CN218494139U - Cup type flexible gear and harmonic reducer - Google Patents
Cup type flexible gear and harmonic reducer Download PDFInfo
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- CN218494139U CN218494139U CN202222793906.6U CN202222793906U CN218494139U CN 218494139 U CN218494139 U CN 218494139U CN 202222793906 U CN202222793906 U CN 202222793906U CN 218494139 U CN218494139 U CN 218494139U
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Abstract
The utility model relates to a cup formula flexbile gear and harmonic speed reducer ware, the barrel and the bottom plate of flexbile gear are connected through first circular arc section, and the one end of keeping away from the bottom plate of barrel is located to the ring gear, and the ring gear includes a plurality of first teeth of a cogwheel, and the ring gear is connected in linking point department with the barrel, and the tangent line of line perpendicular to linking point department between the utmost point of barrel outer profile line and the linking point, the footpath rho (theta) of barrel outer profile line satisfy rho (theta) = U 1 +U 2 θ+U 3 θ 2 ，(0≤θ≤π/2)，U 1 The distance between the extreme points of the outer contour of the can and the joining points, U 2 And w 0 Positively and negatively correlated with m, m being the modulus of the first tooth, w 0 Designing the maximum radial deformation of the cross section, U, for the theory of the gear ring 3 And L 1 Positive correlation, L 1 Is the length from one end of the gear ring far away from the bottom plate to one side of the bottom plate far away from the gear ring at the maximum wall thickness position. According to the utility model discloses a flexbile gear, the barrel makes the translation of first teeth of a cogwheel and does not produce tapering deformation under wave generator's effect.
Description
Technical Field
The application relates to the field of robots, in particular to a cup-type flexible gear and a harmonic reducer.
Background
The harmonic reducer has the characteristics of high transmission precision, small size and the like, and is widely applied to joint modules of bionic robots and industrial robots at present. Harmonic reducers typically consist of a flexible gear, a rigid gear, and a wave generator, where the flexible gear is an elastic member that undergoes periodic elastic deformation under the action of the wave generator, which deformation causes the flexible first gear teeth and the rigid first gear teeth to mesh, thereby effecting the transfer of motion and force.
Due to structural characteristic reasons, the cup-shaped flexible gear generates taper deformation along an axial bus under the action of the wave generator, so that interference is generated along the front section of the tooth width of the flexible first gear, the rear section does not participate in meshing, the meshing width along the tooth width is shortened, the meshing pressure of the tooth surface is increased, the abrasion of the flexible gear and the rigid gear is aggravated, and the transmission precision and the service life of the harmonic reducer are influenced.
Patent CN112762157a proposes a cup-shaped flexible gear with gradually changing wall thickness, which cannot solve the problem of taper deformation of the flexible gear along the axial generatrix.
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 cup type flexbile gear can prevent that the ring gear of flexbile gear from producing tapering deformation along axial generating line for the first teeth of a cogwheel of flexbile gear can participate in the meshing at the full tooth width of tooth width direction, has improved the precision retentivity of flexbile gear.
The utility model also provides a harmonic speed reducer ware, including foretell flexbile gear, can improve harmonic speed reducer ware's complete machine life-span.
According to the utility model discloses a cup type flexbile gear, including the ring gear, the barrel, bottom plate and first circular arc section, barrel and bottom plate are connected through first circular arc section, the one end of keeping away from the bottom plate of barrel is located to the ring gear, the ring gear includes a plurality of first teeth of a cogwheel, one side that the ring gear was kept away from to the bottom plate is equipped with the output of evagination, the ring gear is connected in linking point department with the barrel, the tangent line of line perpendicular to linking point department between the limit of barrel outer contour line and the linking point, and be located outside the barrel, the extreme diameter rho (theta) of barrel outer contour line satisfies the formula: ρ (θ) = U 1 +U 2 θ+U 3 θ 2 (0. Ltoreq. Theta. Ltoreq. Pi/2), where theta is polar angle, U 1 The distance from the extreme point of the barrel outer contour line to the junction point, U 2 And w 0 Positively and negatively correlated with m, m being the modulus of the first tooth, w 0 Designing the maximum radial deformation of the cross section, U, for the theory of the gear ring 3 And L 1 Positive correlation, L 1 Is the maximum wall thickness from the gear ring end face to the bottom plate a length between sides distal from the ring gear.
According to the utility model discloses a cup formula flexbile gear, barrel outline make the barrel make the ring gear take place the translation under wave generator's effect, and do not produce tapering deformation for the effective meshing line length of the axial of the first teeth of a cogwheel increases, makes the pressure that the meshing force that the first teeth of a cogwheel receives arouse reduce under the operating mode of the same moment of torsion of transmission, thereby slows down the wearing and tearing of the first teeth of a cogwheel in transmission process, prolongs the hold time of transmission precision.
According to the utility model discloses a cup type flexbile gear, ring gear still include second circular arc section, and first teeth of a cogwheel and barrel are connected respectively to second circular arc section, and second circular arc section and barrel are connected in joining point department, and the radius of joining point in the radial direction of barrel is r 1 ，U 1 Satisfy 100/56 < U 1 /r 1 ＜100/9。
Optionally, U 2 Satisfy w 0 /35m＜U 2 ＜w 0 /10m。
Alternatively, U 3 Satisfy L 1 /100＜U 3 ＜L 1 /10。
Alternatively, L 1 Satisfy 4.0 < L 1 /r 1 < 5.6, and/or the width of the ring gear in the axial direction is b, b satisfying 1.8 < b/r 1 ＜2.4。
Optionally, the first arc segment includes a first end connected to the barrel and a second end connected to the bottom plate, the outer wall of the first end is tangent to the outer wall of the barrel, the outer wall of the second end is tangent to the outer wall of the bottom plate, and the radius corresponding to the outer wall profile of the first arc segment is r 2 ，r 2 Satisfy 0.1 < r 2 /r 1 < 0.8 and/or the corresponding radius r of the outer wall profile of the output section 4 ，r 4 Satisfy 0.1 < r 4 /r 1 ＜1.3。
Alternatively, ρ (π/2) > L 1 -b。
According to the utility model discloses a cup type flexbile gear, barrel and first circular arc section are wall thickness structure such as t, and the wall thickness of barrel is 1 The wall thickness of the first arc segment is t 2 The bottom plate is of a variable wall thickness structure, and the wall thickness of the thinnest part of the wall thickness of the bottom plate is t 3 The wall thickness of the junction of the base plate and the output part in the radial direction is t 4 Wherein, t 1 、t 2 、t 3 And t 4 Satisfies the following conditions: t is t 4 >t 1 ＝t 2 >t 3 。
Optionally, a first straight line is defined, a distance between the first straight line and one end, far away from the bottom plate, of the gear ring is L1, the first straight line intersects with an extension line of the outer contour of the cylinder at a first point, a point at a joint of the outer contour of the bottom plate and the output part is a second point, a point at which a perpendicular bisector of a connecting line between the first point and the second point intersects with the bottom plate is a third point, and a wall thickness at the third point is t 3 。
According to the utility model discloses a harmonic speed reducer ware, include: an annular rigid internal gear; according to the cup-type flexible gear, the flexible gear is partially meshed with the internal gear; and the fluctuation generator is clamped in the flexible gear.
According to the utility model discloses a harmonic reducer ware, the barrel outline of flexbile gear makes the barrel make the ring gear take place the translation under wave generator's effect, and does not produce the tapering and warp for the effective meshing line length of the axial of the first teeth of a cogwheel increases, makes the pressure that the meshing force that the first teeth of a cogwheel receives arouse reduce under the operating mode of the same moment of torsion of transmission, thereby slows down the wearing and tearing of the first teeth of a cogwheel in transmission process, prolongs the hold time of transmission precision, thereby prolongs the complete machine life-span of harmonic reducer ware.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
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, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is an overall structural view of a harmonic reducer according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view taken along line I-I of FIG. 1;
FIG. 3 is a cross-sectional view taken along the line J-J in FIG. 1;
fig. 4 is a cross-sectional view of a flexspline according to an embodiment of the present invention.
Reference numerals:
the flexible gear comprises a flexible gear 1, a gear ring 101, a gear ring end surface 1011, a second arc section 1012, a cylinder 102, a cylinder outer contour line 1021, a first arc section 103, a first arc section outer contour 1031, a bottom plate 104, a bottom plate outer wall 1041, a bottom plate inner wall 1042, an output part 105, an output part outer wall contour 1051, an axial lead 106, a wave generator 2, a cam 201, a flexible bearing 202, an internal gear 3, a second gear tooth 301 and a first straight line 107.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
As shown in fig. 1, the cup-type flexspline 1 of the present invention can be applied to a harmonic reducer 100, and in some embodiments, the harmonic reducer 100 includes: an annular rigid internal gear 3; as the cup type flexible gear 1, the flexible gear 1 is partially meshed with the internal gear 3; and the wave generator 2, the wave generator 2 is clamped in the flexible gear 1.
As shown in fig. 1, in general, the wave generator 2 includes a cam 201 and a flexible bearing 202, the inner side surface of the internal gear 3 is provided with second gear teeth 301, the bearing 202 is fitted around the outer side of the cam 201, the internal gear 3 is fitted around the outer side of the flexible gear 1, and the second gear teeth 301 are engaged with the first gear teeth. Normally, the internal gear 3 is fixed, the flexible gear 1 is forced to be continuously deformed when the wave generator 2 rotates, the first gear tooth is gradually meshed with the second gear tooth 301 in the deformation process of the flexible gear 1 and then gradually retreats until the first gear tooth is completely disengaged, the first gear tooth repeatedly performs meshing, meshing and disengaging cyclic mutual staggered tooth movement in the deformation process of the flexible gear 1, and the staggered tooth movement converts the input of the wave generator 2 into the output of the flexible gear 1, so that the speed reduction transmission is realized.
The cup-type flexspline 1 applied to the harmonic reducer 100 will be described below with reference to the drawings.
As shown in fig. 4, the cup-type flexspline 1 according to the embodiment of the present invention includes a ring gear 101, a cylinder 102, a bottom plate 104, and a first arc segment 103.
Specifically, the cylinder 102 is connected with the base plate 104 through a first arc segment 103, the gear ring 101 is arranged at one end of the cylinder 102, which is far away from the base plate 104, the gear ring 101 comprises a plurality of first gear teeth, a convex output part 105 is arranged at one side, which is far away from the gear ring 101, of the base plate 104, the gear ring 101 is connected with the cylinder 102 at a joint point C, a connecting line between the pole of the outer contour line of the cylinder and the joint point C is perpendicular to a tangent line at the joint point C and is located outside the cylinder 102, and the cylinderThe pole diameter rho (theta) of the external contour line satisfies the formula: ρ (θ) = U 1 +U 2 θ+U 3 θ 2 (0. Ltoreq. Theta. Ltoreq. Pi/2), where theta is a polar angle and U is 1 The distance from the extreme point of the outer contour line of the can to the junction point C, U 2 And w 0 Positively and negatively correlated with m, m being the modulus of the first tooth, w 0 Designing the maximum radial deflection, U, of the cross-section for the theoretical design of the ring gear 101 3 And L 1 Positive correlation, L 1 Is the length from the gear ring end surface 1011 to the maximum wall thickness of the base plate 104 on the side away from the gear ring 101.
For deployment, the flexspline 1, when acted upon by the wave generator 2, is U 1 And U 3 Influencing the deformation of the cylinder 102 and ultimately the displacement of the first gear teeth, U 2 And w 0 Positive correlation, w 0 The larger, U 2 The larger, U 2 Is inversely related to m, the larger U 2 The smaller, U 2 The displacement of the first gear teeth is influenced, so that the deformation of the barrel body 102 can drive the first gear teeth to translate without generating taper deformation, the abrasion of the first gear teeth in the transmission process is reduced, and the retention time of the transmission precision is prolonged.
In addition, "L" is 1 Is the length from the gear ring end surface 1011 to the maximum wall thickness of the base plate 104 on the side away from the gear ring 101, namely L 1 Is the sum of the length from the gear ring end surface 1011 to the inner wall of the base plate 104 and the maximum wall thickness of the base plate 104.
According to the utility model discloses cup-type flexbile gear 1, barrel 102 outline makes barrel 102 make ring gear 101 take place the translation under undulant generator 2's effect, and does not produce tapering deformation for the effective meshing line length of the axial of the first teeth of a cogwheel increases, makes the pressure that the meshing force that the first teeth of a cogwheel receives arouse reduce under the operating mode of the same moment of torsion of transmission, thereby slows down the wearing and tearing of the first teeth of a cogwheel in transmission process, prolongs the hold time of transmission precision.
As shown in fig. 4, according to the cup-type flexspline 1 of the embodiment of the present invention, the gear ring 101 further includes a second circular arc section 1012, the second circular arc section 1012 connects the first gear teeth and the cylinder 102, and the second circular arc section 1012 and the cylinder102 are connected at a junction point C having a radius r in the radial direction of the cylinder 102 1 ，U 1 Satisfy 100/56 < U 1 /r 1 ＜100/9。
According to the utility model discloses cup-type flexbile gear 1 sets up the structural strength that ring gear 101 and barrel 102 junction can be guaranteed to second circular arc section 1012, has guaranteed the stability and the life of flexbile gear 1 structure. At r 1 Is timed to be of a certain size, U 1 Too large a value of (b) easily causes the gear ring 101 to undergo taper deformation in the tooth width direction, U 1 If the value of (a) is too small, stress concentration tends to occur in the first arc segment 103, and fatigue stress during operation of the flexspline 1 increases, so that it is necessary to provide an appropriate U 1 The size of (2).
That is, U 1 Satisfies the following conditions: 100/56r 1 ＜U 1 ＜100/9r 1 Wherein, U 1 Can be 100/50r 1 、100/45r 1 、100/40r 1 、100/35r 1 、100/30r 1 、100/25r 1 、100/20r 1 、100/15r 1 And 100/10r 1 And the like. Wherein, U 1 And r 1 All units of (a) are mm.
In some embodiments, U 2 Satisfy w 0 /35m＜U 2 ＜w 0 /10m。
According to the utility model discloses cup type flexbile gear 1, at w 0 And m is constant, U 2 If the value of (b) is too large, the ring gear 101 is subjected to taper deformation in the tooth width direction, and stress concentration tends to occur at the first arc segment 103, thereby increasing fatigue stress of the flexspline 1 during operation, and therefore, it is necessary to provide an appropriate U 2 The size of (2).
E.g. U 2 May be w 0 /34m、w 0 /33m、w 0 /32m、w 0 /31m、w 0 /30m、w 0 /29m、w 0 /28m、w 0 /27m、w 0 /26m、w 0 /25m、w 0 /24m、w 0 /23m、w 0 /22m、w 0 /21m、w 0 /20m、w 0 /19m、w 0 /18m、w 0 /17m、w 0 /16m、w 0 /15m、w 0 /14m、w 0 /13m、w 0 12m and w 0 11m, etc. U shape 2 And w 0 All units of (a) are mm.
In some embodiments, U 3 Satisfy L 1 /100＜U 3 ＜L 1 /10. The numerical value of U3 is too big, and it causes the bottom plate 104 to damage to produce too big stress at the bottom plate 104 easily, and the numerical value of U3 is too little, and it causes first circular arc section 103 to damage to produce stress concentration at first circular arc section 103 department easily, consequently needs to set up suitable U 3 The size of (2).
E.g. U 3 May be L 1 /95、L 1 /90、L 1 /85、L 1 /80、L 1 /75、L 1 /70、L 1 /65、L 1 /60、L 1 /55、L 1 /50、L 1 /45、L 1 /40、L 1 /35、L 1 /30、L 1 /25、L 1 /20 and L 1 And/15, etc. U shape 3 And L 1 All units of (a) are mm.
In some embodiments, L 1 Satisfy 4.0 < L 1 /r 1 < 5.6, that is, L 1 Satisfies the following conditions: 4.0r 1 ＜L 1 ＜5.6r 1 At r 1 Under certain circumstances, L 1 The smaller, the more severe the stress concentration at the base plate 104, L 1 The larger the overall weight of the flexspline 1, the more the manufacturing cost and the overall size and weight of the harmonic reducer 100 are affected, and therefore, it is necessary to set an appropriate L 1 Size. Wherein L is 1 May be 4.1r 1 、4.2r 1 、4.3r 1 、4.4r 1 、4.5r 1 、4.6r 1 、4.7r 1 、4.8r 1 、4.9r 1 、5.0r 1 、5.1r 1 、5.2r 1 、5.3r 1 、5.4r 1 And 5.5r 1 。
In some embodiments, the width of the ring gear 101 in the axial direction is b, and b satisfies 1.8 < b/r 1 Is less than 2.4. That is, b satisfies: 1.8r 1 ＜b＜2.4r 1 . b may be 1.9r 1 、2.0r 1 、2.1r 1 、2.2r 1 And 2.3r 1 . b is too big, and this can correspondingly make the tooth width of first teeth of a cogwheel too big, can make ring gear 101 take place the tapering deformation in the tooth width direction, can not realize increasing effective teeth of a cogwheel meshing width, and can increase the local wearing and tearing of teeth of a cogwheel, and b undersize can realize that ring gear 101 takes place the translation, and the teeth of a cogwheel can be because the contact pressure that produces when the teeth of a cogwheel meshing is increased to the too short width of teeth of a cogwheel, leads to teeth of a cogwheel wearing and tearing serious, consequently needs to set up suitable b's size.
In some embodiments, the first arc segment 103 includes a first end D connected to the barrel 102 and a second end E connected to the bottom plate 104, an outer wall at the first end D is tangent to an outer wall of the barrel 102, an outer wall at the second end E is tangent to an outer wall of the bottom plate 104, and an outer wall profile of the first arc segment 103 corresponds to a radius r 2 ，r 2 Satisfy 0.1 < r 2 /r 1 Is less than 0.8. That is, r 2 Satisfies 0.1r 1 ＜r 2 ＜0.8r 1 At r 1 Under certain conditions, r 2 Too large, the deformation of the cylinder 102 is not easy to drive the first gear teeth to translate, r 2 When the first arc segment 103 is too small, stress concentration occurs and the first arc segment is easily broken, so that the r is set to be appropriate 2 The stress at the positions of the cylinder 102, the first arc segment 103 and the bottom plate 104 can be more uniform, and the first gear teeth are not easy to generate taper deformation. Wherein r is 2 May be 0.2r 1 、0.3r 1 、0.4r 1 、0.5r 1 、0.6r 1 And 0.7r 1 . As shown in fig. 4, the first arc segment outer contour 1031 is tangent to the barrel outer contour line 1021 and the bottom plate outer wall 1041.
As shown in FIG. 4, in some embodiments, the output outer wall profile 1051 corresponds to a radius r 4 ，r 4 Satisfy 0.1 < r 4 /r 1 Is less than 1.3. That is, r 4 Satisfies 0.1r 1 ＜r 4 ＜1.3r 1 At r 1 Under certain conditions, r 4 The larger the structural strength of the output portion 105, the more unfavourable the deformation of the base plate 104 causes the taper deformation of the ring gear 101 in the tooth width direction, r 4 The smaller the structural strength of the output portion 105, the less sustainableLarger output load, therefore, it is necessary to set the appropriate r 4 The size of (2). r is 4 May be 0.2r 1 、0.3r 1 、0.4r 1 、0.5r 1 、0.6r 1 、0.7r 1 、0.8r 1 、0.9r 1 、1.0r 1 、1.1r 1 And 1.2r 1 And the like.
In some embodiments, ρ (π/2) > L 1 B, arranged so that the outer profile of the cylinder 102 is curved, it is easier to make the first toothing translate under the action of the wave generator 2.
As shown in fig. 4, according to the cup-type flexbile gear 1 of the embodiment of the present invention, the cylinder 102 and the first arc segment 103 are of the same wall thickness structure, and the wall thickness of the cylinder 102 is t 1 The first circular arc segment 103 has a wall thickness t 2 The bottom plate 104 is of a variable wall thickness structure, and the wall thickness of the thinnest part of the bottom plate 104 is t 3 The wall thickness of the junction of the base plate 104 and the output part 105 in the radial direction is t 4 Wherein, t 1 、t 2 、t 3 And t 4 Satisfies the following conditions: t is t 4 >t 1 ＝t 2 >t 3 。
That is to say, set up barrel 102 and first circular arc section 103 and be the wall thickness structure of waiting, can make flexbile gear 1 when receiving undulant generator 2's effect, the stress that receives in barrel 102 and first circular arc section 103 department is changeed evenly that distributes, and bottom plate 104 is the structure of becoming the wall thickness, so sets up and to make bottom plate 104 change the deformation, further prevents that first circular arc section 103 department from producing stress concentration. Wherein, t 1 、t 2 、t 3 And t 4 Satisfies the following conditions: t is t 4 >t 1 ＝t 2 >t 3 When the cylinder 102, the first arc portion and the bottom plate 104 deform, the joint of the bottom plate 104 and the output portion 105 has high structural strength, and the structural damage of the output portion 105 is prevented. As shown in fig. 4, in a cross-sectional view formed by cutting the flexspline 1 along the axial direction, the inner wall 1042 of the bottom plate is linear, and the outer wall 1041 of the bottom plate is curved.
As shown in fig. 4, in some embodimentsIn the embodiment, a first straight line 107 is defined, and the distance between the first straight line 107 and the end surface 1011 of the gear ring is L 1 The first straight line 107 intersects with the extension line of the outer contour of the cylinder 102 at a first point A, the point at the junction of the outer contour of the bottom plate 104 and the output part 105 is a second point B, the point at which the perpendicular bisector of the connecting line between the first point A and the second point B intersects with the bottom plate 104 is a third point F, and the wall thickness at the third point F is t 3 . Therefore, when the bottom plate 104 deforms under stress, the first gear teeth are more easily driven to translate, the generation of taper deformation is avoided, and meanwhile, the stress distribution is more uniform.
As shown in fig. 1, a harmonic reducer 100 according to an embodiment of the present invention includes: an annular rigid internal gear 3; as the cup type flexible gear 1, the flexible gear 1 is partially meshed with the internal gear 3; and the wave generator 2, the wave generator 2 is clamped in the flexible gear 1.
Fig. 2 shows an overall cross-sectional view of the harmonic reducer 100 along the major axis of the flexspline 1, and fig. 3 shows an overall cross-sectional view of the harmonic reducer 100 along the minor axis of the flexspline 1. As shown in fig. 2, after the flexible gear 1 is deformed, the entire ring gear 101 of the flexible gear 1 having the cross section with the major axis is translated without taper deformation, and the radial displacement at the major axis is w 0 As shown in fig. 3, after the flexible gear 1 is deformed, the entire ring gear 101 of the flexible gear 1 having the cross section with the short axis is translated without generating taper deformation. As shown in fig. 2, the cylinder 102, the first arc segment 103, and the bottom plate 104 are deformed in a direction away from the gear ring end surface 1011 along the axis line 106 of the flexspline 1. As shown in fig. 3, the cylinder 102, the first arc segment 103, and the bottom plate 104 are deformed in a direction approaching the gear ring end surface 1011 along the axial line 106 of the flexspline 1, and the broken lines in fig. 2 and 3 are the flexspline 1 before deformation, and the solid lines are the flexspline 1 after deformation.
According to the utility model discloses harmonic speed reducer ware 100, the outline of the barrel 102 of flexbile gear 1 makes barrel 102 make ring gear 101 take place the translation under the effect of fluctuation generator 2, and do not produce the tapering and warp, make the effective meshing line length of the axial of the first teeth of a cogwheel increase, make the pressure that the meshing force that the first teeth of a cogwheel received arouses reduce under the operating mode of the same moment of torsion of transmission, thereby slow down the wearing and tearing of the first teeth of a cogwheel in transmission process, prolong the hold time of transmission precision, thereby prolong harmonic speed reducer ware 100's complete machine life-span.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like 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 present invention. In this specification, the schematic representations of the terms used above do not necessarily 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.
Claims (10)
1. The utility model provides a cup type flexbile gear, a serial communication port, including ring gear, barrel, bottom plate and first circular arc section, barrel and bottom plate pass through first circular arc section is connected, the ring gear is located keeping away from of barrel the one end of bottom plate, the ring gear includes a plurality of first teeth of a cogwheel, the bottom plate is kept away from one side of ring gear is equipped with the output portion of evagination, the ring gear with the barrel is connected at linking point department, the limit of barrel outer contour line with line perpendicular to between the linking point the tangent line of linking point department, and be located outside the barrel, the utmost point footpath rho (theta) of barrel outer contour line satisfies the formula: ρ (θ) = U 1 +U 2 θ+U 3 θ 2 (0. Ltoreq. Theta. Ltoreq. Pi/2), where theta is a polar angle and U is 1 Is the distance from the extreme point of the barrel outer contour line to the junction point, U 2 And w 0 Positive correlation and negative correlation with m, m being the modulus of the first tooth, w 0 Designing the maximum radial deformation of the cross section, U, for the theory of the gear ring 3 And L 1 Positive correlation, L 1 Is the length from the gear ring end face to the side of the base plate away from the gear ring at the maximum wall thickness.
2. The cup-type flexspline of claim 1, wherein the gear ring further comprises a second circular arc segment connecting the first gear teeth and the cylinder, respectively, the second circular arc segment and the cylinder being connected at the junction point, the junction point having a radius r in a radial direction of the cylinder 1 ，U 1 Satisfy 100/56 < U 1 /r 1 ＜100/9。
3. The cup flexspline of claim 2, wherein U is 2 Satisfy w 0 /35m＜U 2 ＜w 0 /10m。
4. The cup flexspline of claim 3, wherein U is 3 Satisfy L 1 /100＜U 3 ＜L 1 /10。
5. The cup flexspline of claim 2, wherein L 1 Satisfy 4.0 < L 1 /r 1 < 5.6, and/or
The width of the gear ring along the axial direction is b, and b satisfies the condition that b/r is more than 1.8 1 ＜2.4。
6. The cup-type flexspline of claim 2, wherein the first arc segment includes a first end connected to the cylinder and a second end connected to the base plate, the outer wall of the first end is tangent to the outer wall of the cylinder, the outer wall of the second end is tangent to the outer wall of the base plate, and the outer wall profile of the first arc segment corresponds to a radius r 2 ，r 2 Satisfy 0.1 < r 2 /r 1 < 0.8, and/or
The radius corresponding to the contour of the outer wall of the output part is r 4 ，r 4 Satisfy 0.1 < r 4 /r 1 ＜1.3。
7. The cup flexspline of claim 6, wherein p (pi/2) > L 1 -b。
8. The cup-type flexspline of claim 1, wherein the cylinder and the first arc segment are both of equal wall thickness construction, the cylinder having a wall thickness of t 1 The wall thickness of the first circular arc section is t 2 The bottom plate is of a variable wall thickness structure, and the wall thickness of the thinnest part of the wall thickness of the bottom plate is t 3 The wall thickness of the junction of the bottom plate and the output part in the radial direction is t 4 Wherein, t 1 、t 2 、t 3 And t 4 Satisfies the following conditions: t is t 4 >t 1 ＝t 2 >t 3 。
9. The cup-type flexspline of claim 8, wherein a first line is defined at a distance L from an end of the ring gear away from the base plate 1 The first lineThe line intersects with the extension line of barrel outline in first point, the point of the outer outline of bottom plate with the junction of output portion is the second point, the perpendicular bisector of the line between first point and the second point with the point that the bottom plate intersects is the third point, the wall thickness at third point is t 3 。
10. A harmonic reducer, comprising:
an annular rigid inner gear;
the cup-type flexspline of any one of claims 1-9, partially engaged with said internal gear teeth; and
and the fluctuation generator is clamped in the flexible gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222793906.6U CN218494139U (en) | 2022-10-21 | 2022-10-21 | Cup type flexible gear and harmonic reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222793906.6U CN218494139U (en) | 2022-10-21 | 2022-10-21 | Cup type flexible gear and harmonic reducer |
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| CN218494139U true CN218494139U (en) | 2023-02-17 |
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| CN202222793906.6U Active CN218494139U (en) | 2022-10-21 | 2022-10-21 | Cup type flexible gear and harmonic reducer |
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