WO2021056346A1 - 柔轮部件及传动机构 - Google Patents

柔轮部件及传动机构 Download PDF

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Publication number
WO2021056346A1
WO2021056346A1 PCT/CN2019/108232 CN2019108232W WO2021056346A1 WO 2021056346 A1 WO2021056346 A1 WO 2021056346A1 CN 2019108232 W CN2019108232 W CN 2019108232W WO 2021056346 A1 WO2021056346 A1 WO 2021056346A1
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WO
WIPO (PCT)
Prior art keywords
flexspline
component
flexible
magnet
wheel
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Application number
PCT/CN2019/108232
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English (en)
French (fr)
Inventor
张晟
杨勇
姜超
Original Assignee
西门子（中国）有限公司
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Application filed by 西门子（中国）有限公司 filed Critical 西门子（中国）有限公司
Priority to PCT/CN2019/108232 priority Critical patent/WO2021056346A1/zh
Publication of WO2021056346A1 publication Critical patent/WO2021056346A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings

Definitions

  • the invention relates to the field of transmission structure design, in particular to a flexible wheel component and a transmission mechanism.
  • Gear transmission refers to a device that transmits motion and power by a gear pair. It is the most widely used mechanical transmission method in various modern equipment. Traditional gears have accurate transmission ratio, high efficiency, compact structure, reliable work and long life. It is also widely used in the transmission of joint parts of robots in the field of robotics.
  • Fig. 1 is a schematic diagram of the structure of the harmonic gear transmission mechanism in the prior art. As shown in Figure 1, it mainly includes a flexible wheel component 1 and a rigid wheel component 4 and a harmonic generator 5.
  • the flexible wheel component 1 is deformed in the radial direction through the harmonic generator 5 (in the direction of the arrow in Figure 1) to
  • the meshing teeth of the flexible wheel part 1 surrounding the circumference and arranged in the radial direction mesh with the meshing teeth on the rigid wheel part 4 to achieve transmission.
  • the harmonic gear can meet the above design requirements, the structure of the harmonic gear transmission mechanism will It is very complicated, which in turn increases the cost.
  • a flexspline component which includes a flexspline, at least one first meshing tooth, and at least one magnet;
  • the flexspline can be deformed in the radial direction of the rotating shaft during rotation.
  • the at least one first meshing tooth wherein at least one of the first meshing teeth is arranged on the flexspline along the radial direction of the flexspline
  • the at least one magnet is arranged on the flexspline, and when the magnet interacts with an external magnetic field, the flexspline can be squeezed, so that the flexspline is deformed in the radial direction to achieve the first
  • the meshing teeth move in the radial direction of the flexspline.
  • a magnetic force in the radial direction is provided by the magnet, so that the flexspline is deformed and the first meshing tooth provided on the flexspline protrudes in the radial direction to participate in the meshing instead of
  • the harmonic generator in the prior art simplifies the structure and reduces the cost.
  • the at least one first meshing tooth is multiple, and the plurality of first meshing teeth are distributed on the flexspline along an axial circumference of the flexspline;
  • the at least one magnet is plural, and the plural magnets are distributed on the flexspline along the axial circumference of the flexspline.
  • a specific structure of the flexspline component of a plurality of the first meshing teeth is provided.
  • the flexspline has a ring shape, a plurality of the first meshing teeth are distributed on the circumferential outer wall of the flexspline, and a plurality of the first meshing teeth are distributed on the circumferential inner wall of the flexspline. magnet.
  • the specific structure of the flexspline and the distribution mode of the first meshing teeth are provided.
  • At least one limiting hole is provided on the side wall of the flexspline, wherein at least one of the limiting holes is arranged toward the radial direction of the flexspline and penetrates the sidewall of the flexspline.
  • a limiting structure is provided, that is, the limiting hole.
  • the limit holes of each group are distributed along the axial circumference of the flexspline.
  • a distribution mode of the limiting holes is provided.
  • At least one side of the limiting hole extends to the edge of the adjacent end of the flexspline to form an opening that is open to the outside.
  • a specific structure of the limiting hole is provided to facilitate assembly with matching parts.
  • the flexible component further includes a stator
  • the stator further includes:
  • a stator core which is arranged coaxially with the flexspline, and the stator core rotates synchronously with the flexspline;
  • At least one energized coil the energized coil is fitted on the stator core, and the installation position of the energized coil is opposite to the magnet, so that the energized coil forms an external magnetic field and interacts with the magnet. The squeezing of the flexspline by the magnet is realized.
  • stator In this embodiment, a specific structure of the stator and a specific embodiment of how the stator and the magnet are arranged in cooperation are provided.
  • At least one limiting hole is provided on the flexspline, wherein at least one of the limiting holes is arranged toward the radial direction of the flexspline;
  • the flexible component further includes at least one positioning mechanism
  • the positioning mechanism further includes:
  • the at least one limiting hole is multiple, and the plurality of limiting holes includes two groups, and the two sets of limiting holes are mirrored on the side walls at both ends of the flexspline;
  • the limit holes of each group are distributed along the axial circumference of the flexspline
  • an assembly structure provided with two positioning mechanisms for positioning is provided.
  • the present application also provides a transmission mechanism, the transmission mechanism includes the flexspline part and a rigid spline part, and the flexspline part can rotate along the axial direction of the flexspline;
  • the rigid wheel can rotate in the axial direction
  • the first meshing tooth can be engaged with the second meshing tooth for transmission after radial movement.
  • This embodiment provides a specific application structure of the transmission mechanism on a robot joint.
  • FIG. 2 is a schematic diagram of the structure of the flexspline component in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the stator of the present invention.
  • FIG. 6 is a schematic diagram of the assembly structure of the other side of the transmission mechanism of the present invention.
  • Fig. 8 is a partial structural diagram of another assembly method of the flexible component and the rigid component of the present invention.
  • a magnetic telescopic device in order to achieve the deformation of the flexspline component 1, can be used to meet the deformation requirements of the flexspline component 1 to replace the harmonic generator 5.
  • the magnetic telescoping device can also be realized by a hydraulic stroke amplifying mechanism. The enlargement of the stroke satisfies the deformation requirements of the flexspline component 1, but at this time, the heat loss of the hydraulic stroke enlargement mechanism needs to be considered, and the structure of the magnetic telescopic device needs to be considered complicated and takes a large space.
  • FIG. 2 is a schematic structural diagram of the flexspline component in an embodiment of the present invention.
  • the application of the present invention provides a flexspline component 1 as shown in FIG. 2.
  • the flexspline component 1 includes a flexspline 11, and
  • the magnet 13 arranged on the flexspline 11 realizes that the magnet 13 interacts with the external magnetic field to press the flexspline 11 to produce deformation.
  • Fig. 3 is a schematic structural diagram of the flexspline component in another embodiment of the present invention. As shown in FIG.
  • the flexspline 11 has a ring shape in the present invention.
  • the flexspline 11 has a thin-walled cylindrical ring structure, the plurality of first meshing teeth 12 are evenly distributed along the circumferential direction of the outer wall of the flex ring 11, and the length direction of the first meshing teeth 12 is along the axial direction of the flexspline 11.
  • the radial direction of all the first meshing teeth 12 is arranged along the radial direction of the flexspline 11, and a plurality of sheet magnets 13 are evenly distributed on the inner wall of the flexspline 11.
  • the structure of this method is much simpler than the structure of the previous embodiments. It can be seen that the design of the magnet 13 and the flexspline 11 in the present application can greatly simplify the structure and reduce the manufacturing cost while meeting the deformation requirements of the flexspline component 1.
  • At least one first meshing tooth 12 is arranged on the flexible wheel 11 along the radial direction of the flexible wheel 11, and the magnet 13 Set on the flexspline 1, when the magnet 13 interacts with the external magnetic field, the flexspline 11 can be squeezed, so that the flexspline 11 is deformed in the radial direction to realize the movement of the first meshing teeth 12 in the radial direction of the flexspline 1.
  • the flexspline 11 is a part that rotates and meshes during the transmission process, so the radial direction here can be understood as the radial direction of the rotating shaft when the flexspline 11 rotates.
  • the magnet 13 will be affected by other magnets to produce magnetic force, and the magnetic force will exert a reaction force on the magnet 13.
  • the magnet 13 squeezes the flexspline 11 under the influence of the reaction force, and the flexspline 11 can generate a radial direction. Therefore, under the action of the squeeze of the magnet 13, the deformation in the radial direction will be produced, and the first meshing tooth 12 will move along the radial direction of the flexspline 11. After the movement, the first meshing tooth 12 will interact with other components.
  • the meshing tooth realizes meshing transmission.
  • the location of the magnet 13 is not specifically limited here, as long as it can be deformed to meet the requirements of the first meshing tooth 12 to achieve meshing transmission with other components.
  • the use of the flexspline component 1 can simplify the wave generator and greatly simplify The structure of the transmission mechanism is improved, and the cost is reduced.
  • the design life of the flexspline component 1 is increased, and the vibration of the first meshing tooth 12 is reduced.
  • This embodiment provides an implementation of the layout of the first meshing teeth 12 and the magnet 13 that can realize continuous transmission.
  • the number of first meshing teeth 12 provided on the flexspline 11 can be multiple, and the multiple first meshing teeth 12 can be continuous.
  • the magnets 13 should be distributed on the circumference of the flexspline 1 so as to achieve continuous transmission when other transmission components are engaged. Accordingly, the magnets 13 should also be distributed on the circumference of the flexspline 1. 16 permanent magnets can be distributed on the flexspline 11, the permanent magnets here can be understood as magnet 13, and an intermediate layer can be set between the magnet 13 and the flexspline 11 to realize the permanent magnet, that is, the magnet 13 and the flexspline 11 Flexible connection between.
  • the flexspline 11 is ring-shaped, and a plurality of first meshing teeth 12 are distributed on the circumferential outer wall of the flexspline 11, and the flexspline 11 has a large circumferential distribution on the circumferential inner wall.
  • Individual magnets 13 are ring-shaped, and a plurality of first meshing teeth 12 are distributed on the circumferential outer wall of the flexspline 11, and the flexspline 11 has a large circumferential distribution on the circumferential inner wall.
  • Individual magnets 13 are ring-shaped, and a plurality of first meshing teeth 12 are distributed on the circumferential outer wall of the flexspline 11, and the flexspline 11 has a large circumferential distribution on the circumferential inner wall.
  • Individual magnets 13 are ring-shaped, and a plurality of first meshing teeth 12 are distributed on the circumferential outer wall of the flexspline 11, and the flexspline 11 has a large circumferential distribution on the circumferential
  • At least one limiting hole 14 is provided on the side wall of the flexspline 11, and at least one limiting hole 14 is disposed toward the radial direction of the flexspline 1 and passes through the sidewall of the flexspline 11. .
  • the specific structure and arrangement of the limiting hole 14 on the flexspline 11 are provided.
  • a positioning mechanism is provided on the flexible wheel 11, and the limiting hole 14 is a structure provided for connecting the positioning mechanism. How the specific positioning mechanism limits the position of the flexible wheel 11 will be introduced in the following text, and will not be repeated here.
  • At least one limiting hole 14 is multiple, and the plurality of limiting holes 14 includes two groups, and the two sets of limiting holes 14 are mirrored on the side walls at both ends of the flexspline 11;
  • each set of limiting holes 14 is distributed along the axial circumference of the flexspline 11.
  • a plurality of first meshing teeth 12 and a plurality of magnets 13 are located between the two sets of limiting holes 14, and one side of at least one limiting hole 14 extends to the vicinity of the flexspline 11.
  • the edge of one end forms an opening 141 open to the outside.
  • a specific structure of the limiting hole 14 is provided, and an opening 141 that is open to the outside extends on one side thereof.
  • the function of the opening 141 is to facilitate the installation of the positioning mechanism.
  • the specific installation method will be introduced in the following text. , I won’t repeat it here.
  • Fig. 4 is a schematic diagram of the structure of the stator of the present invention. As shown in FIG. 4, in one embodiment, the flexible component 1 further includes a stator 2;
  • the stator 2 further includes a stator core 21 and at least one energized coil 22.
  • the stator core 21 and the flexspline 11 are arranged coaxially, and the stator core 21 and the flexspline 11 rotate synchronously. It should be noted that although the stator core 21 is between the flexspline 11 Synchronous rotation, but the stator core 21 is not necessarily fixedly connected to the flexspline 11, and the connection between the stator core 21 and the flexspline 11 should not affect the radial deformation of the flexspline 11.
  • the stator core 21 can be understood as a disc shape, and is arranged coaxially with the ring-shaped flexspline 11.
  • the stator core 21 can be sleeved in the inner ring of the flexspline 11.
  • the energization coil 22 is fitted and installed on the stator core 21, and the installation position of the energization coil 22 is opposite to the magnet 13. After the energized coil 22 is energized, an external magnetic field is formed to interact with the magnet 13 to realize the compression of the flexspline 11 by the magnet 13.
  • the number of energized coils 22 can be understood as the same as the number of magnets 13.
  • 16 magnets 13 and 16 energized coils 22 corresponding thereto can be used.
  • FIG. 4 is a schematic structural diagram of the stator according to the present invention. As shown in Figure 4, the current input to each energized coil 22 should be sinusoidal, and the initial electrical angles input to the pair of energized coils 22 are 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, and 270 degrees. Degrees, 315 degrees.
  • FIG. 5 is a schematic diagram of the assembly structure of one side of the flexible component of the present invention
  • FIG. 6 is a schematic diagram of the assembly structure of the other side of the flexible component of the present invention
  • FIG. 7 is an exploded schematic diagram of the assembly structure of the flexible component of the present invention.
  • at least one limiting hole 14 is provided on the flexspline 11, wherein at least one limiting hole 14 is disposed toward the radial direction of the flexspline 11, and the flexible component 1 It also includes at least one positioning mechanism 3;
  • the positioning mechanism 3 further includes a positioning main body 31 and at least one pin shaft 32, wherein the positioning main body 31 is fixed on the stator 2 so that the positioning main body 31 is driven by the stator 2 to rotate synchronously along the axial direction of the stator 2, and the pin shaft 22 is positioned along the
  • the main body 21 is set in the radial direction when it rotates, and the pin shaft 22 can be sleeved in the limiting hole 14 and slide along the length direction of the pin shaft 22.
  • At least one limiting hole 14 is multiple, and the plurality of limiting holes 14 includes two groups, and the two sets of limiting holes 14 are mirrored on the side walls at both ends of the flexspline 11;
  • Each set of limit holes 14 are distributed along the axial circumference of the flexspline 11;
  • positioning mechanisms 3 which are respectively arranged at two ends of the flexspline 11, and a pin 32 on the positioning mechanism 3 at each end is set corresponding to the position of the limiting hole 14.
  • a specific implementation manner in which the finite holes 14 are respectively distributed at both ends of the flexspline 11 is provided.
  • the limiting holes 14 on the flexspline 11 are designed for assembling with the positioning mechanism 3.
  • Each end of the flexspline 11 can be equipped with the positioning mechanism 3, the pin shafts 32 can be multiple, the circumference is distributed on the side wall of the flange structure of the positioning main body 31, and the length direction of the pin shaft 32 should face the radial direction of the positioning main body 31 direction.
  • the flexspline 11 When the flexspline 11 is deformed, the flexspline 11 can deform along the length of the pin 32 to achieve a limit.
  • the pin 32 also enables the flexspline 11 and the stator 2 to rotate synchronously. If both ends of the flexspline 11 are connected When positioning the mechanism 3, the stator 2 cannot move relative to the flexspline 11 in the axial direction.
  • the opening 141 is obviously a structure provided to facilitate the installation of the positioning mechanism 3.
  • the pin 32 can be removed independently, and one end of the pin 32 can be inserted into the threaded connection hole on the side wall of the flange structure of the positioning body 31 from the limiting hole 14 on the flexspline 11 to achieve assembly. Since the pin shaft 32 is arranged in the radial direction on the positioning main body 31, it assumes a radial shape.
  • the present application also provides a transmission mechanism, which includes a flexible wheel component 1 and a rigid wheel component 4;
  • the rigid wheel component 4 further includes a rigid wheel 41 and at least one second meshing tooth 42,
  • a transmission mechanism having a rigid wheel part 4 is provided, and the transmission is completed by the meshing of the flexible wheel part and the rigid wheel part 4.
  • the first meshing tooth 12 on the flexspline component will mesh with the second meshing tooth 42 after being moved due to the deformation of the flexspline 11.
  • the first meshing tooth 12 will mesh with the second meshing tooth. 42 detached.
  • the tooth height of both the first meshing tooth 12 and the second meshing tooth 42 should be as small as possible to reduce the gap between the magnet 13 and the energized coil 22.
  • the robot joint can be applied between two rotating arms of a robot arm that can rotate with each other.
  • the two rotating arms are rigidly connected to the first rotating part and the second rotating part, respectively, and the first rotating part is connected to the flexible part.
  • the wheel part 1 is connected, and the second rotating part is connected to the rigid wheel part 4.
  • the first rotating part and the second rotating part can be realized as long as the flexible wheel part 1 is rotated and meshed with the rigid wheel part 4 Between the transmission.
  • a servo motor can be used to drive the flexspline component 1 to rotate. If the flexspline component 1 is assembled with the stator 2, it can be connected to the stator 2 through the servo motor. The rotation of the stator 2 can drive the rotation of the flexible component 1.
  • the gap range between the magnet 13 and the energized coil 22 is greatly shortened compared with the magnetostrictive device or the piezoelectric actuator.
  • the gap range can be controlled within a maximum of 1 mm.
  • the deformation control of the flexspline 11 is better than that of the magnetostrictive device.
  • the piezoelectric actuator is more effective, and the hydraulic stroke amplifying mechanism is also omitted.
  • the embodiment using the magnet 13 does not need to consider the problem of mechanical heat loss.
  • the implementation using the magnet 13 has a lower cost than the technical solution using the energized coil 22.
  • the embodiment using the magnet 13 has a simpler structure and longer parts life due to the removal of the flexible bearing.
  • the embodiment using the magnet 13 has a more compact mechanism, which can help reduce the size of other connecting parts, improve the connection performance, reduce the connection assembly cost, and increase the product competitiveness.

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Abstract

一种柔轮部件（1），所述柔轮部件包括：一柔轮（11），其可向转动时转动轴的径向方向产生形变；和至少一个第一啮合齿（12），其中至少一个所述第一啮合齿沿所述柔轮的径向方向设置在所述柔轮上；至少一个磁体（13），其设置在所述柔轮上，当所述磁体与外部磁场产生磁场作用时挤压所述柔轮，使所述柔轮产生径向方向上的形变实现所述第一啮合齿沿所述柔轮的径向方向移动。还包括一种具备所述柔轮部件的传动机构、及一种具备所述传动机构的机器人关节。所述柔轮部件结构简单，解决了现有技术结构复杂，制造成本过高的技术问题。

Description

柔轮部件及传动机构 技术领域
本发明涉及传动结构设计领域，特别是指一种柔轮部件及传动机构。
背景技术
齿轮传动是指由齿轮副传递运动和动力的装置，它是现代各种设备中应用最广泛的一种机械传动方式。传统的齿轮传动比准确，效率高，结构紧凑，工作可靠，寿命长。在机器人领域也被广泛应用于机器人关节部件之间的传动。
但是随着现代技术的不断发展，原有的齿轮传动已经无法满足现阶段的设计要求。比如，在机器人领域中，机器人关键部件之间的齿轮传动需要在高扭矩下实现高效率传动，还需要具有低齿隙、高降速比，以及高精度等优点。所以谐波齿轮传动应运而生，图1为现有技术中谐波齿轮传动机构的结构示意图。如图1所示，它主要包括柔轮部件1和刚轮部件4以及谐波发生器5，柔轮部件1通过谐波发生器5沿径向形变(如图1中的箭头方向)，以使柔轮部件1围绕周圈且沿径向设置的啮合齿与刚轮部件4上的啮合齿相互啮合实现传动，谐波齿轮虽然可以满足上述的设计要求，但是谐波齿轮传动机构的结构会非常复杂，进而使成本也随之上升。
此外，本领域内的技术人员还在致力于寻找在满足以上优点的情况下，仍然结构简单、造价低廉的齿轮传动设计技术方案。
发明内容
有鉴于此，本发明申请提供一种柔轮部件，包括一柔轮和至少一个第一啮合齿，以及至少一个磁体；
所述柔轮可向转动时转动轴的径向方向产生形变，所述至少一个第一啮合齿，其中至少一个所述第一啮合齿沿所述柔轮的径向方向设置在所述柔轮上；所述至少一个磁体设置在所述柔轮上，当所述磁体与外部磁场产生作用时能够挤压所述柔轮，使所述柔轮产生径向方向上的形变实现所述第一啮合齿沿所述柔轮的径向方向移动。
在本实施方式中提供了一种通过所述磁体提供径向上的磁力，以使所述柔轮变形将设置在所述柔轮上的所述第一啮合齿沿径向突出参与啮合，代替了现有技术中的所述谐波发生器，简化了结构并降低了成本。
在一可选实施方式中，所述至少一个第一啮合齿为多个，且多个所述第一啮合齿沿所述柔轮的轴向周圈分布在所述柔轮上；
所述至少一个磁体为多个，且多个所述磁体沿所述柔轮的轴向周圈分布在所述柔轮上。
在本实施方式中提供了一种多个所述第一啮合齿的具体所述柔轮部件结构。
在一可选实施方式中，所述柔轮为环形，所述柔轮的环形外壁上周圈分布多个所述第一啮合齿，所述柔轮的环形内壁上周圈分布多个所述磁体。
在本实施例中提供了所述柔轮的具体结构，以及所述第一啮合齿的分布方式。
在一可选实施方式中，所述柔轮的侧壁上设置至少一个限位孔，其中至少一个所述限位孔朝向所述柔轮的径向设置并贯穿所述柔轮的侧壁。
在本实施方式中提供了一种限位结构，即所述限位孔。
在一可选实施方式中，所述至少一个限位孔为多个，多个所述限位孔包括两组，两组所述限位孔镜像设置在所述柔轮两端的侧壁上；
每组所述限位孔沿所述柔轮的轴向周圈分布。
在本实施方式中提供了一种所述限位孔的分布方式。
在一可选实施方式中，多个所述第一啮合齿与多个所述磁体位于两组所述限位孔之间设置；
至少一个所述限位孔的一侧延伸至所述柔轮邻近一端的边缘形成向外敞开的开口。
在本实施方式中提供了一种所述限位孔的具体结构，方便与配合零件进行装配。
在一可选实施方式中，所述柔性部件还包括一定子；
所述定子进一步包括：
一定子芯，其与所述柔轮同轴设置，且所述定子芯与所述柔轮同步转动；
至少一个通电线圈，所述通电线圈配合安装在所述定子芯上，且所述通电线圈的安装位置与所述磁体相对设置，以使所述通电线圈通电后形成外部磁场与所述磁体产生作用实现所述磁体对所述柔轮的挤压。
在本实施方式中提供了一种所述定子的具体结构，以及所述定子如何与所述磁体进行配合设置的具体实施方式。
在一可选实施例中，所述柔轮上设置至少一个限位孔，其中至少一个所述限位孔朝向所述柔轮的径向设置；
所述柔性部件还包括至少一个定位机构；
所述定位机构进一步包括：
一定位主体，其固定在所述定子上，以使所述定位主体被所述定子带动沿所述定子的轴向同步转动；
至少一个销轴，所述销轴沿所述定位主体转动时的径向方向设置，所述销轴能够套装在所述限位孔中，并沿所述销轴的长度方向滑动。
在本实施方式中提供了一种所述定位机构的具体结构，以及如何通所述定位机构实现所述柔轮和所述定子的装配。
在一可选实施例中，所述至少一个限位孔为多个，多个所述限位孔包括两组，两组所述限位孔镜像设置在所述柔轮两端的侧壁上；
每组所述限位孔沿所述柔轮的轴向周圈分布；
所述定位机构为两个，分别设置于所述柔轮的两端，每一端所述定位机构上的所述销轴与所述限位孔的位置对应设置。
在本实施方式中提供了一种设置有两个所述定位机构进行定位的装配结构。
在一可选实施例中，本申请还提供了一种传动机构，所述传动机构包括所述柔轮部件和一刚轮部件，所述柔轮部件可沿所述柔轮的轴向转动；
所述刚轮部件进一步包括一刚轮和至少一个第二啮合齿；
所述刚轮能够沿轴向转动；
所述至少一个第二啮合齿设置在所述刚轮上；
所述第一啮合齿产生径向移动后可与所述第二啮合齿啮合传动。
在本实施方式中提供了一种利用所述柔轮部件和所述刚轮部件装配得到的所述传动机构。
在一可选实施例中，本申请还提供了一种机器人关节，所述机器人关节包括所述传动机构和一第一转动部，以及一第二转动部；
所述第一转动部与所述柔轮部件连接；
所述第二转动部与与所述刚轮部件连接，以使所述柔性部件通过伺服电机驱动转动时带动相互啮合的所述刚轮部件转动实现所述第一转动部和所述第二转动部之间的传动。
本实施例提供了一种关于所述传动机构在机器人关节上的具体应用结构。
附图说明
下面将通过参照附图详细描述本发明的优选实施例，使本领域的普通技术人员更清楚本发明的上述及其它特征和优点，附图中：
图1为现有技术中谐波齿轮传动机构的结构示意图；
图2为本发明一实施方式中所述柔轮部件的结构示意图；
图3为本发明另一实施方式中所述柔轮部件的局部结构示意图；
图4为本发明所述定子的结构示意图；
图5为本发明所述传动机构一侧的装配结构示意图；
图6为本发明所述传动机构另一侧的装配结构示意图；
图7为本发明所述传动机构的装配结构爆炸示意图；
图8为本发明所述柔性部件与所述刚性部件另一装配方式的局部结构示意图。
其中，附图标记如下：
标号 含义
1 柔轮部件
11 柔轮
12 第一齿啮合
13 磁体
14 限位孔
141 开口
2 定子
21 定子芯
22 通电线圈
3 定位机构
31 定位主体
32 销轴
4 刚轮部件
41 刚轮
42 第二啮合齿
5 谐波发生器
51 椭圆轮毂
52 柔性轴承
具体实施方式
申请人发现，采用常规的齿轮传动已经无法满足很多工况下的设计要求，现有技术中的齿轮传动虽然有传动比准确，效率高，结构紧凑，工作可靠，寿命长等优点，但是在比如机器人关节连接的结构设计领域，不但需要设计的齿轮传动机构具备上述的优点，还需要具有低齿隙、高降速比，以及高精度等优点，于是采用谐波传动方式来满足上述的设计要求。谐波传动虽然满足了上面设计中的优点，但是谐波传动的齿轮机构设计结构非常复杂，制造和生产的成本也颇高。
如图1所示，其中的谐波发生器5包括椭圆轮毂51和椭圆轮毂51外轮廓上预装配的柔性轴承52，柔性轴承52外套有柔轮部件1实现了柔轮部件1与椭圆轮毂51之间的滑动连接，最外层套有刚轮部件4，柔轮部件1会被谐波波发生器5带动转动，柔轮部件1椭圆外轮廓上长轴两端上设置的啮合齿会与所述刚轮部件4的啮合齿相互啮合。设计的关键在于柔轮部件1上的啮合齿齿数量少于刚轮部件4上的啮合齿齿数量，比如柔轮部件1上的啮合齿可以少于刚轮部件4两个，这就意味着当谐波发生器5所述波发生器旋转完整的一周后，柔轮部件1会与刚轮部件4产生一个很小的后移，这样谐波发生器5的转动会使柔轮部件1以谐波发生器5转速缓慢的速度向反向转动。上述的设计不但具有现有技术中齿轮传动的优点，还具有低齿隙、高降速比，以及高精度等优点，但是谐波发生器5的结构非常复杂，由于柔轮部件1和谐波发生器5之间通过柔性轴承52滑动连接，所以谐波发生器5传动的效率、准确度，以及柔轮部件1的寿命都会受到表面磨损的影响。另一方面，柔性轴承52的失效也是造成机构伤害的重要因素之一。从效率的角度去看，谐波发生器5还需要电机驱动椭圆轮毂51，这样也必将有一些机械效率上的损失。
另外，在现有技术中为了实现柔轮部件1的形变可以采用磁性伸缩装置满足柔轮部件1形变要求以代替谐波发生器5，现有技术中还可以通过液压行程放大机构实现磁性伸缩装置行程的放大满足柔轮部件1的形变要求，但是此时需要考虑液压行程放大机构的热损耗，还需要考虑所述磁性伸缩装置的结构复杂，占用空间大。现有技术中还可以采用六个或者更多的液压回路将所述磁性伸缩装置轴向方向上的输出转化为径向方向上的输出，结构更加复杂。压电执行装置也可以实现柔轮部件1的变形，但是需要在高压环境下才能工作，所以无论采用上述何种方式都会导致谐波传动机构仍然结构过于复杂，同时结构不够紧凑，依然不是优选的解决方案。
也就是说，有必要继续寻求一种能够对柔轮部件1提供符合变形要求的技术方案，用以解决谐波发生器5结构复杂，成本过高的问题。
基于上述问题，图2为本发明一实施方式中所述柔轮部件的结构示意图，本发明申请提供了一种如图2所示的柔轮部件1，柔轮部件1包括柔轮11，以及设置在柔轮11上的磁体13实现磁体13与外部磁场产生作用挤压柔轮11产生形变。图3为本发明另一实施方式中所述柔轮部件的结构示意图。如图3所示，在一实施方式中，至少一个第一啮合齿12为多个，且多个第一啮合齿12沿柔轮1的轴向周圈分布在柔轮11上；至少一个磁体13为多个，且多个磁体113沿柔轮11的轴向周圈分布在柔轮11上。
柔轮11在本发明中为环形。优选地，柔轮11为薄壁筒形的圆环结构，多个第一啮合齿12沿柔环11外壁的周向均匀分布，且第一啮合齿12的长度方向沿柔轮11的轴向方向设置，所有第一啮合齿12的径向沿柔轮11的径向方向设置，在柔轮11的内壁上周圈均匀分布着片状的多个磁体13。
此种方式的结构远远比之前提供的实施方式结构简单。可见，本申请通过磁体13和柔轮11的设计，在满足柔轮部件1的形变要求下，可以大幅简化结构，减低制造成本。
为了使本发明的技术方案及优点更加清楚明白，以下结合附图及实施方式，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施方式仅仅用以阐述性说明本发明，并不用于限定本发明的保护范围。
图3为本发明另一实施方式中所述柔轮部件的局部结构示意图。如图3所示，在一实施方式中，该柔轮部件1可包括：一柔轮11，以及至少一个磁体13。其中，柔轮11可向转动时转动轴的径向方向产生形变，如图3中的箭头方向，至少一个第一啮合齿12沿柔轮11的径向方向设置在柔轮11上，磁体13设置在柔轮1上，当磁体13与外部磁场产生作用时能够挤压柔轮11，使柔轮11产生径向方向上的形变实现第一啮合齿12沿柔轮1的径向方向移动。需要指出的是柔轮11是传动过程中进行转动啮合的零件，所以此处的径向方向可以理解为柔轮11转动时转动轴的径向方向。另外，在本实施例中不必拘泥于柔轮11的具体结构。
在具体实现时，磁体13会受到其他磁体的影响产生磁力，磁力会对磁体13施加反作用力，磁体13在受到反作用力的影响下挤压柔轮11，柔轮11由于可以产生径向方向上的形变，所以在磁体13挤压的作用下会产生径向方向上的形变，进而使第一啮合齿12沿柔轮11的径向方向移动，移动后的第一啮合齿12与其他部件的啮合齿实现啮合传动。磁体13的设置位置在此不作具体限定，只要可以产生形变后满足第一啮合齿12与其他部件实现啮合传动即可，在本实施例中利用柔轮部件1可以简化掉波发生器，大幅简化了传动机构的结构，进而减低成本。除此之外，由于取消了柔性轴承52，使柔轮部件1设计寿命提高，第一啮合齿12的振动减小。
本实施例提供了一种可以实现连续传动的第一啮合齿12以及磁体13的布局实施方式，柔轮11上设置的第一啮合齿12可以为多个，多个第一啮合齿12可以连续的分布在柔轮1的周圈上，以使 其他传动部件啮合时实现连续传动，相应地磁体13也应当周圈分布在柔轮1的周圈上。柔轮11上可以周圈分布16个永磁体，这里的永磁体可以理解为磁体13，在磁体13和柔轮11之间可以设置一个中间层来实现永磁体，即磁体13与柔轮11之间的柔性连接。
如图2和图3所示，在一实施方式中，柔轮11为环形，柔轮11的环形外壁上周圈分布多个第一啮合齿12，柔轮11的环形内壁上周圈分布多个磁体13。
在本实施方式中提供了柔轮11的具体结构，以及第一啮合齿12与磁体13在柔轮11上的具体设置方式。具体实现时，优选的柔轮11为一筒状环形结构，该结构可以为薄壁结构，所以更容易使柔轮11实现径向方向上的形变。
如图2所示，在一实施方式中，柔轮11的侧壁上设置至少一个限位孔14，其中至少一个限位孔14朝向柔轮1的径向设置并贯穿柔轮11的侧壁。
本实施方式中提供了限位孔14在柔轮11上的具体结构，以及设置方式。在具体实现时，柔轮11除了需要沿轴向进行转动外，还可能出现轴向上的窜动。为了防止柔轮11的窜动，会在柔轮11上设置定位机构，而限位孔14就是为了连接定位机构而设置的结构。具体定位机构如何对柔轮11进行限位，在后文中会进行介绍，在此就不再赘述了。
如图2所示，在一实施方式中，至少一个限位孔14为多个，多个限位孔14包括两组，两组限位孔14镜像设置在柔轮11两端的侧壁上；
其中，每组限位孔14沿柔轮11的轴向周圈分布。
在本实施例中提供了一种在柔轮11两端分别沿其轴向周圈分布限位孔14的实施方式。当柔轮11与其他零件进行装配时，如果柔轮11两端仍然都可以在轴向上进行窜动，那么就可以采用本实施方式柔轮11两端设置有限位孔14的实施方式。
如图2所示，在一实施方式中，多个第一啮合齿12与多个磁体13位于两组限位孔14之间设置，至少一个限位孔14的一侧延伸至柔轮11邻近一端的边缘形成向外敞开的开口141。
在本实施例中提供了一种限位孔14的具体结构，在其一侧延伸出一个向外敞开的开口141，开口141的作用在于方便安装定位机构，具体的安装方式在后续文中进行介绍，在此就不再赘述了。
图4为本发明所述定子的结构示意图。如图4所示，在一实施方式中，所述柔性部件1还包括一定子2；
定子2进一步包括一定子芯21和至少一个通电线圈22，定子芯21与柔轮11同轴设置，定子芯21与柔轮11同步转动，需要指出的是定子芯21虽然与柔轮11之间同步转动，但是定子芯21并不一定与柔轮11是固定连接，另外定子芯21与柔轮11的连接也不应影响柔轮11的径向形变。定子 芯21可以理解为圆盘形，并与环形的柔轮11同轴设置，定子芯21可以内套在柔轮11的内圈中。
此处的通电线圈22用于产生外部磁场，每个通电线圈22的位置和磁体13的位置在装配后应当相对设置，以确保最高效率的产生磁场，对通电线圈22进行通电后产生和磁体13极性相反的磁场。通电线圈22的磁场和磁体13自身的磁场相互作用形成沿柔轮11径向向外挤压柔轮11的磁力，磁力可以使柔轮11产生向外的形变，柔轮11形变后第一啮合齿12也随之沿柔轮11的径向方向移动最终实现与其他啮合齿的啮合。
通电线圈22配合安装在定子芯21上，且通电线圈22的安装位置与磁体13相对设置。以使通电线圈22通电后形成外部磁场与磁体13产生作用实现磁体13对柔轮11的挤压。在具体实现中，磁体13如果为多个并且周圈设置在柔轮11上，那么通电线圈22的数量可以理解为应与磁体13的数量相同。优选地，可以采用16个磁体13和与其对应的16个通电线圈22。定子芯21可以采用铝合金板制作，并且在定子芯21外圈分布设置偶数个插槽，插槽用于配合安装对应数量的通电线圈22。如果想让柔轮11形变后成为椭圆形结构，那么显然通电线圈22的排布应当具有对称性。16个通电线圈22可以在定子芯22上进行镜像排布，16个通电线圈22可以被理解为相对设置的两个电磁线圈22两两一对，每一对通电线圈22相隔定子芯21圆周上的180度。另外，在通电线圈22通电工作状态下每一对通电线圈22都会独立产生不同相位的驱动电流。
以8对通电线圈22为例，即16个通电线圈22，图4为本发明所述定子的结构示意图。如图4所示，输入每个通电线圈22的电流应当成正弦曲线，成对通电线圈22输入初始的电角度依次为0度、45度、90度、135度、180度、225度、270度、315度。
图5为本发明所述柔性部件一侧的装配结构示意图，图6为本发明所述柔性部件另一侧的装配结构示意图，图7为本发明所述柔性部件的装配结构爆炸示意。如图5和图6，以及图7所示，在一实施例中，柔轮11上设置至少一个限位孔14，其中至少一个限位孔14朝向柔轮11的径向设置，柔性部件1还包括至少一个定位机构3；
定位机构3进一步包括一定位主体31和至少一个销轴32，其中，定位主体31固定在定子2上，以使定位主体31被定子2带动沿定子2的轴向同步转动，销轴22沿定位主体21转动时的径向方向设置，销轴22能够套装在限位孔14中，并沿销轴22的长度方向滑动。
本实施方式中提供了一种定位机构3的具体结构，定位主体31可以理解为法兰结构，在定位主体31通过法兰孔利用螺栓固定在定子2上。
在一实施例中，至少一个限位孔14为多个，多个限位孔14包括两组，两组限位孔14镜像设置在柔轮11两端的侧壁上；
每组限位孔14沿柔轮11的轴向周圈分布；
定位机构3为两个，分别设置于柔轮11的两端，每一端定位机构3上的销轴32与限位孔14的位置对应设置。
在本实施例中，提供了一种柔轮11两端分别分布有限位孔14的具体实施方式。定位机构3可以为两个，并分别设置在柔轮11的两端，柔轮11上的限位孔14就是为与定位机构3装配而设计的。柔轮11的每一端都可以安装定位机构3，销轴32可以为多个，周圈分布在定位主体31法兰结构的侧壁上，销轴32的长度方向应朝向定位主体31的径向方向。当柔轮11变形时，柔轮11可以顺着销轴32的长度方向形变实现限位，另外销轴32还使柔轮11和定子2可同步转动，如果柔轮11的两端都连接有定位机构3时，定子2将无法在轴向上相对于柔轮11窜动。开口141显然是为了方便安装定位机构3设置的结构。当然如果没有开口141可以通过独立拆掉销轴32，并将销轴32的一端从柔轮11上的限位孔14插入与定位主体31法兰结构侧壁上的螺纹连接孔实现装配。销轴32在定位主体31上由于沿径向方向设置，所以呈现放射状。
如图5和图6，以及图7所示，在一实施例中，本申请还提供了一种传动机构，该传动机构包括柔轮部件1和一刚轮部件4；
刚轮部件4进一步包括一刚轮41和至少一个第二啮合齿42，
其中，刚轮41能够沿轴向转动，至少一个第二啮合齿42设置在刚轮41上，第一啮合齿12产生径向移动后可与第二啮合齿42啮合传动。
在本实施例中提供了一种具有刚轮部件4的传动机构，通过柔轮部件和刚轮部件4的啮合完成传动。需要指出的是柔轮部件上的第一啮合齿12会因为柔轮11的形变移动后与第二啮合齿42啮合，当柔轮11的形变结束后第一啮合齿12会与第二啮合齿42脱离。另外，无论是第一啮合齿12，还是第二啮合齿42齿高应当尽量小，减小磁体13和通电线圈22之间的间隙。
图8为本发明所述柔性部件与所述刚性部件4另一装配方式的局部结构示意图，除了如图5和图6，以及图7以外，柔性部件1和刚性部件4还具有其他的装配形式，即图8所示。
本申请还提供了一种机器人关节，所述机器人关节包括所述传动机构和一第一转动部，以及一第二转动部；
所述机器人关节可以应用于机器人手臂两个可以相互旋转的转臂之间，两个所述转臂分别与所述第一转动部和第二转动部刚性连接，所述第一转动部与柔轮部件1连接，所述第二转动部则与刚轮部件4连接，只要满足使柔轮部件1转动后与刚轮部件4啮合就可以实现所述第一转动部和所述第二转动部之间的传动。驱动柔轮部件1转动可以采用伺服电机，柔轮部件1如果与定子2装配后 可以通过伺服电机与定子2连接，定子2的转动则可以带动柔性部件1的旋转。
其具体的有益效果：
取消了所述波发生器的结构，利用磁体13产生柔轮11径向形变的实施方式与所述磁性伸缩装置或者压电执行装置相比，其结构更加简单，造价更加低廉，并在轴向方向上结构更加紧密。
磁体13与通电线圈22之间的间隙范围与所述磁性伸缩装置或者压电执行装置相比大幅缩短，间隙范围可以控制在最大1毫米内，对柔轮11的形变控制比所述磁性伸缩装置或者压电执行装置更加有效，也省去了液压行程放大机构。
利用磁体13的实施方式与所述磁性伸缩装置相比，不用再考虑机械热损耗的问题。
利用磁体13的实施方式与带有液压行程放大机构的所述磁性伸缩装置和压电执行装置相比，采用通电线圈22的技术方案显然成本更低。
利用磁体13的实施方式与传统的基于波发生器的关节机构相比由于去除了所述柔性轴承，所以结构更加简单，零件寿命更长。
利用磁体13的实施方式由于机构更加紧凑，可以有助于减小其他连接零件的尺寸，改进连接表现，减小连接装配成本，提高产品竞争力。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (11)

  1. 柔轮部件，其特征在于，所述柔轮部件(1)包括：
    一柔轮(11)，其可向转动时转动轴的径向方向产生形变；和
    至少一个第一啮合齿(12)，其中至少一个所述第一啮合齿(12)沿所述柔轮(11)的径向方向设置在所述柔轮(11)上；以及
    至少一个磁体(13)，其设置在所述柔轮(11)上，当所述磁体(13)与外部磁场产生作用时能够挤压所述柔轮(11)，使所述柔轮(11)产生径向方向上的形变实现所述第一啮合齿(12)沿所述柔轮(11)的径向方向移动。
  2. 根据权利要求1所述的柔轮部件，其特征在于，
    所述至少一个第一啮合齿(12)为多个，且多个所述第一啮合齿(12)沿所述柔轮(11)的轴向周圈分布在所述柔轮(11)上；
    所述至少一个磁体(13)为多个，且多个所述磁体(13)沿所述柔轮(11)的轴向周圈分布在所述柔轮(11)上。
  3. 根据权利要求2所述的柔轮部件，其特征在于，所述柔轮(11)为环形，所述柔轮(11)的环形外壁上周圈分布多个所述第一啮合齿(12)，所述柔轮(11)的环形内壁上周圈分布多个所述磁体(13)。
  4. 根据权利要求3所述的柔轮部件，其特征在于，所述柔轮(11)的侧壁上设置至少一个限位孔(14)，其中至少一个所述限位孔(14)朝向所述柔轮(11)的径向设置并贯穿所述柔轮(11)的侧壁。
  5. 根据权利要求4所述的柔轮部件，其特征在于，所述至少一个限位孔(14)为多个，多个所述限位孔(14)包括两组，两组所述限位孔(14)镜像设置在所述柔轮(11)两端的侧壁上；
    每组所述限位孔(14)沿所述柔轮(11)的轴向周圈分布。
  6. 根据权利要求5所述的柔轮部件，其特征在于，
    多个所述第一啮合齿(12)与多个所述磁体(13)位于两组所述限位孔(14)之间设置；
    至少一个所述限位孔(14)的一侧延伸至所述柔轮(11)邻近一端的边缘形成向外敞开的开口(141)。
  7. 根据权利要求1至3中任一项所述的柔性部件，其特征在于，所述柔性部件还包括一定子(2)；
    所述定子(2)进一步包括：
    一定子芯(21)，其与所述柔轮(11)同轴设置，且所述定子芯(21)与所述柔轮(11)同步转动；
    至少一个通电线圈(22)，所述通电线圈(22)配合安装在所述定子芯(21)上，且所述通电线圈(22)的安装位置与所述磁体(13)相对设置，以使所述通电线圈(22)通电后形成外部磁场与所述磁体(13)产生作用实现所述磁体(13)对所述柔轮(11)的挤压。
  8. 根据权利要求7所述的柔轮部件，其特征在于，
    所述柔轮(11)上设置至少一个限位孔(14)，其中至少一个所述限位孔(14)朝向所述柔轮(11)的径向设置；
    所述柔性部件还包括至少一个定位机构(3)；
    所述定位机构(3)进一步包括：
    一定位主体(31)，其固定在所述定子(2)上，以使所述定位主体(31)被所述定子(2)带动沿所述定子(2)的轴向同步转动；
    至少一个销轴(32)，所述销轴(32)沿所述定位主体(31)转动时的径向方向设置，所述销轴(32)能够套装在所述限位孔(14)中，并沿所述销轴(32)的长度方向滑动。
  9. 根据权利要求8所述的柔轮部件，其特征在于，所述至少一个限位孔(14)为多个，多个所述限位孔(14)包括两组，两组所述限位孔(14)镜像设置在所述柔轮(11)两端的侧壁上；
    每组所述限位孔(14)沿所述柔轮(11)的轴向周圈分布；
    所述定位机构(3)为两个，分别设置于所述柔轮(11)的两端，每一端所述定位机构(3)上的所述销轴(32)与所述限位孔(14)的位置对应设置。
  10. 一种传动机构，其特征在于，所述传动机构包括：
    如权利要求1至9任一项所述的柔轮部件(1)，所述柔轮部件可沿所述柔轮(11)的轴向转动；和
    一刚轮部件(4)；
    所述刚轮部件(4)进一步包括：
    一刚轮(41)，所述刚轮(41)能够沿轴向转动；和
    至少一个第二啮合齿(42)，所述至少一个第二啮合齿(42)设置在所述刚轮(41)上；
    所述第一啮合齿(12)产生径向移动后可与所述第二啮合齿(42)啮合传动。
  11. 一种机器人关节，其特征在于，所述机器人关节包括：
    如权利要求10所述的传动机构；和
    一第一转动部，其与所述柔轮部件(1)连接；以及
    一第二转动部，其与所述刚轮部件(4)连接，以使所述柔性部件(1)通过伺服电机驱动转动时带动相互啮合的所述刚轮部件(4)转动实现所述第一转动部和所述第二转动部之间的传动。
PCT/CN2019/108232 2019-09-26 2019-09-26 柔轮部件及传动机构 WO2021056346A1 (zh)

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