CN115750730A - Rigid wheel structure and resonant speed reducer comprising same - Google Patents
Rigid wheel structure and resonant speed reducer comprising same Download PDFInfo
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- CN115750730A CN115750730A CN202211511276.7A CN202211511276A CN115750730A CN 115750730 A CN115750730 A CN 115750730A CN 202211511276 A CN202211511276 A CN 202211511276A CN 115750730 A CN115750730 A CN 115750730A
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Abstract
The invention provides a rigid wheel structure and a resonant speed reducer comprising the same, relates to the technical field of speed reducers, and solves the technical problems that a flexible wheel is subjected to displacement treatment in the resonant speed reducer, the strength is reduced, and the flexible wheel is easy to lose efficacy. The rigid wheel structure comprises a rigid wheel in meshed connection with a straight-tooth flexible gear, the surface of the rigid wheel, which is in contact with the flexible gear, sequentially comprises a front section, a middle section and a rear section along the axial direction, and the front section is of a modified structure; the rear section is of a modified structure; the middle section is a straight tooth section structure. The invention is based on the flexible gear deformation theory, designs a rigid gear with a new structure of a space tooth profile, simultaneously uses a flat straight-tooth flexible gear, and ensures that the thicknesses of gear rings of the flexible gear are consistent by designing space three-dimensional tooth profile parameters of the rigid gear, thereby improving the strength of the flexible gear, prolonging the service life of a speed reducer and improving the load capacity of the speed reducer; meanwhile, the meshing depth of the rigid and flexible gear teeth in the axial direction is kept consistent, and the meshing performance and the transmission precision are improved; the flexible gear is engaged smoothly without interference when a large load is applied.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a rigid wheel structure and a resonance speed reducer comprising the same.
Background
The harmonic reducer is a transmission device which utilizes a wave generator to enable a flexible gear to generate controllable elastic deformation to be meshed with a rigid gear, so that motion and power are transmitted. The transmission mechanism has the advantages of large transmission ratio, simple structure, small volume, light weight, strong bearing capacity and the like, and is widely applied to the fields of industrial robots, aerospace and the like.
A flexible gear in a common harmonic reducer product on the market can generate an opening angle under the action of a wave generator, so that different meshing depths exist at different axial positions of teeth of the flexible gear and the rigid gear, even interference occurs, and gear teeth are bent.
In order to avoid this situation, the conventional harmonic reducer usually shifts the flexible gear teeth, so that the tooth crest heights of the flexible gear teeth at different axial positions are different, and the axial meshing depths are ensured to be consistent while interference is avoided. However, since the inner wall of the flexible gear is usually a straight cylinder, the displacement treatment of the flexible gear teeth can lead to the thinning of the wall thickness of the flexible gear ring, and the change can greatly reduce the strength of the flexible gear for the originally thin flexible gear, so that the flexible gear is easy to fail.
Disclosure of Invention
The invention aims to provide a rigid wheel structure and a resonance speed reducer comprising the same, and aims to solve the technical problems that in the prior art, a flexible wheel is subjected to displacement treatment, the strength is reduced, and the flexible wheel is easy to lose efficacy.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, the rigid wheel structure provided by the invention comprises a rigid wheel meshed and connected with a straight-tooth flexible wheel, wherein the surface, in contact with the flexible wheel, of the rigid wheel sequentially comprises a front section, a middle section and a rear section along the axial direction, and the front section is of a displacement modification structure so as to ensure that the axial meshing depth of the rigid wheel is consistent with that of the flexible wheel.
In some embodiments, the modified profile of the front section is a slope profile protruding toward the middle section.
In some embodiments, the modified angle of the anterior section is a1= k1 · arctan (ω 0/(l-x)); wherein k1 is a front section modification coefficient, the value range is 0.85-0.9, omega 0 is the deformation of the long axis of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
In some embodiments, the rear section is a modified structure to ensure smooth meshing with the flexible gear under a large load.
In some embodiments, the rear section modified structure is a slope structure protruding toward the middle section.
In some embodiments, the modified angle of the posterior section is a2= k2 · arctan (ω 0/(l-x)); wherein k2 is a post-section modification coefficient, and the value range is 0.9-1.15; omega 0 is the deformation of the long shaft of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
In some embodiments, the intermediate cross-section is a straight tooth segment structure.
In some embodiments, the intermediate cross-sectional length is l0= k0 × d, where d is a flexspline ring gear width.
In a second aspect, the invention provides a resonance reducer, which comprises a straight-tooth flexible gear and a rigid gear structure which is meshed with the flexible gear to perform transmission.
In some embodiments, the flexspline is hat-shaped or cup-shaped.
Compared with the prior art, the invention has the following beneficial effects:
the rigid gear is a rigid gear with a new structure and a space tooth profile designed based on a flexible gear deformation theory, and simultaneously, the flat straight-tooth flexible gear is used, and the thickness of gear rings of the flexible gear is consistent by designing space three-dimensional tooth profile parameters of the rigid gear, so that the strength of the flexible gear is improved, the service life of a speed reducer is prolonged, and the load capacity of the speed reducer is improved; meanwhile, the meshing depth of the rigid and flexible gear teeth in the axial direction is kept consistent, and the meshing performance and the transmission precision are improved; the flexible gear is engaged smoothly without interference when a large load is applied.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the engagement between a rigid gear and a flexible gear according to the present invention;
FIG. 2 is a schematic diagram of a flexspline of the harmonic reducer of the present invention;
FIG. 3 is a schematic diagram of the construction of the harmonic reducer of the present invention.
FIG. 6, a rigid bearing; 7. a flexible gear; 8. a rigid wheel; 9. a wave generator; 31. a front cross-section; 32. a middle cross-section; 33. a rear section; 34. a cam; 35. a flexible bearing inner race; 36. a ball bearing; 37. a flexible bearing outer race; 38. flexible gear teeth; 40. modifying the front section; 41. a straight tooth section; 42. and modifying the rear section.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in figure 1, the invention provides a rigid wheel structure, which comprises a rigid wheel 8 meshed and connected with a straight-tooth flexible wheel 7, wherein the surface of the rigid wheel 8, which is in contact with the flexible wheel 7, sequentially comprises a front section 31, a middle section 32 and a rear section 33 along the axial direction, and the front section 31 is of a displacement modification structure so as to ensure that the axial meshing depth of the rigid wheel and the flexible wheel 7 is consistent.
In order to ensure that the depth of engagement of the rigid-flex gear teeth 38 at each interface is consistent, and to eliminate bending and interference of the flexible gear teeth, the rigid-flex gear tooth front section 31 is subjected to a deflection process.
Here, the front section displacement modification 40 has a slope structure that is convex toward the middle section 32, that is, the thickness of the front section displacement modification 40 on the side close to the middle section 32 is larger than the thickness of the front section displacement modification 40 on the side far from the middle section 32.
As shown in fig. 1 and fig. 2, in the present embodiment, the modification angle of the front section 31 is a1= k1 × arctan (ω 0/(l-x)); wherein k1 is a front section modification coefficient, the value range is 0.85-0.9, omega 0 is the deformation of the long axis of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
In order to ensure smooth meshing of the flexible gear and avoid interference under a large load, the rear section of the rigid gear is subjected to displacement processing, and as shown in fig. 1, the rear section 33 is of a displacement modification structure so as to ensure smooth meshing with the flexible gear 7 under a large load.
Specifically, the rear section displacement modification 42 has a slope structure that protrudes toward the middle section 32.
That is, the rear section displacement profile 42 on the side closer to the intermediate section 32 is thicker than the rear section displacement profile 42 on the side farther from the intermediate section 32.
Further, the modified angle of the rear section 33 is a2= k2 × arctan (ω 0/(l-x)); wherein k2 is a post-section modification coefficient, and the value range is 0.9-1.15; omega 0 is the deformation of the long axis of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
As shown in fig. 1, the middle section 32 has a straight tooth section 41 structure, and the flexible gear 7 also has a straight tooth.
Further, as shown in fig. 1 and 2, the intermediate section 32 has a length l0= k0 × d, where d is the flexspline annulus width.
The rigid gear is a rigid gear with a new structure and a space tooth profile designed based on a flexible gear deformation theory, and simultaneously, the flat straight-tooth flexible gear is used, and the thickness of gear rings of the flexible gear is consistent by designing space three-dimensional tooth profile parameters of the rigid gear, so that the strength of the flexible gear is improved, the service life of a speed reducer is prolonged, and the load capacity of the speed reducer is improved; meanwhile, the meshing depth of the rigid and flexible gear teeth in the axial direction is kept consistent, and the meshing performance and the transmission precision are improved; the flexible gear is engaged smoothly without interference under a large load.
As shown in FIG. 3, the invention provides a resonance reducer, which comprises a flexspline 7 with straight teeth and a rigid spline 8 structure which is meshed with the flexspline 7 to perform transmission.
In order to ensure the strength of the flexible gear ring, the flexible gear teeth 38 are straight teeth, the displacement does not occur on each section, and the root circles of the flexible gear teeth are the same.
The harmonic vibration absorber further comprises a rigid bearing 6 and a cam wave generator 9, wherein the cam wave generator 9 is formed by assembling a cam 34 and a flexible bearing, the cam wave generator 9 is arranged in an inner hole of a flexible gear to rotate to generate controllable elastic deformation, and the movement and power transmission are realized through the meshing of a rigid gear 8 and the flexible gear 7. After the flexible gear 7 is installed in the wave generator 9, the flexible gear 7 is deformed elliptically on the section vertical to the axial direction, and the radial deformation of the flexible gear is changed linearly in the axial direction because the flexible gear bus only has a fixed point and a contact point in the axial direction.
Specifically, the compliant bearing includes a compliant inner bearing ring 35, a compliant outer bearing ring 37, and balls 36.
If the opening direction of the flexible gear 7 is defined as a front section 31, the reverse direction of the opening is defined as a rear section 33, the thickness middle section of the wave generator 9 is defined as a middle section 32, and after the wave generator 9 is installed in the flexible gear 7, the flexible gear 7 has an opening angle in the long axis direction, and the opening angle is related to the cylinder length of the flexible gear, the deformation amount of the long axis of the wave generator 9 and the installation depth of the wave generator 9. In order to avoid excessive interference and flexible gear tooth bending, the front section of the rigid gear is subjected to displacement modification treatment, and in order to ensure the meshing precision and performance of the rigid gear under the condition of medium load, a section of non-displacement straight tooth section is reserved on the middle section, and the straight tooth section is symmetrical about the middle section of the wave generator. In order to ensure that the flexible gear is meshed smoothly without interference when a large load is applied, the rear section of the gear tooth of the rigid gear is subjected to displacement modification treatment.
Wherein the angle of the front section modification is a1= k1 × (ω 0/(l-x));
the length of the middle section straight tooth section is l0= k0 x d;
the angle of the posterior cross-sectional profile is a2= k2 × arctan (ω 0/(l-x));
wherein:
d is the width of the flexible gear ring
Omega 0 is the deformation of the long axis of the wave generator, l is the cylinder length of the flexible gear, and x is the loading depth of the section of the ball of the wave generator; k0 is the length coefficient of the middle section, and the value range is 0.1-0.25;
k1 is a front section modification coefficient, a small interference amount is reserved for ensuring transmission precision and zero backlash, and the value range of the modification coefficient is 0.85-0.9;
k2 is a rear section modification coefficient, and in order to ensure that the flexible gear is meshed smoothly without interference when a large load is applied, a small clearance is taken, and the value range of the modification coefficient is 0.9-1.15.
The resonance speed reducer of the invention designs a new structure rigid gear with a space tooth profile based on the deformation theory of a flexible gear, the rigid gear 8 and the flexible gear 7 with the rest straight teeth of the new structure are mutually meshed, and the influence of the displacement of the flexible gear teeth 38 on the thickness of the flexible gear 7 is eliminated by using the straight-tooth flexible gear 7, thereby improving the strength of the flexible gear 7. The front section 31 of the rigid wheel 8 is subjected to displacement treatment, space three-dimensional tooth profile parameters are designed, the axial meshing depth is ensured to be consistent while the straight-tooth flexible gear 7 is used, and the bending deformation of the flexible gear teeth 38 is reduced; by carrying out displacement treatment on the rear section of the rigid wheel, space three-dimensional tooth profile parameters are designed, and smooth meshing of a meshing area of the flexible wheel without interference is ensured when a straight-tooth flexible wheel 7 is used under a large load.
Wherein the flexspline 7 is in the shape of a cap or a cup.
It should be noted that "inward" is a direction toward the center of the accommodating space, and "outward" is a direction away from the center of the accommodating space.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in fig. 1 to facilitate the description of the invention and to simplify the description, but are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a rigid wheel structure, its characterized in that includes the rigid wheel of being connected with the meshing of straight tooth flexbile gear, the surface of rigid wheel and flexbile gear contact includes preceding cross-section, middle cross-section and back cross-section along the axial in proper order, preceding cross-section is for shifting the modification structure to the axial meshing degree of depth of assurance with the flexbile gear is unanimous.
2. The rigid wheel structure of claim 1, wherein the modified profile of the front section is a ramp profile projecting in the direction of the intermediate section.
3. The rigid-wheel structure of claim 2, wherein the front cross-section has a modified angle of a1= k1 × arctan (ω 0/(l-x)); wherein k1 is a front section modification coefficient, the value range is 0.85-0.9, omega 0 is the deformation of the long axis of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
4. The rigid wheel structure of claim 1, wherein the rear section is a modified structure to ensure smooth engagement with the flexible wheel under a large load.
5. The rigid wheel structure of claim 4, wherein the modified profile of the rear section is a ramp profile projecting in the direction of the intermediate section.
6. The rigid-wheel structure of claim 5, wherein the modified angle of the rear section is a2= k2 arctan (ω 0/(l-x)); wherein k2 is a post-section modification coefficient, and the value range is 0.9-1.15; omega 0 is the deformation of the long axis of the wave generator, x is the loading depth of the section of the ball of the wave generator, and l is the cylinder length of the flexible gear.
7. The rigid wheel structure of claim 1, wherein the intermediate cross-section is a straight tooth segment structure.
8. The rigid-wheel structure of claim 7, wherein the intermediate cross-sectional length is l0= k0 x d, where d is a flexspline annulus width.
9. A resonance reducer comprising a flat spur flexspline and a rigid-spline structure according to any one of claims 1 to 8 meshing with the flexspline for transmission.
10. The resonance reducer of claim 9, wherein the flexspline is hat-shaped or cup-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211511276.7A CN115750730A (en) | 2022-11-29 | 2022-11-29 | Rigid wheel structure and resonant speed reducer comprising same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211511276.7A CN115750730A (en) | 2022-11-29 | 2022-11-29 | Rigid wheel structure and resonant speed reducer comprising same |
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| CN115750730A true CN115750730A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211511276.7A Pending CN115750730A (en) | 2022-11-29 | 2022-11-29 | Rigid wheel structure and resonant speed reducer comprising same |
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| CN (1) | CN115750730A (en) |
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- 2022-11-29 CN CN202211511276.7A patent/CN115750730A/en active Pending
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