CN219673223U - Wave generator, harmonic reducer and robot - Google Patents
Wave generator, harmonic reducer and robot Download PDFInfo
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- CN219673223U CN219673223U CN202321389041.5U CN202321389041U CN219673223U CN 219673223 U CN219673223 U CN 219673223U CN 202321389041 U CN202321389041 U CN 202321389041U CN 219673223 U CN219673223 U CN 219673223U
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- 230000004323 axial length Effects 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
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Abstract
The utility model discloses a wave generator, a harmonic reducer and a robot, and relates to the technical field of harmonic reducers; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam, and the outer peripheral wall of the flexible bearing is obliquely arranged towards the axis of the cam along the axial direction of the cam.
Description
Technical Field
The utility model relates to the technical field of harmonic reducers, in particular to a wave generator, a harmonic reducer and a robot.
Background
In the assembly of harmonic reducer, need with wave generator and flexbile gear interference fit, the gear section of flexbile gear is loudspeaker form and expands the deformation this moment, and because wave generator wholly has very big rigidity in radial, is the line contact state with flexbile gear inner wall, flexbile gear can appear stress concentration phenomenon, takes place to split or fracture easily, has reduced flexbile gear's life.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the wave generator which is used for being matched with the flexible gear and can prolong the service life of the flexible gear.
The utility model also provides a harmonic reducer with the wave generator and a robot.
According to an embodiment of the present utility model, a wave generator includes a cam and a flexible bearing, the cam being inclined in an axial direction of the cam, at least a part of a wall of an outer peripheral wall of the cam being inclined to form an inclined surface facing an axis of the cam; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam, and the outer peripheral wall of the flexible bearing is obliquely arranged towards the axis of the cam along the axial direction of the cam.
The wave generator according to the embodiment of the utility model has at least the following beneficial effects: since the cam is inclined in the axial direction of the cam, at least part of the wall of the outer peripheral wall of the cam is inclined to form an inclined surface facing the axis of the cam; the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam, and the outer peripheral wall of the flexible bearing is obliquely arranged towards the axis of the cam along the axial direction of the cam. Therefore, when the wave generator and the flexible gear are assembled, the gear section of the flexible gear expands outwards to deform and is matched with the inclined direction of the peripheral wall of the flexible bearing, so that the peripheral wall of the flexible bearing is attached to the inner wall of the gear section which expands outwards, the wave generator and the flexible gear are in a surface contact state, the stress concentration phenomenon between the wave generator and the flexible gear is reduced, and the service life of the flexible gear is prolonged.
According to an embodiment of the present utility model, two ends of the inclined surface are connected to two end surfaces of the cam, respectively, in an axial direction of the cam.
According to an embodiment of the present utility model, one end of the inclined surface is connected to one end surface of the cam in the axial direction of the cam, and the other end is located between both end surfaces of the cam.
According to one embodiment of the utility model, the cam is formed by cutting the outer peripheral wall of the cam to be processed, the designed interference of the cam and the flexible bearing is delta, and the distances from the outer peripheral wall of the cam to be processed to the two ends of the inclined surface along the radial direction of the cam are h respectively 1 And h 2 The method comprises the following steps: max [ h ] 1 ,h 2 ]＝h，2δ≥h＞0。
According to one embodiment of the utility model, the cam is formed by cutting the outer peripheral wall of the cam to be processed, and the axial length of the cam is L 0 The two ends of the inclined surface are connected to form an ideal side surface, and the ideal side surface is intersected with the surface of the outer peripheral wall of the cam to be processed to form an intersection line; the distance between the intersection line and the two ends of the inclined plane along the axial direction of the cam is L 1 And L 2 The method comprises the following steps: max [ L ] 1 ,L 2 ]＝L，2L 0 ≥L＞0。
According to one embodiment of the utility model, in any cross section of the cam, the contour line of the inclined surface is elliptical.
According to an embodiment of the utility model, in a longitudinal section of the cam, a contour line of the inclined surface is a straight line segment, a circular arc line, a parabola line or a broken line.
According to the harmonic reducer of the embodiment of the utility model, the harmonic reducer comprises a flexible gear, a rigid gear and the wave generator of the embodiment of the utility model, the peripheral wall of the flexible bearing is in interference fit with the inner wall of the flexible gear, the smaller-area end surface of the cam faces to one end of a gear section port facing away from the flexible gear, and the flexible gear is meshed with the rigid gear.
The harmonic reducer provided by the embodiment of the utility model has at least the following beneficial effects: because the wave generator can improve the life of flexbile gear, simultaneously, when the outer peripheral wall of flexbile bearing outer lane personally submits the face contact state with the inner wall face of gear section, the outer inclination that expands of gear section diminishes, and flexbile gear and rigid gear's effective meshing tooth width grow has further improved flexbile gear's life. Overall, the service life of the harmonic reducer is also improved.
According to one embodiment of the utility model, the flexible gear comprises a gear section, a transition section and a flange section which are sequentially connected, and the peripheral wall of the flexible bearing is in interference fit with the inner wall of the gear section.
The robot comprises the harmonic reducer according to the embodiment of the utility model.
The robot provided by the embodiment of the utility model has at least the following beneficial effects: because the service life of the harmonic reducer is prolonged, the service life of the robot is prolonged, and the requirements of customers are met better.
Additional aspects and advantages of the utility model 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 utility model.
Drawings
The utility model is further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a cross-sectional view of a cam of a wave generator according to one embodiment of the present utility model;
FIG. 2 is a cross-sectional view of a cam of a wave generator according to another embodiment of the present utility model;
FIG. 3 is a cross-sectional view of a harmonic reducer of one embodiment of the utility model;
fig. 4 is an enlarged view at a in fig. 3.
Reference numerals:
a harmonic reducer 1000;
a wave generator 100; a cam 110; an inclined surface 111; intersection line 112; a flexible bearing 120;
a flexspline 200; a gear segment 210; a transition section 220; flange section 230.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be understood that references to orientation, such as the orientation or positional relationship indicated above, below, inside, outside, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The harmonic reducer has the unique advantages of high bearing capacity, large transmission ratio, small volume, light weight, stable transmission, high transmission precision and the like, and is widely applied to the fields of industrial robots and the like. In the assembly of the harmonic reducer, the wave generator is required to be in interference fit with the flexspline, and the gear section of the flexspline is required to be meshed with the inner teeth of the rigid spline.
When the wave generator and the flexible gear are in interference fit, the wave generator is in a line contact state with the inner wall of the flexible gear due to the fact that the whole wave generator has large rigidity in the radial direction, so that the outward expansion inclination angle of the flexible gear is overlarge, stress concentration phenomenon of the flexible gear is caused, and the flexible gear is easy to crack or break, and the service life of the flexible gear is shortened. In addition, because the outer expansion dip angle of the flexible gear is too large, when the gear section of the flexible gear is meshed with the inner teeth of the rigid gear, the effective meshing tooth width is smaller, so that the stress between the flexible gear and the rigid gear is large, and the service life of the flexible gear is further influenced. Obviously, the service life of the flexible gear can influence the service life of the harmonic reducer, and further influence the service life of the industrial robot.
To this end, an embodiment of the present utility model proposes a wave generator 100, particularly with reference to fig. 1 to 4 of the drawings of the description.
Referring to fig. 1, a wave generator 100 according to an embodiment of the present utility model, the wave generator 100 includes a cam 110. In the axial direction of the cam 110, at least a part of the outer peripheral wall of the cam 110 is inclined to form an inclined surface 111 facing the axis of the cam 110. It will be appreciated that with the arrangement described above, the area of one of the end faces of the cam 110 is greater than the area of the other end face. In the direction from the larger-area end face to the smaller-area end face, at least part of the wall of the outer peripheral wall of the cam 110 is inclined toward the axis of the cam 110.
With continued reference to fig. 1, in one embodiment, two ends of the inclined surface 111 are connected to two end surfaces of the cam 110, respectively, in the axial direction of the cam 110. That is, one end of the inclined surface 111 in the axial direction of the cam 110 is connected to one end surface of the cam 110, and the other end of the inclined surface 111 in the axial direction of the cam 110 is connected to the other end surface of the cam 110. It will be appreciated that by the above arrangement, all wall surfaces of the outer peripheral wall of the cam 110 are inclined to the axis of the cam 110 in the axial direction of the cam 110 to form the inclined surface 111, so that the area of the inclined surface 111 is larger. The subsequent assembly with the flexible bearing 120 is facilitated. When both ends of the inclined surface 111 are connected to both end surfaces of the cam 110 in the axial direction of the cam 110, the cam 110 has an elliptical table structure.
Referring to fig. 2, in another embodiment, one end of the inclined surface 111 is connected to one end surface of the cam 110 in the axial direction of the cam 110, and the other end is located between both end surfaces of the cam 110. It is understood that at this time, only a part of the outer peripheral wall of the cam 110 is inclined along the axis of the cam 110 to form the inclined surface 111, i.e., an untilted wall is present in the outer peripheral wall of the cam 110. In fact, in the axial direction of the cam 110, one end of the inclined surface 111 is connected to one end surface of the cam 110, and the other end is connected to an untilted wall surface of the outer peripheral wall of the cam 110. When one end of the inclined surface 111 is connected to one end surface of the cam 110 and the other end is located between the two end surfaces of the cam 110 in the axial direction of the cam 110, the cam 110 is actually formed by combining an elliptic cylinder structure with an elliptic table structure.
In the wave generator 100 according to the embodiment of the present utility model, the cross section is a surface perpendicular to the axial direction of the cam 110, and the contour line of the inclined surface 111 is elliptical in any cross section of the cam 110. It will be appreciated that with the above arrangement, the cam 110 may be better able to perform. In another embodiment, in any cross section of the cam 110, the contour of the inclined surface 111 is a closed line segment formed by a multi-segment fold line, which approximates an ellipse. The number of the folding lines is not particularly limited, and the length of each folding line is not particularly limited, so long as the folding lines can be connected end to end in order to form a closed line segment approximating an ellipse. In another embodiment, in any cross section of the cam 110, the contour of the inclined surface 111 is a closed line segment, which is approximately elliptical, formed by a plurality of wavy lines. The number of wavy lines is not particularly limited, and the length of each wavy line is not particularly limited, so long as a plurality of wavy lines can form a closed line segment similar to an ellipse after being connected end to end in order.
In the wave generator 100 according to an embodiment of the present utility model, the cam to be processed has an elliptic cylinder shape, and the cam 110 is formed by reducing the processing peripheral wall thereof. At this time, the outer peripheral wall of the cam 110 is formed with an inclined surface 111. The method of cutting includes turning, grinding, and the like, and is not particularly limited herein. Referring to fig. 1 and 2, it should be noted that, the design interference of the cam 110 and the flexible bearing 120 is δ, and the design interference δ is selected by an engineer when designing the wave generator 100; along the convexThe distance from the outer peripheral wall of the cam to be processed to the two ends of the inclined surface 111 in the radial direction of the wheel 110 is h 1 And h 2 The method comprises the following steps: max [ h ] 1 ,h 2 ]=h, 2δ++h > 0. I.e. select h 1 And h 2 The maximum value of (2) is taken as h. In addition, the axial length of the cam 110 is L 0 The two ends of the inclined surface 111 are connected to form an ideal side surface which intersects with the surface of the outer peripheral wall of the cam to be processed to form an intersection line 112. The ideal side surface means a surface which can be extended infinitely, and the surface on which the outer peripheral wall of the cam to be machined is located means a surface which can be extended infinitely. The distance between the intersection line 112 and both ends of the inclined surface 111 along the axial direction of the cam 110 is L 1 And L 2 The method comprises the following steps: max [ L ] 1 ,L 2 ]＝L，2L 0 And is more than or equal to L and more than 0. I.e. select L 1 And L 2 The maximum value of (2) is L. The above range of L and the range of h can make the structure of the inclined surface 111 more reasonable.
Referring to fig. 1 and 2, the longitudinal section refers to a section in the axial direction of the cam 110. In one embodiment, in the longitudinal section of the cam 110, the contour line of the inclined surface 111 is a straight line segment. At this time, if both ends of the inclined surface 111 are connected to both end surfaces of the cam 110 in the axial direction of the cam 110, the cam 110 is formed in a truncated cone shape as a whole. In this embodiment, in the longitudinal section of the cam 110, the distances from the contour line of the outer peripheral wall of the cam to be processed to the two end points of the straight line segment are respectively h as described above 1 And h 2 . The line connecting the two ends of the straight line segment is the contour line of the ideal side surface in the longitudinal section of the cam 110, and the contour line of the ideal side surface in the longitudinal section of the cam 110 coincides with the straight line segment.
In another embodiment, in a longitudinal section of the cam 110, the contour line of the inclined surface 111 is an arc line. It should be noted that the circular arc line may be flared in a direction away from the axis of the cam 110, and the circular arc line may be concave in a direction toward the axis of the cam 110. When the arc line expands in a direction away from the axis of the cam 110, if both ends of the inclined surface 111 are connected to both end surfaces of the cam 110, respectively, in the axial direction of the cam 110, the cam 110 is large as one end surface as a whole,a drum shape with a small end face. In this embodiment, in the longitudinal section of the cam 110, the distances from the contour line of the outer peripheral wall of the cam to be processed to the two end points of the circular arc line are respectively h as described above 1 And h 2 . The line connecting the two ends of the circular arc line is the contour line of the ideal side surface in the longitudinal section of the cam 110, and the contour line of the ideal side surface in the longitudinal section of the cam 110 is not coincident with the circular arc line.
In another embodiment, in a longitudinal section of the cam 110, the profile line of the inclined surface 111 is parabolic. It should be noted that the parabola may be flared in a direction away from the axis of the cam 110, and the parabola may be concave in a direction toward the axis of the cam 110. When the parabola expands in a direction away from the axis of the cam 110, if both ends of the inclined surface 111 are connected to both end surfaces of the cam 110 in the axial direction of the cam 110, the cam 110 is similar to a drum shape having a large end surface and a small end surface as a whole. In this embodiment, in the longitudinal section of the cam 110, the distances from the contour line of the outer peripheral wall of the cam to be processed to the two end points of the parabola are respectively h as described above 1 And h 2 . The line connecting the two ends of the parabola is the contour line of the ideal side in the longitudinal section of the cam 110, and the contour line of the ideal side in the longitudinal section of the cam 110 is not coincident with the parabola.
In another embodiment, in a longitudinal section of the cam 110, the contour line of the inclined surface 111 is a broken line. It should be noted that the fold line may be folded outward in a direction away from the axis of the cam 110, and the fold line may be folded inward in a direction closer to the axis of the cam 110. When the fold line is folded outward in a direction away from the axis of the cam 110, if the two ends of the inclined surface 111 are connected to the two end surfaces of the cam 110 in the axial direction of the cam 110, the cam 110 is similar to a combination of two truncated cones. In this embodiment, in the longitudinal section of the cam 110, the distances from the contour line of the outer peripheral wall of the cam to be processed to the two end points of the folding line are respectively h as described above 1 And h 2 . The line connecting the two ends of the fold line is the contour line of the ideal side in the longitudinal section of the cam 110, and the contour line of the ideal side in the longitudinal section of the cam 110 is not coincident with the fold line.
Referring to fig. 3, the wave generator 100 according to an embodiment of the present utility model, the wave generator 100 further includes a flexible bearing 120. The flexible bearing 120 is sleeved outside the cam 110, and the flexible bearing 120 is in interference fit with the cam 110. The outer peripheral wall of the flexible bearing 120 is inclined to the axis of the cam 110 in the axial direction of the cam 110 due to the cooperation and pressing action of the flexible bearing 120 and the cam 110. The compliant bearing 120 is a ball bearing, and includes an inner ring, an outer ring, and balls. Here, the outer circumferential wall of the flexible bearing 120 is inclined toward the axis of the cam 110 in the axial direction of the cam 110, specifically, the inner ring is inclined toward the axis of the cam 110 in the axial direction of the cam 110; along the axial direction of the cam 110, the outer ring is inclined toward the axis of the cam 110.
With continued reference to fig. 3, the wave generator 100 is adapted to cooperate with a flexspline 200. When the wave generator 100 is assembled with the flexspline 200, the gear segment 210 of the flexspline 200 expands and deforms and matches the direction of inclination of the outer peripheral wall of the flexspline 120. Referring to fig. 4, the outer peripheral wall of the flexible bearing 120 is attached to the inner wall of the gear segment 210 that is deformed by outward expansion, and the outer peripheral wall and the inner wall are in surface contact, so that the outward expansion angle β of the gear segment 210 of the flexible gear 200 is reduced, that is, the stress concentration phenomenon between the wave generator 100 and the flexible gear 200 is reduced, and the service life of the flexible gear 200 is prolonged.
An embodiment of the present utility model proposes a harmonic reducer 1000, particularly referring to fig. 3 and 4 of the drawings, which includes a flexspline 200, a rigid spline, and a wave generator 100 according to an embodiment of the present utility model. It should be noted that the flexspline 200 includes a gear section 210, a transition section 220, and a flange section 230. The gear segment 210, the transition segment 220, and the flange segment 230 are connected in this order, the flange segment 230 is used for mounting the harmonic reducer 1000, and the gear segment 210 is used for meshing with the internal teeth of the rigid gear. Wherein, the outer peripheral wall of the flexible gear 200 is in interference fit with the inner wall of the flexible gear 200. The outer peripheral wall of the flexspline 200 is in interference fit with the inner wall of the gear segment 210. The smaller area of the end face of the cam 110 is directed toward the end of the gear segment 210 port facing away from the flex gear 200, i.e., toward the end of the flex gear 200 facing away from the gear segment 210 port.
According to the harmonic reducer 1000 of the embodiment of the utility model, since the wave generator 100 can improve the service life of the flexspline 200, and meanwhile, when the outer peripheral wall of the outer ring of the flexible bearing 120 is in surface contact with the inner wall surface of the gear section 210, the outer expansion inclination angle of the gear section 210 becomes smaller, the effective meshing tooth width of the flexspline 200 and the rigid gear becomes larger, and the service life of the flexspline 200 is further improved. Overall, the service life of the harmonic reducer 1000 is also improved. Since the harmonic reducer 1000 adopts all the technical solutions of the wave generator 100 in the above embodiments, at least all the beneficial effects brought by the technical solutions in the above embodiments are provided, and will not be described in detail herein.
An embodiment of the present utility model proposes a robot including the harmonic reducer 1000 of the embodiment of the present utility model.
According to the robot provided by the embodiment of the utility model, the service life of the harmonic reducer 1000 is prolonged, so that the service life of the robot is prolonged, and the robot meets the requirements of customers. Since the robot adopts all the technical solutions of the harmonic reducer 1000 in the above embodiments, at least the beneficial effects brought by the technical solutions in the above embodiments are provided, and will not be described in detail here.
The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, and finally, it should be described that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present utility model.
Claims (10)
1. A wave generator, comprising:
a cam, along an axial direction of the cam, at least part of an outer peripheral wall of the cam being inclined to form an inclined surface facing an axis of the cam;
the flexible bearing is sleeved outside the cam, the flexible bearing is in interference fit with the cam, and the outer peripheral wall of the flexible bearing is obliquely arranged towards the axis of the cam along the axial direction of the cam.
2. The wave generator according to claim 1, wherein both ends of the inclined surface are connected to both end surfaces of the cam, respectively, in an axial direction of the cam.
3. The wave generator according to claim 1, wherein one end of the inclined surface is connected to one end surface of the cam and the other end is located between both end surfaces of the cam in an axial direction of the cam.
4. The wave generator according to claim 1, wherein the cam is formed by cutting an outer peripheral wall of the cam to be machined, the designed interference of the cam and the flexible bearing is delta, and distances from the outer peripheral wall of the cam to be machined to both ends of the inclined surface along the radial direction of the cam are h respectively 1 And h 2 The method comprises the following steps: max [ h ] 1 ,h 2 ]＝h，2δ≥h＞0。
5. The wave generator according to claim 1, wherein the cam is formed by cutting an outer peripheral wall of the cam to be machined, and the cam has an axial length L 0 The two ends of the inclined surface are connected to form an ideal side surface, and the ideal side surface is intersected with the surface of the outer peripheral wall of the cam to be processed to form an intersection line; the distance between the intersection line and the two ends of the inclined plane along the axial direction of the cam is L 1 And L 2 The method comprises the following steps: max [ L ] 1 ,L 2 ]＝L，2L 0 ≥L＞0。
6. The wave generator of claim 1, wherein in any cross section of the cam, the contour of the inclined surface is elliptical.
7. The wave generator of claim 1, wherein in a longitudinal section of the cam, a contour line of the inclined surface is a straight line segment, a circular arc line, a parabola line, or a broken line.
8. The harmonic reducer is characterized by comprising a flexible gear, a rigid gear and the wave generator as claimed in any one of claims 1 to 7, wherein the peripheral wall of the flexible bearing is in interference fit with the inner wall of the flexible gear, the smaller-area end surface of the cam faces to one end of a gear section port deviating from the flexible gear, and the flexible gear is meshed with the rigid gear.
9. The harmonic reducer of claim 8, wherein the flexspline comprises a gear segment, a transition segment, and a flange segment connected in sequence, the outer peripheral wall of the flexspline being in an interference fit with the inner wall of the gear segment.
10. Robot comprising a harmonic reducer according to any of claims 8 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321389041.5U CN219673223U (en) | 2023-06-01 | 2023-06-01 | Wave generator, harmonic reducer and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321389041.5U CN219673223U (en) | 2023-06-01 | 2023-06-01 | Wave generator, harmonic reducer and robot |
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| CN219673223U true CN219673223U (en) | 2023-09-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119572699A (en) * | 2025-02-08 | 2025-03-07 | 深圳市杉川谐波传动科技有限公司 | Cam, wave generator and harmonic reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119572699A (en) * | 2025-02-08 | 2025-03-07 | 深圳市杉川谐波传动科技有限公司 | Cam, wave generator and harmonic reducer |
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