CN218817972U - Flexible gear, harmonic reducer and industrial robot - Google Patents
Flexible gear, harmonic reducer and industrial robot Download PDFInfo
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- CN218817972U CN218817972U CN202223139758.2U CN202223139758U CN218817972U CN 218817972 U CN218817972 U CN 218817972U CN 202223139758 U CN202223139758 U CN 202223139758U CN 218817972 U CN218817972 U CN 218817972U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model provides a flexbile gear, harmonic speed reducer ware, industrial robot belongs to the robot design field, and flexbile gear wherein for among the harmonic speed reducer ware, including the flexbile gear body, the flexbile gear body has a plurality of gentle teeth of a cogwheel that set up along its circumferencial direction interval, along the axial of flexbile gear body is right flexbile gear body projection forms first plane of projection on the first plane of projection, the gentle teeth of a cogwheel have first profile of tooth face, the second profile of tooth of connecting in O point, O point with the line of flexbile gear body is the central line, first profile of tooth face, second profile of tooth face about the central line is asymmetric. The utility model discloses two profile of tooth faces of the left and right sides of each gentle teeth of a cogwheel present an asymmetric structure, and the pressure angle of two profile of tooth faces that form from this is also different, keeps possessing different meshing characteristics with rigid wheel meshing when corresponding harmonic speed reducer ware under corotation and two kinds of operating modes of reversal, makes the industrial robot who uses it be applicable to lifting article, reciprocating motion operating mode.
Description
Technical Field
The utility model belongs to harmonic speed reducer ware design field, concretely relates to flexbile gear, harmonic speed reducer ware, industrial robot.
Background
The harmonic reducer is a precision reducer applied to joints of industrial robots, and generally comprises three components, namely a flexible gear, a rigid gear and a wave generator, wherein the flexible gear generates periodic fluctuation deformation by utilizing the rotation of the wave generator, so that small tooth difference internal meshing between the flexible gear and the rigid gear is forced, and the transmission of motion and power is realized. For a hat-type harmonic gear reducer, the flexible gear teeth and the rigid gear teeth are meshed with each other and are the main failure parts. The left tooth surface and the right tooth surface of a rigid-flexible wheel tooth form of a common product on the market are symmetrical tooth profiles, the difference between the working condition and the precision requirement of forward and reverse rotation of the speed reducer is large in the robot and the machine which lift articles and move back and forth, and the conventional harmonic speed reducer cannot simultaneously meet the performance under two working conditions.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a flexible wheel, harmonic speed reducer ware, industrial robot can solve tooth profile about the rigid wheel profile of tooth and the flexible wheel profile of tooth among the harmonic speed reducer ware among the prior art for symmetrical flank profile, can not satisfy the technical problem of two kinds of operating modes of reduction gear positive and negative rotation simultaneously.
In order to solve the problem, the utility model provides a flexible gear for among the harmonic speed reducer ware, including the flexible gear body, the flexible gear body has a plurality of gentle teeth of a cogwheel that set up along its circumferencial direction interval, along the axial of flexible gear body is right flexible gear body projection forms first plane of projection on the first plane of projection, the gentle teeth of a cogwheel have first profile of tooth face, the second profile of tooth face of connecting in O point, O point with the line of flexible gear body is the central line, first profile of tooth face, second profile of tooth face about the central line is asymmetric.
In some embodiments, the pressure angle of the first tooth profile surface is a first pressure angle α 1, the pressure angle of the second tooth profile surface is a second pressure angle α 2, α 1 > α 2.
In some embodiments, 25 ° < α 1 < 40 °,5 ° < α 1 < 20 °.
In some embodiments, the first tooth profile surface includes a first tooth bottom segment arc, a first tooth top segment arc, and is in the first tooth bottom segment arc with a first intermediate segment between the first tooth top segment arc, the first tooth bottom segment arc with the first intermediate segment is tangent, the first tooth top segment arc with the first intermediate segment is tangent, and the first intermediate segment is intersected with the reference circle of the flexible gear teeth.
In some embodiments, the second profile surface includes a second nadir arc, a second top arc, and a second intermediate segment between the second nadir arc and the second top arc, the second nadir arc tangent to the second intermediate segment, the second top arc tangent to the second intermediate segment, and the second intermediate segment intersecting the pitch circle of the flexible gear teeth.
In some embodiments, the flexspline teeth are formed using a rack-and-pinion approach configuration, and the first and second intermediate sections are both straight sections.
In some embodiments, the flexspline is a hat-type flexspline.
The utility model also provides a harmonic speed reducer ware, including the flexbile gear, the flexbile gear is foretell flexbile gear.
In some embodiments, the harmonic reducer further comprises a rigid gear having a plurality of rigid gear teeth spaced apart along a circumferential direction thereof, the rigid gear teeth and the compliant gear teeth being formed based on a conjugate principle configuration.
The utility model also provides an industrial robot, including foretell harmonic speed reducer ware.
The utility model provides a pair of flexible wheel, harmonic speed reducer ware, industrial robot, two profile faces of the left and right sides of each flexible wheel tooth no longer like bilateral symmetry among the prior art, but present an asymmetric structure, the pressure angle of two profile faces that form from this also will be different, hold and possess different meshing characteristic when the rigid wheel meshing under two kinds of operating modes of corotation and reversal at corresponding harmonic speed reducer ware, make the industrial robot who uses it be applicable to lifting article, reciprocating motion operating mode.
Drawings
Fig. 1 is a schematic structural diagram (projection on a first projection surface) of a flexspline tooth of a flexspline according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an internal structure of a harmonic reducer according to an embodiment of the present invention, in which a rigid bearing includes an inner ring and an outer ring and rolling elements therebetween, which is simplified;
fig. 3 is a schematic view of a bearing tooth surface of a harmonic reducer according to an embodiment of the present invention in a clockwise direction of rotation;
fig. 4 is a schematic diagram of a rack approximation method in the prior art.
The reference numerals are represented as:
10. a flexible gear; 11. flexible gear teeth; 111. a first tooth profile surface; 21. a first tooth bottom section arc; 22. a first addendum segment arc; 23. a first intermediate section; 112. a second profile surface; 31. a second root segment arc; 32. a second crest segment arc; 33. a second intermediate section; 20. a rigid wheel; 30. a rigid bearing; 40. a wave generator; 50. a flexspline bearing; l, unfolding a line by reference circle.
Detailed Description
Referring to fig. 1 and 2 in combination, according to an embodiment of the present invention, a flexible gear is provided for a harmonic reducer, including a flexible gear body (not referenced in the drawings), the flexible gear body has a plurality of flexible gear teeth 11 spaced along a circumferential direction thereof, a first projection plane is formed by projecting the flexible gear body along an axial direction of the flexible gear body, on the first projection plane, the flexible gear teeth 11 have a first tooth profile 111 connected to a point O (shown in fig. 1), a second tooth profile 112, a connecting line between the point O and the flexible gear body is a central line, and the first tooth profile 111 and the second tooth profile 112 are asymmetric with respect to the central line. In the technical scheme, the left tooth profile surface and the right tooth profile surface of each flexible gear tooth 11 are not bilaterally symmetrical as in the prior art, but are in an asymmetrical structure, the pressure angles of the two tooth profile surfaces formed by the two tooth profile surfaces are different, and the corresponding harmonic speed reducer is meshed with the rigid wheel under the working conditions of forward rotation and reverse rotation while having different meshing characteristics, so that the industrial robot using the harmonic speed reducer is suitable for the working conditions of lifting articles and reciprocating motion.
In a specific embodiment, the pressure angle of the first tooth profile 111 is the first pressure angle α 1, the pressure angle of the second tooth profile 112 is the second pressure angle α 2, α 1 > α 2, specifically, the first tooth profile 111 has a larger pressure angle, which improves the load-bearing capacity of the tooth profile, has higher contact strength and gluing and wear resistance, and is suitable for the load condition of the industrial robot, while the second tooth profile 112 has a smaller pressure angle, which enables the industrial robot using the tooth profile to have high transmission precision and efficiency in the return working condition. In one particular embodiment, 25 ° < α 1 < 40 °, the foregoing ranges are based on a large number of retarder performance and reliability testing data, and it has been found experimentally that α 1 below or above the foregoing ranges will result in a significant reduction in load bearing capacity; the angle alpha 1 is less than 5 degrees and less than 20 degrees, the range is obtained based on a large amount of performance experiments and reliability experimental data of the speed reducer, and experiments show that when the angle alpha 2 is lower than or higher than the range, the transmission efficiency and the transmission precision are obviously reduced.
In some embodiments, the first tooth profile surface 111 includes a first tooth bottom section arc 21, a first tooth top section arc 22, and a first intermediate section 23 between the first tooth bottom section arc 21 and the first tooth top section arc 22, the first tooth bottom section arc 21 being tangent to the first intermediate section 23, the first tooth top section arc 22 being tangent to the first intermediate section 23, and the first intermediate section 23 intersecting the reference circle of the flexspline tooth 11; similarly, second tooth profile 112 includes a second nadir arc 31, a second crest arc 32, and a second intermediate segment 33 between second nadir arc 31 and second crest arc 32, second nadir arc 31 tangent to second intermediate segment 33, second crest arc 32 tangent to second intermediate segment 33, and second intermediate segment 33 intersecting the reference circle of flexspline teeth 11. The aforesaid flexible gear teeth 11 can adopt involute profile of tooth processing mode to construct, preferably, adopt the first tooth bottom section pitch arc 21 of corresponding flexible gear concave profile part and second tooth bottom section pitch arc 31 that rack approximation method structure formed, construct the concave profile of rigid wheel respectively simultaneously, can understand this moment, concave profile through the flexible wheel will form corresponding rigid wheel convex gear part based on the conjugation principle, concave profile through the rigid wheel will form corresponding flexible wheel convex gear part based on the conjugation principle, according to the processing mode of rack approximation method, first interlude 23 and second interlude 33 all are the straightway, have great bearing capacity.
As is well known in the art, the rack approximation method is an approximate tooth profile design method under the condition that the number of harmonic drive teeth is assumed to be infinite, at this time, the flexible gear teeth make translational motion relative to the rigid gear teeth along a motion track, fig. 4 is a principle diagram of the rack approximation method, and a curve AB in the diagram is an approximate motion track of the flexible gear tooth tops relative to the racks of the rigid gears; and (3) taking the point B (the addendum point of the rigid wheel) as a base point of curve mapping, and performing similar coordinate transformation by using a proportional relation of 0.5 time to obtain a new curve BC, wherein the curve BC is the convex tooth profile of the rigid wheel. And rotating the curve BC by 180 degrees by taking the C as a base point to obtain a curve AC, wherein the curve AC is the convex tooth profile of the flexbile gear. When the flexible gear teeth move along the motion track relative to the rigid gear teeth, the curve AC keeps continuous contact with the curve BC due to the similar mapping relation of the curves, namely the convex tooth profile of the flexible gear keeps continuous contact with the convex tooth profile of the rigid gear all the time, so that the continuous meshing of the flexible gear teeth and the rigid gear teeth is realized. The convex tooth profile of the flexible gear is used for generating the concave tooth profile of the rigid gear, the convex tooth profile of the rigid gear is used for generating the concave tooth profile of the flexible gear, the convex tooth profile is not connected with the concave tooth profile, therefore, a small section of transition straight line is needed between the convex tooth profile and the concave tooth profile of the tooth profile, the transition straight line of the flexible gear can be obtained through the convex tooth profile and the concave tooth profile of the flexible gear, and the transition straight line of the rigid gear can be obtained through the convex tooth profile and the concave tooth profile of the rigid gear.
The flexible gear can be in the form of a cap-shaped flexible gear, a cup-shaped flexible gear and the like, and in some embodiments, the flexible gear is the cap-shaped flexible gear, so that the flexible gear is simple in structure and convenient to process and install.
Referring to fig. 2, according to an embodiment of the present invention, there is further provided a harmonic reducer, including a flexspline 10, where the flexspline 10 is the flexspline described above. Specifically, the harmonic reducer further includes a rigid gear 20, the rigid gear 20 having a plurality of rigid gear teeth arranged at intervals in a circumferential direction thereof, the rigid gear teeth being configured and formed based on a conjugate principle with the flexspline teeth 11. The combination form of the harmonic speed reducer shown in fig. 2 is a simple type, and it may be a shaft input type.
Referring to fig. 3, if the rigid gear 20 and the flexible gear 10 are fixed, when the wave generator 40 rotates clockwise, the flexible gear 10 rotates counterclockwise, and the tooth surface where the rigid gear contacts and bears (position P in fig. 3) is the left tooth surface (shown in the figure) of the flexible gear, which is suitable for the load condition, that is, the left side of the flexible gear 11 is the first tooth profile surface 111; in contrast, when the wave generator 40 rotates counterclockwise, the flexible gear 10 rotates clockwise, and the tooth surface that is just contacted and carried by the flexible gear is the right tooth surface of the flexible gear, which is suitable for the return stroke condition, that is, the right side of the flexible gear 11 is the second tooth profile surface 112.
According to the utility model discloses an embodiment still provides an industrial robot, including foretell harmonic speed reducer ware.
Those skilled in the art will readily appreciate that the advantageous features of the above described modes can be freely combined, superimposed and combined without conflict.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The flexible gear is used in a harmonic reducer and is characterized by comprising a flexible gear body, wherein the flexible gear body is provided with a plurality of flexible gear teeth (11) which are arranged at intervals along the circumferential direction of the flexible gear body, a first projection plane is formed by projecting the flexible gear body along the axial direction of the flexible gear body, the flexible gear teeth (11) are provided with a first tooth profile surface (111) and a second tooth profile surface (112) which are connected to a point O, the connecting line of the point O and the flexible gear body is a central line, and the first tooth profile surface (111) and the second tooth profile surface (112) are asymmetric relative to the central line.
2. The flexspline of claim 1, characterized in that the pressure angle of the first tooth profile surface (111) is a first pressure angle α 1 and the pressure angle of the second tooth profile surface (112) is a second pressure angle α 2, α 1 > α 2.
3. The flexspline of claim 2, wherein 25 ° < α 1 < 40 °,5 ° < α 1 < 20 °.
4. A flexspline according to any one of claims 1-3, characterized in that the first tooth profile (111) comprises a first tooth bottom section arc (21), a first tooth top section arc (22) and a first intermediate section (23) between the first tooth bottom section arc (21) and the first tooth top section arc (22), the first tooth bottom section arc (21) being tangent to the first intermediate section (23), the first tooth top section arc (22) being tangent to the first intermediate section (23), and the first intermediate section (23) intersecting the reference circle of the flexspline teeth (11).
5. The flexspline of claim 4, wherein the second profile surface (112) includes a second bottom rack arc (31), a second top rack arc (32), and a second intermediate segment (33) between the second bottom rack arc (31) and the second top rack arc (32), the second bottom rack arc (31) being tangent to the second intermediate segment (33), the second top rack arc (32) being tangent to the second intermediate segment (33), and the second intermediate segment (33) intersecting the pitch circle of the flexible gear teeth (11).
6. The flexspline of claim 5, wherein the flexspline teeth (11) are formed using a rack-and-pinion approach configuration, and wherein the first (23) and second (33) intermediate sections are each straight segments.
7. The flexspline of claim 1, wherein the flexspline is a hat-type flexspline.
8. A harmonic reducer, characterized in that it comprises a flexspline (10), said flexspline (10) being the flexspline of any one of claims 1 to 7.
9. Harmonic reducer according to claim 8, further comprising a rigid wheel (20), said rigid wheel (20) having a plurality of rigid gear teeth arranged at intervals along its circumferential direction, said rigid gear teeth being configured with said flexible gear teeth (11) on the basis of the conjugate principle.
10. An industrial robot characterized by comprising the harmonic reducer of claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223139758.2U CN218817972U (en) | 2022-11-25 | 2022-11-25 | Flexible gear, harmonic reducer and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223139758.2U CN218817972U (en) | 2022-11-25 | 2022-11-25 | Flexible gear, harmonic reducer and industrial robot |
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| Publication Number | Publication Date |
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| CN218817972U true CN218817972U (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223139758.2U Active CN218817972U (en) | 2022-11-25 | 2022-11-25 | Flexible gear, harmonic reducer and industrial robot |
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| CN (1) | CN218817972U (en) |
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- 2022-11-25 CN CN202223139758.2U patent/CN218817972U/en active Active
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