the wave generator component (100).

10. The harmonic reducer of claim 9, wherein the number of internal gear teeth on one of the end cap rigid gear (301) and the bearing rigid gear (302) is the same as the number of external gear teeth of the flexspline assembly (200), and the number of internal gear teeth on the other of the end cap rigid gear (301) and the bearing rigid gear (302) is greater than the number of external gear teeth of the flexspline assembly (200); the bearing rigid wheel (302) comprises a bearing outer ring (3021) and a bearing inner ring (3022) which are connected in a relatively rotatable mode, inner gear teeth of the bearing rigid wheel (302) are located on the bearing inner ring (3022), the bearing outer ring (3021) is fixedly connected with the end cover rigid wheel (301), and the bearing inner ring (3022) is fixedly connected with the end cover (303).

11. A robot comprising a harmonic reducer as claimed in any one of claims 7 to 10.

Images