CN217736203U

CN217736203U - Flexible gear, harmonic speed reducer and industrial robot

Info

Publication number: CN217736203U
Application number: CN202222105411.XU
Authority: CN
Inventors: 李军辉; 王立波; 林文捷
Original assignee: Guangdong Jiya Jingji Technology Co ltd
Current assignee: Guangdong Jiya Jingji Technology Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-11-04
Anticipated expiration: 2032-08-10

Abstract

The utility model discloses a flexbile gear, harmonic speed reducer ware and industrial robot, wherein the flexbile gear includes the barrel, and the barrel is including consecutive opening section, contact zone, buffer segment and changeover portion, and the modulus of external tooth is m, and the minimum internal diameter of opening section is d1min, and the maximum internal diameter of opening section is d1max, and the average internal diameter of contact zone is d2, and the minimum internal diameter of buffer segment is d3min, and the maximum internal diameter of buffer segment is d3max, satisfies one of the following condition at least: d1max is less than d2, d1min is more than or equal to d2+0.04ln (m), and d1max is more than or equal to d2+0.003ln (m); d1min is more than d2, d1min is more than or equal to d2-0.003ln (m), and d1max is more than or equal to d2-0.04ln (m); d3max is less than d2, d3min is more than or equal to d2+0.06ln (m), and d3max is more than or equal to d2+0.003ln (m); d3min is more than d2, d3min is more than or equal to d2-0.003ln (m), and d3max is more than or equal to d2-0.06ln (m). The deformation of the flexible gear can be buffered and absorbed through the opening section and the buffer section, stress concentration is reduced, and the service life and the reliability are improved.

Description

Flexible gear, harmonic speed reducer and industrial robot

Technical Field

The utility model relates to the technical field of robot, in particular to flexbile gear, harmonic speed reducer ware and industrial robot.

Background

The harmonic reducer drives the flexible gear to deform through the wave generator so as to enable the flexible gear to be meshed with the rigid gear, and therefore motion transmission is achieved. When the harmonic reducer is in operation, the flexible gear needs to bear the alternating stress applied by the wave generator and the meshing torque applied by the rigid gear, but the high-load torque can deform the flexible gear, the flexible gear with the traditional structure has poor buffering deformation capacity, the flexible gear is easy to cause fatigue failure after long-term operation, and further the service life and the reliability of the harmonic reducer are reduced.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a flexbile gear can improve the ability of buffering deformation, reduces stress concentration, improves life and reliability.

The utility model discloses provide harmonic speed reducer ware and industrial robot who has above-mentioned flexbile gear simultaneously.

According to the utility model discloses flexible gear of first aspect embodiment, the novel nipple rectifier comprises a cylindrical shel, the one end of barrel is the opening and the outer wall is provided with the external tooth, the other end of barrel is connected with the flange, follows the axial of barrel, the barrel is including consecutive opening section, contact segment, buffer segment and changeover portion, the contact segment is the position of contact wave generator, the modulus of external tooth is m, the minimum internal diameter of opening section is d1min, the maximum internal diameter of opening section is d1max, the average internal diameter of contact segment is d2, the minimum internal diameter of buffer segment is d3min, the maximum internal diameter of buffer segment is d3max, satisfies one of following condition at least:

d1max is less than d2, d1min is more than or equal to d2+0.04ln (m), and d1max is more than or equal to d2+0.003ln (m);

d1min is more than d2, d1min is more than or equal to d2-0.003ln (m), and d1max is more than or equal to d2-0.04ln (m);

d3max is less than d2, d3min is more than or equal to d2+0.06ln (m), and d3max is more than or equal to d2+0.003ln (m);

d3min is more than d2, d3min is more than or equal to d2-0.003ln (m), and d3max is more than or equal to d2-0.06ln (m).

According to the utility model discloses flexible wheel of first aspect embodiment has following beneficial effect at least: the one end of barrel is provided with the opening, the open-ended outer wall encircles and is provided with the external tooth, the other end of barrel is connected with the flange, can transmit the moment of torsion of external tooth to the flange through the barrel, so that through flange output torque, along the axial of barrel, the opening section, the contact segment, buffer section and changeover portion connect gradually to the direction that is close to the flange, internal diameter through setting up the opening section is greater than or is less than the average internal diameter of contact section and/or the internal diameter of buffer section is greater than or is less than the average internal diameter of contact section, so that the wall thickness of opening section increases gradually or reduces and/or the wall thickness of buffer section increases gradually or reduces to the direction that is kept away from the contact section in the direction that is kept away from the contact section, can improve the ability of absorbing flexbile gear deformation, reduce the concentration of stress, reduce the risk that the flexbile excessive deformation and fracture became invalid, improve the fatigue strength of flexbile gear, the life of extension flexbile gear, thereby improve the reliability.

According to some embodiments of the first aspect of the present invention, the following are satisfied:

d1max < d2, d1min ≥ d2+0.04ln (m) and d1max ≤ d2+0.003ln (m), and

d3max is less than d2, d3min is more than or equal to d2+0.06ln (m), and d3max is more than or equal to d2+0.003ln (m).

According to some embodiments of the first aspect of the present invention, satisfy simultaneously:

d1min is greater than d2, d1min is greater than or equal to d2-0.003ln (m) and d1max is less than or equal to d2-0.04ln (m), and

According to some embodiments of the first aspect of the present invention, the manufacturing tolerance of the inner diameter of the contact section is less than 6um.

According to some embodiments of the first aspect of the present invention, the length of the buffer section is 50% to 150% of the length of the contact section in the axial direction of the cylinder.

According to some embodiments of the first aspect of the present invention, along the axial direction of the barrel, the wall thickness of the transition section gradually decreases towards the direction close to the flange.

According to some embodiments of the first aspect of the present invention, the flange and the junction of the changeover portion smooth transition, and the buffer section and the junction of the changeover portion smooth transition.

According to some embodiments of the first aspect of the present invention, the opening section deviates from an end inner wall surface of the flange is provided with a chamfer.

According to some embodiments of the first aspect of the present invention, the inner side surface of the opening section and the intersecting line of the axial section of the cylinder body are circular arc lines.

According to some embodiments of the first aspect of the present invention, the opening section is connected to and smoothly transitions with the contact section.

According to the utility model discloses harmonic speed reducer ware of second aspect embodiment, including rigid gear, wave generator and the utility model discloses the flexbile gear of first aspect embodiment, the rigid gear suit is in the outside of flexbile gear, the rigid gear is provided with the internal tooth, the external tooth with internal tooth meshing, the flexbile gear suit is in the outside of wave generator, the wave generator butt the contact segment.

According to the utility model discloses harmonic reducer ware of second aspect embodiment has following beneficial effect at least: wave generator installs in the inboard of flexbile gear, and the flexbile gear is installed in the inboard of rigid gear, warp through wave generator drive flexbile gear to make the internal tooth and the external tooth meshing of flexbile gear, adopt the utility model discloses the flexbile gear of first aspect embodiment can improve the fatigue strength of flexbile gear through opening section and buffer segment, reduces the concentration of stress, reduces the risk of the fracture inefficacy of flexbile gear, thereby prolongs the life of harmonic reduction gear, improves the reliability of harmonic reduction gear.

According to the utility model discloses industrial robot of third aspect embodiment, including the utility model discloses the harmonic speed reducer ware of second aspect embodiment is through adopting the utility model discloses the harmonic speed reducer ware of second aspect embodiment makes industrial robot can move smoothly, reduces the frequency that industrial robot maintained, reduces use cost, improves industrial robot's reliability.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a sectional view of a harmonic reducer according to an embodiment of a second aspect of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a cross-sectional view of a flexspline according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

fig. 5 is a partially enlarged view of a flexspline of a first embodiment of the first aspect of the present invention;

fig. 6 is a partially enlarged view of a flexspline of a second embodiment of the first aspect of the present invention;

fig. 7 is a partially enlarged view of a flexspline of a third embodiment of the first aspect of the present invention;

fig. 8 is a partially enlarged view of a flexspline according to a fourth embodiment of the first aspect of the present invention.

The reference numbers are as follows:

barrel 100, opening 110, opening section 120, contact section 130, buffer section 140, transition section 150, chamfer 160;

an outer tooth 200;

a flange 300;

rigid gear 400, inner teeth 410;

a wave generator 500.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the directional descriptions, such as the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but not for indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present invention, if there are first and second descriptions for distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

The harmonic gear reducer is composed of a fixed internal tooth rigid gear, a flexible gear and a wave generator which enables the flexible gear to generate radial deformation, wherein the flexible gear is sleeved outside the wave generator, the rigid gear is sleeved outside the flexible gear, the wave generator drives the flexible gear to radially deform to enable the flexible gear to generate controllable elastic deformation waves, and teeth of the rigid gear and the flexible gear are relatively staggered to transmit power and motion.

Based on this, the utility model provides a flexbile gear can improve the ability of buffering deformation, reduces stress concentration, prolongs the life of flexbile gear, promotes the reliability.

The following description is made with reference to the accompanying drawings:

referring to fig. 1, 2 and 5, the flexible gear provided by the first aspect of the present invention includes a cylinder 100, one end of the cylinder 100 is an opening 110 and an outer wall of the cylinder is provided with external teeth 200, the other end of the cylinder 100 is connected with a flange 300, along an axial direction of the cylinder 100, the cylinder 100 includes an opening section 120, a contact section 130, a buffer section 140 and a transition section 150, which are sequentially connected, the contact section 130 is a position of a contact wave generator 500, a modulus of the external teeth 200 is m, a minimum inner diameter of the opening section 120 is d1min, a maximum inner diameter of the opening section 120 is d1max, an average inner diameter of the contact section 130 is d2, a minimum inner diameter of the buffer section 140 is d3min, a maximum inner diameter of the buffer section 140 is d3max, and at least one of the following conditions is satisfied:

One end of the cylinder body 100 is an opening 110, the outer teeth 200 are arranged on the outer wall of the opening 110 in a surrounding manner, the other end of the cylinder body 100 is connected with a flange 300, a load can be connected with a flexible gear through the flange 300 so as to drive the load to move through the flexible gear, the cylinder body 100 comprises an opening section 120, a contact section 130, a buffer section 140 and a transition section 150, the opening section 120, the contact section 130, the buffer section 140 and the contact section 130 are sequentially connected in a direction close to the transition section 150, the inner diameter of the opening section 120 is changed within a range according to the modulus m of the outer teeth 200, the inner diameter of the opening section 120 is gradually increased or decreased in a direction away from the contact section 130 so as to gradually decrease or increase the wall thickness of the opening section 120, the inner diameter change range of the opening section 120 is selected through the minimum diameter d1min of the opening section 120, the maximum inner diameter d1max of the opening section 120 and the average inner diameter d2 of the contact section 130, deformation of the contact section 120 can be buffered and absorbed, and the risk of breakage failure of the flexible gear is reduced. The inner diameter of the buffer section 140 is changed within a range according to the modulus m of the outer teeth 200, so that the inner diameter of the buffer section 140 is gradually increased or decreased in a direction away from the contact section 130, so that the wall thickness of the buffer section 140 is gradually decreased or increased, the inner diameter change range of the buffer section 140 is selected according to the minimum inner diameter d3min of the buffer section 140, the maximum inner diameter d3max of the buffer section 140 and the average inner diameter d2 of the contact section 130, the capacity of the buffer section 140 for absorbing deformation of the flexible gear can be improved, the risk of fracture failure caused by excessive deformation of the flexible gear is reduced, the fatigue strength of the flexible gear can be improved, the concentration of stress is reduced, the service life of the flexible gear is prolonged, and the reliability of the harmonic reducer is improved.

It should be noted that, referring to fig. 2, the opening section 120 is a section L1 from one end of the cylinder 100 at the opening 110 to the end of the wave generator 500 contacting the cylinder 100, the contact section 130 is a section L2 from the wave generator 500 contacting the cylinder 100, the buffer section 140 is a section L3 from one end of the wave generator 500 not contacting the cylinder 100 to one end of the transition section 140 close to the opening 110, and the transition section 150 is a section L4 from one end of the buffer section 140 far from the opening 110 to one end of the flange 300. The outer teeth 200 are provided on the outer walls of the opening section 120, the contact section 130, and the buffer section 140. The average inner diameter d2 of the contact section 130 may be an average value of inner diameters at any number of locations on the contact section 130, or may be an average value of inner diameters selected at equal intervals within the contact section 130. In addition, the outer diameters of the opening section 120, the contact section 130 and the buffer section 140 are consistent, so that the processing and manufacturing of the flexible gear are facilitated, and the production cost is reduced.

Wherein, because the rigid gear 400 will produce the engaging moment of difference tooth when meshing with the flexspline, make the flexspline produce the bending deformation, when the biggest internal diameter d1max of the opening section 120 is less than the average internal diameter d2 of the contact section 130, namely the wall thickness of the opening section 120 is increasing gradually towards the direction far away from the contact section 130, thus can promote the rigidity of the opening section 120, make the junction between the opening section 120 and the contact section 130 stable, reduce the risk that the flexspline breaks and loses efficacy, improve the reliability of the flexspline. When the minimum inner diameter d1min of the opening section 120 is greater than the average inner diameter d2 of the contact section 130, that is, the wall thickness of the opening section 120 gradually decreases toward a direction away from the contact section 130, the rigidity of the opening section 120 can be reduced, so that the opening section 120 absorbs the deformation of the contact section 130, the engaging moment of the flexspline and the rigid spline 400 is reduced to be concentrated in the contact section 130, and the fatigue strength of the flexspline is improved.

In addition, when the wave generator 500 drives the flexible gear to deform, the flexible gear is subjected to tensile deformation along the axial direction, and when the maximum inner diameter d3max of the buffering section 140 is smaller than the average inner diameter d2 of the contact section 130, the wall thickness of the buffering section 140 is gradually increased towards the direction far away from the contact section 130, so that the rigidity of the buffering section 140 can be increased, the connection between the buffering section 140 and the contact section 130 is stable, the risk of breakage and failure of the flexible gear is reduced, and the strength of the flexible gear is improved. When the minimum inner diameter d3min of the buffer section 140 is greater than the average inner diameter d2 of the contact section 130, the wall thickness of the buffer section 140 is gradually reduced, so that the rigidity of the buffer section 140 can be reduced, the axial tensile deformation of the flexspline can be buffered and absorbed by the buffer section 140, the stress concentration is reduced, and the fatigue strength of the flexspline is improved.

It should be noted that the inner diameters of the opening section 120, the contact section 130, and the buffer section 140 are all the inner diameters of the flexspline when the wave generator 500 is not installed. Wherein the modulus m of the outer teeth 200 ranges from 0.2 to 0.55. In addition, the accuracy of the inner diameter of the opening section 120 and the inner diameter of the buffering section 140 is in the order of micrometers to reduce the production cost of the flexspline.

Referring to fig. 2, 6 and 7, it can be understood that when the maximum inner diameter d1max of the opening section 120 is smaller than the average inner diameter d2 of the contact section 130, and d1min is set to be greater than or equal to d2+0.04ln (m) and d1max is set to be less than or equal to d2+0.003ln (m), the wall thickness of the opening section 120 can be gradually increased in a range in a direction away from the contact section 130, the rigidity of the opening section 120 can be increased, the opening section 120 can be stably connected with the contact section 130, and the risk of breaking the flexspline can be reduced.

By setting the minimum inner diameter d1min of the opening section 120 to be greater than or equal to the average inner diameter d2 of the contact section 130 plus 0.04ln (m), the wall thickness of the opening section 120 can be avoided from being too large, so that the opening section 120 can absorb the partial bending deformation of the flexible gear, the deformation amount of the contact section 130 is dispersed, the stress concentration of the contact section 130 is reduced, and the risk of excessive deformation of the contact section 130 is reduced.

By setting the maximum inner diameter d1max of the opening section 120 to be less than or equal to the average inner diameter d2 of the contact section 130 plus 0.003ln (m), the opening section 120 can have sufficient rigidity to avoid excessive deformation failure of the opening section 120, stabilize the joint between the opening section 120 and the contact section 130, and reduce the risk of cracks between the opening section 120 and the contact section 130.

It should be noted that the inner diameter of the buffering section 140 may be larger than the inner diameter of the contact section 130, or may be smaller than the inner diameter of the contact section 130.

Referring to fig. 2, 5 and 8, it can be understood that when the minimum inner diameter d1min of the opening section 120 is greater than the average inner diameter d2 of the contact section 130, and d1min is set to be greater than or equal to d2-0.003ln (m) and d1max is set to be less than or equal to d2-0.04ln (m), the wall thickness of the opening section 120 can be gradually reduced in the range, so that the opening section 120 can share more deformation of the contact section 130, and the fatigue strength of the flexspline is improved.

By setting the minimum inner diameter d1min of the opening section 120 to be greater than or equal to the average inner diameter d2 minus 0.003ln (m) of the contact section 130, the rigidity of the opening section 120 can be reduced, so that the bending deformation of the contact section 130 can be absorbed by the opening section 120, the deformation amount of the contact section 130 can be dispersed, the stress concentration of the contact section 130 can be reduced, and the risk of excessive deformation of the contact section 130 can be reduced.

By setting the maximum inner diameter d1max of the opening section 120 to be less than or equal to the average inner diameter d2 of the contact section 130 plus 0.04ln (m), it is possible to avoid that the wall thickness of the opening section 120 is too small, so that the opening section 120 can have sufficient rigidity to avoid excessive deformation failure of the opening section 120, stabilize the connection between the opening section 120 and the contact section 130, and reduce the risk of cracks between the opening section 120 and the contact section 130.

Referring to fig. 2, 7 and 8, it can be understood that when the maximum inner diameter d3max of the buffer section 140 is smaller than the average inner diameter d2 of the contact section 130, and d3min is set to be greater than or equal to d2+0.06ln (m) and d3max is set to be less than or equal to d2+0.003ln (m), the wall thickness of the buffer section 140 can be gradually increased in a range in a direction away from the contact section 130, the strength of the opening section 120 can be increased, the buffer section 140 can be stably connected with the contact section 130, and the risk of breakage of the flexspline can be reduced.

By setting the minimum inner diameter d3min of the buffer section 140 to be greater than or equal to the average inner diameter d2 plus 0.06ln (m) of the contact section 130, the wall thickness of the buffer section 140 is made greater than that of the contact section 130, so that the buffer section 140 can buffer the tensile deformation of the contact section 130, the deformation amount of the contact section 130 can be dispersed, the stress concentration of the contact section 130 is reduced, and the risk of excessive deformation of the contact section 130 is reduced.

By setting the maximum inner diameter d3max of the buffer section 140 to be less than or equal to the average inner diameter d2 plus 0.003ln (m) of the contact section 130, the buffer section 140 can have sufficient rigidity, the wall thickness of the buffer section 140 is prevented from being too small, excessive deformation failure of the buffer section 140 can be avoided, the buffer section 140 can be stably connected with the contact section 130, and fatigue failure of the connection part between the contact section 130 and the buffer section 140 is reduced.

It should be noted that the inner diameter of the opening section 120 may be larger than the inner diameter of the contact section 130, or may be smaller than the inner diameter of the contact section 130.

Referring to fig. 2, 5 and 6, it can be understood that when the minimum inner diameter d3min of the buffer section 140 is greater than the average inner diameter d2 of the contact section 130, d3min is set to be greater than or equal to d2-0.003ln (m) and d3max is set to be greater than or equal to d2-0.06ln (m), the rigidity of the buffer section 140 can be reduced, so that the tensile deformation of the contact section 130 is absorbed by the buffer section 140, the deformation of the flexspline is absorbed by the elastic deformation of the buffer section 140, the stress concentration of the contact section 130 is reduced, and the risk of excessive deformation of the flexspline can be reduced.

By setting the minimum inner diameter d3min of the buffer section 140 to be greater than or equal to the average inner diameter d2 minus 0.003ln (m) of the contact section 130, the buffer section 140 can have sufficient rigidity and flexibility, the buffer section 140 can buffer and absorb the tensile deformation of the contact section 130, the buffer section 140 and the contact section 130 can be stably connected, and the reliability of the flexspline is improved.

By setting the maximum inner diameter d3max of the buffer section 140 to be less than or equal to the average inner diameter d2 of the contact section 130 minus 0.06ln (m), the rigidity of the buffer section 140 is prevented from being weakened excessively, and the buffer section 140 can be prevented from absorbing excessive deformation, so that the connection between the buffer section 140 and the contact section 130 is stable, the risk of plastic deformation of the buffer section 140 is reduced, and the reliability of the flexspline is improved.

Referring to fig. 2 and 5, it can be understood that:

d1max < d2, d1min ≥ d2+0.04ln (m) and d1max ≤ d2+0.003ln (m), and

When the maximum inner diameter d1max of the opening section 120 is smaller than the average inner diameter d2 of the contact section 130, and the maximum inner diameter d3max of the buffer section 140 is smaller than the average inner diameter d2 of the contact section 130, the flexspline simultaneously satisfies that d1min is larger than or equal to d2+0.04ln (m) and d1max is smaller than or equal to d2+0.003ln (m), and d3min is larger than or equal to d2+0.06ln (m) and d3max is smaller than or equal to d2+0.003ln (m), so that the wall thicknesses of the opening section 120 and the buffer section 140 can be reduced, the opening section 120 and the buffer section 140 can have sufficient rigidity and flexibility, more bending deformation of the flexspline can be absorbed by the opening section 120, and the tensile deformation of the flexspline can be buffered by the buffer section 140, and the fatigue strength and reliability of the flexspline can be improved. In addition, the inner diameter variation trends of the opening section 120, the contact section 130 and the buffer section 140 cause the inner wall surface of the cylinder 100 to be convex inwards, so that the variation trends of the inner wall surface of the cylinder 100 are consistent, the flexible gear is convenient to process, and the manufacturing cost is reduced.

Referring to fig. 2 and 7, it can be understood that:

When the minimum inner diameter d1min of the opening section 120 is smaller than the average inner diameter d2 of the contact section 130, and the minimum inner diameter d3min of the buffer section 140 is smaller than the average inner diameter d2 of the contact section 130, the flexspline simultaneously meets the requirements that d1min is larger than or equal to d2-0.003ln (m) and d1max is smaller than or equal to d2-0.04ln (m), d3min is larger than d2, d3min is larger than or equal to d2-0.003ln (m) and d3max is smaller than or equal to d2-0.06ln (m), the wall thicknesses of the opening section 120 and the buffer section 140 can be increased, and therefore the contact section 130, the opening section 120 and the buffer section 140 can be stably connected, the deformation of the flexspline is reduced, the fatigue failure risk of the flexspline is reduced, and the reliability of the harmonic reducer is improved. In addition, the inner diameter of the opening section 120, the contact section 130 and the buffer section 140 has a trend of changing, so that the inner wall surface of the cylinder 100 is recessed outwards, and the trend of changing the inner wall surface of the cylinder 100 is consistent, thereby facilitating the processing of the flexible gear and reducing the manufacturing cost.

Referring to fig. 2 and 8, it can be understood that:

d1max < d2, d1min ≥ d2+0.04ln (m) and d1max ≤ d2+0.003ln (m), and

d3min is more than d2, d3min is more than or equal to d2-0.003ln (m), and d3max is more than or equal to d2-0.06ln (m). The wall thickness of the opening section 120 can be reduced, the wall thickness of the buffer section 140 can be increased, the opening section 120 can absorb the bending deformation of the flexible gear in a replacement mode, the rigidity of the buffer section 140 is improved, the fatigue strength can be improved compared with the flexible gear with the opening section 120, the contact section 130 and the buffer section 140 having the same wall thickness, and the risk of breakage and failure of the flexible gear is reduced.

Referring to fig. 2 and 6, it can be understood that:

d3max is less than d2, d3min is more than or equal to d2+0.06ln (m), and d3max is more than or equal to d2+0.003ln (m). The wall thickness of the opening section 120 can be increased, the wall thickness of the buffer section 140 can be reduced, the rigidity of the opening section 120 can be improved, the connection between the opening section 120 and the contact section 130 can be stable, the tensile deformation of the contact section 130 can be absorbed through the buffer section 140, the fatigue strength of the flexible gear can be improved, and the reliability of the flexible gear can be improved.

It can be appreciated that, with reference to fig. 2, the manufacturing tolerance of the inner diameter of the contact section 130 is less than 6um. The manufacturing tolerance of the inner diameter of the contact section 130 is set to be less than 6um, so that the wave generator 500 can be in close contact with the contact section 130 of the flexible gear, the relative sliding between the wave generator 500 and the flexible gear is reduced, the flexible gear can synchronously rotate with the outer side of the wave generator 500, the abrasion of the contact section 130 is reduced, and the service life of the flexible gear is prolonged. Meanwhile, the radial excessive deformation of the flexible gear driven by the wave generator 500 can be avoided, the stress concentration of the flexible gear is reduced, and the fatigue strength of the flexible gear is improved.

Referring to fig. 2, it can be understood that the length of the buffering section 140 is 50% to 150% of the length of the contact section 130 in the axial direction of the barrel 100. The length of the buffering section 140 is 50% to 150% of the length of the contact section 130, so that the buffering section 140 has sufficient rigidity and flexibility, the deformation of the flexible gear is conveniently buffered and absorbed through the buffering section 140, the excessive deformation failure of the buffering section 140 is avoided, the fatigue strength of the flexible gear is improved, and the service life of the flexible gear is prolonged.

Wherein, along the axial of barrel 100, when the length of buffer section 140 is 50% of the length of contact section 130, the length of buffer section 140 is less, makes the axial size that can reduce the flexspline, makes the structure of harmonic speed reducer more compact. Simultaneously, the moment arm of the buffer section 140 is small, so that the buffer section 140 is stably connected with the contact section 130, the deformation of the contact section 130 can be reduced, the excessive deformation of the buffer section 140 is reduced, the plastic deformation is caused, the deformation of the contact section 130 can be absorbed by the buffer section 140 through the elastic deformation, and the risk of breakage and failure of the flexible gear is reduced.

In addition, along the axial direction of the cylinder 100, when the length of the buffering section 140 is 150% of the length of the contact section 130, the length of the buffering section 140 is larger, so that the buffering section 140 can absorb a larger deformation amount of the flexspline, further more deformation of the contact section 130 can be dispersed, stress concentration of the flexspline is reduced, the contact section 130 can be prevented from being excessively deformed and losing efficacy, the fatigue strength of the flexspline is improved, and the reliability of the harmonic reducer is improved.

It should be noted that, in order to further balance the rigidity and flexibility of the buffer section 140, the length of the buffer section 140 may be set to 100% of the width of the wave generator 500, so that the buffer section 140 can absorb the deformation of the contact section 130, and avoid excessively weakening the rigidity of the buffer section 140, thereby improving the reliability of the flexspline.

Referring to fig. 4, it can be appreciated that the wall thickness of the transition section 150 gradually decreases toward the flange 300 in the axial direction of the cartridge body 100. The rigidity of the contact section 130 can be reduced, partial deformation of the flexible gear can be absorbed through the contact section 130, so that stress concentration of the flexible gear can be avoided, deformation of the flexible gear can be dispersed, deformation of the flexible gear can be buffered through elastic deformation of the contact section 130, the risk of breakage failure caused by excessive deformation of the flexible gear is reduced, the fatigue strength of the flexible gear is improved, the service life of the flexible gear is prolonged, and reliability is improved. It should be noted that one end of the transition section is connected with the buffer section, and the other end of the transition section is connected with the flange.

Referring to fig. 4, it can be appreciated that the junction of the flange 300 and the transition section 150 is rounded, and the junction of the buffer section 140 and the transition section 150 is rounded. By arranging the smooth transition at the joint of the flange 300 and the contact section 130, the wall thickness change at the joint of the flange 300 and the contact section 130 is smooth, so that the deformation of the flexspline can be absorbed by the contact section 130 and the flange 300, and the stress concentration at the joint between the flange 300 and the contact section 130 is reduced. By arranging smooth transition at the joint of the buffer section 140 and the contact section 130, the buffer section 140 and the contact section 130 are stably connected, stress concentration is reduced, and fatigue strength and reliability of the flexspline are improved.

Referring to fig. 3, it will be appreciated that the end of the open section 120 facing away from the flange 300 is provided with a chamfer 160 on the inner wall surface. The wave generator 500 can be conveniently installed in the flexspline by arranging the chamfer 160, so that the wave generator 500 can be smoothly installed on the contact section 130, the assembly efficiency is improved, and the production cost is reduced. In addition, stress concentration of the flexspline can be reduced by the chamfer 160, and the fatigue strength of the flexspline can be further improved. The chamfer 160 may be a rounded or beveled corner.

Referring to fig. 5, it can be understood that the intersection line of the inner side surface of the opening section 120 with the axial section plane of the cylinder 100 is a circular arc line. So that the change of the inner diameter of the opening section 120 is smooth, and the wall thickness of the opening section 120 is smoothly changed, thereby avoiding the stress concentration of the opening section 120, enabling the flexspline to bear larger torque load, reducing the risk of fatigue failure of the opening section 120, and improving the reliability of the flexspline. In addition, by setting the intersecting line of the inner side surface of the opening section 120 and the axial section of the cylinder 100 to be an arc line, the structural strength of the opening section 120 can be improved, the opening section 120 is prevented from being plastically deformed, the service life of the flexible gear is prolonged, and the reliability of the flexible gear is improved.

It should be noted that the intersection line of the inner surface of the buffer section 140 and the axial cross section of the cylinder 100 is also an arc line, which can also make the buffer section 140 undergo greater deformation, thereby improving the structural strength of the buffer section 140, prolonging the service life of the flexspline, and improving the reliability of the flexspline. In addition, along the radial direction of the cylinder 100, the shape of the arc line may be protruded outwards or concaved inwards.

Referring to fig. 5, it can be understood that the opening section 120 is connected to the contact section 130 and smoothly transits. By arranging smooth transition at the connecting part between the opening section 120 and the contact section 130, the wall thickness change between the opening section 120 and the contact section 130 is smooth, the stress concentration between the opening section 120 and the contact section 130 is reduced, the stress borne by the flexible gear can be dispersed, the risk of cracks generated on the opening section 120 and the contact section 130 is reduced, and the fatigue strength and the reliability of the flexible gear are improved.

Referring to fig. 1 and 2, the utility model discloses harmonic speed reducer ware that second aspect embodiment provided, including rigid wheel 400, wave generator 500 and the utility model discloses a flexible gear that first aspect embodiment provided, the internal diameter that makes opening section 120 and buffer segment 140 according to external tooth 200's modulus m changes at the within range, makes and to make the flexible gear can bear bigger moment of torsion, improves the fatigue strength of flexible gear, reduces the concentration of stress, reduces the risk of the fracture inefficacy of flexible gear, prolongs the life of flexible gear to improve harmonic speed reducer ware's reliability.

Referring to fig. 1 and fig. 2, the utility model discloses industrial robot that third aspect embodiment provided, including the harmonic reducer ware that the embodiment of the second aspect of the utility model provided, industrial robot can be transfer robot, welding robot, assembly robot, processing robot, spraying robot, clean robot, cooperation robot etc. will the utility model discloses the harmonic reducer ware of second aspect embodiment is used to industrial robot, owing to have all technical characteristics of the harmonic reducer ware of the embodiment of the second aspect of the utility model, consequently also has the beneficial effect of all above-mentioned embodiments, no longer has the repeated description here.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A flexspline, comprising:

the wave generator comprises a barrel, wherein one end of the barrel is provided with an opening, outer teeth are arranged on the outer wall of the barrel, the other end of the barrel is connected with a flange, the barrel comprises an opening section, a contact section, a buffer section and a transition section which are sequentially connected along the axial direction of the barrel, the contact section is in a position contacting a wave generator, the modulus of the outer teeth is m, the minimum inner diameter of the opening section is d1min, the maximum inner diameter of the opening section is d1max, the average inner diameter of the contact section is d2, the minimum inner diameter of the buffer section is d3min, and the maximum inner diameter of the buffer section is d3max, so that at least one of the following conditions is met:

2. The flexspline of claim 1, wherein:

d1max < d2, d1min ≥ d2+0.04ln (m) and d1max ≤ d2+0.003ln (m), and

3. The flexspline of claim 1, wherein:

4. The flexspline of any one of claims 1-3, wherein the contact section has an inner diameter with a manufacturing tolerance of less than 6um.

5. The flexspline of any one of claims 1-3, wherein the length of the buffer section is 50-150% of the length of the contact section in the axial direction of the cylinder.

6. The flexspline of any one of claims 1-3, wherein the wall thickness of the transition segment tapers in a direction toward the flange in an axial direction of the cylinder.

7. The flexspline of any one of claims 1-3, wherein the junction of the flange and the transition section is rounded, and the junction of the buffer section and the transition section is rounded.

8. The flexspline of any one of claims 1-3, wherein an end of the opening section facing away from the flange has an inner wall surface provided with a chamfer.

9. The flexspline of claim 1, wherein the intersection of the inside surface of the open section with the axial cross-section of the cylinder is a circular arc.

10. The flexspline of claim 1 or 9, wherein the opening section is continuous with and rounded to the contact section.

11. Harmonic reducer ware, its characterized in that, including rigid wheel, wave generator and according to any one of claims 1 to 10 the flexbile gear, the rigid wheel suit is in the outside of flexbile gear, the rigid wheel is provided with the internal tooth, the external tooth with the internal toothing, the flexbile gear suit is in the outside of wave generator, wave generator butt the contact section.

12. An industrial robot comprising the harmonic reducer of claim 11.