WO2022042143A1 - 凸轮轴、波发生器、谐波减速器和机器人 - Google Patents

凸轮轴、波发生器、谐波减速器和机器人 Download PDF

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Publication number
WO2022042143A1
WO2022042143A1 PCT/CN2021/107544 CN2021107544W WO2022042143A1 WO 2022042143 A1 WO2022042143 A1 WO 2022042143A1 CN 2021107544 W CN2021107544 W CN 2021107544W WO 2022042143 A1 WO2022042143 A1 WO 2022042143A1
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outer contour
cam outer
cam
camshaft
segment
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PCT/CN2021/107544
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English (en)
French (fr)
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张弛
程中甫
谷甲甲
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珠海格力电器股份有限公司
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Publication of WO2022042143A1 publication Critical patent/WO2022042143A1/zh

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    • 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
    • F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
    • F16H53/02—Single-track cams for single-revolution cycles; Camshafts with such cams
    • 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
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly

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  • the present disclosure is based on the Chinese application with the application number of 202010877233.5 and the filing date of August 27, 2020, and claims its priority.
  • the disclosure of the Chinese application is hereby incorporated into the present application as a whole.
  • the present disclosure belongs to the technical field of harmonic reducers, and in particular relates to a camshaft, a wave generator, a harmonic reducer and a robot.
  • the harmonic reducer is mainly composed of a ring-shaped rigid inner gear with equidistant teeth, a flexible ring gear of the outer gear that is coaxial with the rigid inner gear and flexibly deformed in the radial direction, and a flexible ring gear inside the flexible ring gear.
  • Cam wave generator composition Within a certain angle range on both sides of the maximum radius axis of the cam wave generator, the cam wave generator squeezes the flexible ring gear and deforms radially, so that the teeth on the outer gear ring gear are embedded in the rigid inner gear teeth. Eliminate the gap between the teeth of the flexible wheel and the teeth of the rigid wheel, so that the teeth of the flexible wheel and the teeth of the rigid wheel are meshed.
  • the aforementioned angle range is the meshing interval of the harmonic reducer.
  • the meshing interval of the harmonic reducer determines the number of gear tooth pairs participating in meshing at the same time, which in turn affects various reducer parameters such as torsional stiffness and efficiency of the harmonic reducer.
  • various reducer parameters such as torsional stiffness and efficiency of the harmonic reducer.
  • the technical problem to be solved by the present disclosure is to provide a camshaft, a wave generator, a harmonic reducer and a robot, which are provided with a first cam outer contour section and a second cam outer contour section along the axis of the shaft.
  • the short axis of the second cam outer contour segment is larger than the short axis of the first cam outer contour segment, so that the cam shaft has different gear tooth meshing intervals, which can compensate for the reduced stiffness of the flexible gear teeth and the rigid gear teeth due to wear.
  • the present disclosure provides a camshaft including a shaft body, along the axial direction of the shaft body, the outer contour of the camshaft includes a first cam outer contour segment and a second cam outer contour segment, and the first cam outer contour segment
  • the major axis of the cam is equal to the major axis of the second cam outer contour segment
  • the minor axis of the first cam outer contour segment is smaller than the minor axis of the second cam outer contour segment.
  • the long axis of the first cam outer contour segment coincides with the long axis of the second cam outer contour segment.
  • the outer contour of the camshaft further includes a third cam outer contour segment, and the first cam outer contour segment, the second cam outer contour segment, and the third cam outer contour segment are arranged adjacent to each other along the axial direction of the shaft body, and the The minor axis of the outer contour section of the second cam is smaller than the minor axis of the outer contour section of the third cam.
  • the long axis of the first cam outer contour segment coincides with the long axis of the second cam outer contour segment, and the long axis of the second cam outer contour segment and the third cam
  • the major axes of the outer contour segments coincide.
  • the adjoining parts of the first cam outer contour section and the second cam outer contour section are smoothly connected.
  • a ring groove is provided at the adjoining part of the first cam outer contour section and the second cam outer contour section.
  • a snap ring is detachably connected to the ring groove.
  • the present disclosure also provides a wave generator including the above-mentioned camshaft.
  • the present disclosure also provides a harmonic reducer including the above-mentioned wave generator.
  • the present disclosure also provides a robot including the above harmonic reducer.
  • the present disclosure provides a camshaft, a wave generator, a harmonic reducer and a robot.
  • the outer contour of the camshaft along its axial direction as a first cam outer contour segment having the same major axis but different minor axes, and a second cam outer contour segment Two cam outer contour segments, so that the width of the gear teeth meshing interval of the first cam outer contour segment and the second cam outer contour segment is different. The larger the short axis, the greater the width of the corresponding gear tooth meshing interval.
  • the contact can be adjusted by adjusting the insertion depth of the shaft body of the camshaft.
  • the contour section is adjusted from the first cam outer contour section to the second cam outer contour section, so that the meshing tooth pairs between the rigid inner gear and the flexible outer gear can be increased, thereby effectively compensating for the reduced stiffness.
  • FIG. 1 is a front structural schematic diagram of a camshaft according to an embodiment of the disclosure
  • Fig. 2 is the side view of Fig. 1;
  • FIG. 3 is a schematic diagram of a state in which a camshaft is in contact through a first cam outer contour segment in a harmonic reducer according to another embodiment of the present disclosure
  • Fig. 4 is the side view of Fig. 3;
  • FIG. 5 is a schematic diagram of a state in which a camshaft is in contact through a second cam outer contour segment in a harmonic reducer according to another embodiment of the present disclosure
  • Fig. 6 is the side view of Fig. 5;
  • FIG. 7 is a schematic diagram of a state in which a camshaft is in contact through a third cam outer contour segment in a harmonic reducer according to another embodiment of the present disclosure
  • FIG. 8 is a side view of FIG. 7 .
  • a camshaft including a shaft body 1 , along the axial direction of the shaft body 1 , the outer contour of the camshaft includes a first cam outer contour segment 11 and In the second cam outer contour segment 12 , the long axis of the first cam outer contour segment 11 is equal to the long axis of the second cam outer contour segment 12 , and the short axis of the first cam outer contour segment 11 is smaller than the second cam outer contour segment 12 the short axis.
  • the outer contour of the camshaft along its axial direction as a first cam outer contour segment 11 and a second cam outer contour segment 12 having the same long axis but different short axes
  • the first cam outer contour The width of the gear teeth meshing interval between the segment 11 and the second cam outer contour segment 12 is different (specifically corresponding to the number of gear teeth meshing at the same time in the corresponding interval). The larger the short axis, the greater the width of the corresponding gear tooth meshing interval.
  • the rigidity between the rigid internal gear 5 and the flexible external gear 4 is reduced due to the wear between the gear teeth, it can be adjusted by adjusting the shaft body 1 of the camshaft.
  • the insertion depth can be adjusted to adjust the contact profile segment, for example, from the first cam outer profile segment 11 to the second cam outer profile segment 12, so that the number of meshing tooth pairs between the rigid internal gear 5 and the flexible external gear 4 can be increased, In turn, an effective compensation for the reduced stiffness is achieved.
  • the outer contour of the camshaft further includes a third cam outer contour segment 13 .
  • the first cam outer contour segment 11 , the second cam outer contour segment 12 , and the third cam outer contour segment 13 are along the axis of the shaft body 1 .
  • the short axis of the second cam outer contour section 12 is smaller than the short axis of the third cam outer contour section 13, and it can be understood that the outer contour of the cam shaft along the axial direction of the shaft body 1 can also be
  • the present disclosure only schematically gives a specific implementation that is divided into two segments or three segments, which does not mean that the setting of more segments is excluded.
  • the design of more segments can make the compensation effect of the camshaft to the stiffness more durable, and the width of the meshing interval of the gear teeth will be designed more finely.
  • the projection of the first cam outer contour section 11 , the second cam outer contour section 12 and the third cam outer contour section 13 on any radial plane is an ellipse.
  • the long axis of the first cam outer contour segment 11 coincides with the long axis of the second cam outer contour segment 12, so that the connecting keyway of the shaft body 1
  • the design of the cam can be designed as a single structure without the need to provide multiple keyways to adapt to different cam outer contour segments.
  • the third cam outer contour section 13 is included, the long axis of the first cam outer contour section 11 coincides with the long axis of the second cam outer contour section 12, and the long axis of the second cam outer contour section 12 is coincident with the third cam outer contour section 12.
  • the long axes of the contour segments 13 coincide.
  • the adjoining parts of the first cam outer contour segment 11 and the second cam outer contour segment 12 are smoothly connected to prevent the formation of steps at the adjoining parts from causing obstacles to the insertion and adjustment of the camshaft.
  • the smooth connection is, for example, an inclined surface connection or a circular arc surface connection.
  • a ring groove 14 is provided at the adjoining part of the first cam outer contour segment 11 and the second cam outer contour segment 12, so as to carry out the contact surface range of the first cam outer contour segment 11 and the second cam outer contour segment 12.
  • the ring groove 14 is detachably connected with a circlip, and the circlip can be a shaft retaining ring, which can limit the contact section of the outer contour of the camshaft when the motor output shaft moves axially.
  • the contact section is prevented from slidingly switching from the second cam outer contour section 12 to be contacted to the first cam outer contour section 11 , ensuring the rigidity of gear teeth meshing and reducing the running noise of the reducer.
  • a wave generator including the above-mentioned camshaft.
  • the outer contour of the camshaft is in transition fit with the thin-walled ring 2 on the outer periphery of the camshaft, so as to facilitate adjustment of the insertion depth of the camshaft.
  • a plurality of steel balls 3 are arranged between the inner hole walls of the flexible external gear 4 , so as to realize the circumferential rolling connection between the thin-walled ring 2 and the flexible external gear 4 .
  • a first annular track is configured on the inner hole wall of the flexible external gear 4
  • a second annular track is configured on the outer peripheral wall of the thin-walled ring 2
  • the plurality of steel balls 3 are clamped by the first annular track and the second annular track. , thereby realizing the limitation of the axial and radial displacement of the steel ball 3 .
  • the position of the steel ball 3 in the axial direction is restricted by the first annular track, and does not change with the change of the insertion depth of the camshaft.
  • a harmonic reducer is also provided, including the above-mentioned wave generator, and the wave generator is meshed with the rigid internal gear 5 through the flexible external gear 4 .
  • the camshaft squeezes the thin-walled ring 2, and the thin-walled ring 2 is deformed.
  • the flexible external gear 4 is squeezed by the driving steel ball 3, so that the flexible external gear 4 is deformed, and the teeth of the flexible external gear 4 are embedded rigidly.
  • the teeth of the internal gear 5 the meshing between the flexible external gear 4 and the rigid internal gear 5 is realized.
  • the angle formed between the two meshing critical points is the meshing interval.
  • the meshing interval of the harmonic reducer determines the number of gear tooth pairs participating in meshing at the same time, which directly determines the torsional stiffness of the harmonic reducer.
  • the present disclosure also provides a robot including the above harmonic reducer.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种凸轮轴，其包括轴体（1），沿轴体（1）的轴向，凸轮轴的外轮廓包括第一凸轮外轮廓段（11）以及第二凸轮外轮廓段（12），第一凸轮外轮廓段（11）的长轴与第二凸轮外轮廓段（12）的长轴相等，且第一凸轮外轮廓段（11）的短轴小于第二凸轮外轮廓段（12）的短轴。该凸轮轴能够补偿柔轮轮齿与刚轮轮齿由于磨损降低的刚度。还包括一种波发生器、一种谐波减速器和一种机器人。

Description

凸轮轴、波发生器、谐波减速器和机器人
相关申请的交叉引用
本公开是以申请号为202010877233.5，申请日为2020年8月27日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开属于谐波减速器技术领域，具体涉及一种凸轮轴、波发生器、谐波减速器和机器人。
背景技术
谐波减速器主要由圆环状、轮齿等间距分布的刚性内齿轮、与刚性内齿轮同轴的、在径向方向上可挠性变形的外齿轮柔性齿圈，以及柔性齿圈内部的凸轮波发生器构成。在凸轮波发生器的最大半径轴两侧的一定角度范围内，凸轮波发生器挤压挠性齿圈发生径向变形，从而使外齿轮齿圈上的轮齿嵌入刚性内齿轮轮齿内，消除柔轮轮齿与刚轮轮齿之间的间隙，进而使得柔轮轮齿与刚轮轮齿发生啮合，如前所述的角度范围即为谐波减速器的啮合区间。
谐波减速器的啮合区间决定了同时参与啮合的轮齿对数量，进而影响了谐波减速器的扭转刚度、效率等多种减速器参数指标。随着谐波减速器服役时间的增大，柔轮轮齿与钢轮轮齿均会出现不同程度的磨损，进而使得柔轮轮齿与刚轮轮齿之间的间隙增大，从而导致长时间服役谐波减速器的刚度降低。因此，设计一种可以刚度补偿的谐波减速器很有必要。
发明内容
因此，本公开要解决的技术问题在于提供一种凸轮轴、波发生器、谐波减速器和机器人，沿轴体轴向上设有第一凸轮外轮廓段、第二凸轮外轮廓段，由于第二凸轮外轮廓段的短轴大于第一凸轮外轮廓段的短轴，使凸轮轴具有不同的轮齿啮合区间，能够补偿柔轮轮齿与刚轮轮齿由于磨损降低的刚度。
为了解决上述问题，本公开提供一种凸轮轴，包括轴体，沿轴体的轴向，凸轮轴的外轮廓包括第一凸轮外轮廓段以及第二凸轮外轮廓段，第一凸轮外轮廓段的长轴与 第二凸轮外轮廓段的长轴相等，且第一凸轮外轮廓段的短轴小于第二凸轮外轮廓段的短轴。
可选地，在轴体的任一径向平面上投影，第一凸轮外轮廓段的长轴与第二凸轮外轮廓段的长轴重合。
可选地，凸轮轴的外轮廓还包括第三凸轮外轮廓段，第一凸轮外轮廓段、第二凸轮外轮廓段、第三凸轮外轮廓段沿轴体的轴向依次相邻设置，第二凸轮外轮廓段的短轴小于第三凸轮外轮廓段的短轴。
可选地，在轴体的任一径向平面上投影，第一凸轮外轮廓段的长轴与第二凸轮外轮廓段的长轴重合，第二凸轮外轮廓段的长轴与第三凸轮外轮廓段的长轴重合。
可选地，第一凸轮外轮廓段与第二凸轮外轮廓段的邻接处圆滑连接。
可选地，第一凸轮外轮廓段与第二凸轮外轮廓段的邻接处设有环槽。
可选地，环槽中可拆卸地连接有卡簧。
本公开还提供一种波发生器，包括上述的凸轮轴。
本公开还提供一种谐波减速器，包括上述的波发生器。
本公开还提供一种机器人，包括上述的谐波减速器。
本公开提供的一种凸轮轴、波发生器、谐波减速器和机器人，通过将凸轮轴的外轮廓沿其轴向设计为具有相同长轴而不同短轴的第一凸轮外轮廓段以及第二凸轮外轮廓段，从而使第一凸轮外轮廓段与第二凸轮外轮廓段的轮齿啮合区间的宽度不同，短轴越大则对应的轮齿啮合区间的宽度越大，如此，在凸轮轴组装形成谐波减速器后长久运行后，由于轮齿之间的磨耗导致刚性内齿轮与柔性外齿轮之间的刚度降低时，可以通过调整凸轮轴的轴体的插装深度，从而调整接触轮廓段，例如由第一凸轮外轮廓段调整为第二凸轮外轮廓段，从而能够使刚性内齿轮与柔性外齿轮之间的啮合轮齿对增多，进而对降低的刚度实现有效补偿。
附图说明
图1为本公开实施例的凸轮轴的正视结构示意图；
图2为图1的侧视图；
图3为本公开另一实施例谐波减速器中凸轮轴通过第一凸轮外轮廓段接触的状态示意图；
图4为图3的侧视图；
图5为本公开另一实施例谐波减速器中凸轮轴通过第二凸轮外轮廓段接触的状态示意图；
图6为图5的侧视图；
图7为本公开另一实施例谐波减速器中凸轮轴通过第三凸轮外轮廓段接触的状态示意图；
图8为图7的侧视图。
具体实施方式
结合参见图1至图8所示，根据本公开的实施例，提供一种凸轮轴，包括轴体1，沿轴体1的轴向，凸轮轴的外轮廓包括第一凸轮外轮廓段11以及第二凸轮外轮廓段12，第一凸轮外轮廓段11的长轴与第二凸轮外轮廓段12的长轴相等，且第一凸轮外轮廓段11的短轴小于第二凸轮外轮廓段12的短轴。该技术方案中，通过将凸轮轴的外轮廓沿其轴向设计为具有相同长轴而不同短轴的第一凸轮外轮廓段11以及第二凸轮外轮廓段12，从而使第一凸轮外轮廓段11与第二凸轮外轮廓段12的轮齿啮合区间的宽度不同(具体对应为相应区间中同时啮合的轮齿对数)，短轴越大则对应的轮齿啮合区间的宽度越大，如此，在凸轮轴组装形成谐波减速器后长久运行后，由于轮齿之间的磨耗导致刚性内齿轮5与柔性外齿轮4之间的刚度降低时，可以通过调整凸轮轴的轴体1的插装深度，从而调整接触轮廓段，例如由第一凸轮外轮廓段11调整为第二凸轮外轮廓段12，从而能够使刚性内齿轮5与柔性外齿轮4之间的啮合轮齿对增多，进而对降低的刚度实现有效补偿。
在一些实施例中，凸轮轴的外轮廓还包括第三凸轮外轮廓段13，第一凸轮外轮廓段11、第二凸轮外轮廓段12、第三凸轮外轮廓段13沿轴体1的轴向依次相邻设置，第二凸轮外轮廓段12的短轴小于第三凸轮外轮廓段13的短轴，而可以理解的是，凸轮轴的外轮廓沿着轴体1的轴向还可以被设计为更多的段数，本公开中仅示意性的给出了分为两段或者三段的具体实施方式，这并不意味着对更多段数设置情况的排除。更多段数的设计，能够使凸轮轴对刚度的补偿作用发挥的更为持久，其轮齿啮合区间的宽度将被设计的更为精细。
可以理解的是，第一凸轮外轮廓段11、第二凸轮外轮廓段12以及第三凸轮外轮廓段13在任一径向平面上投影皆为椭圆形。
在一些实施例中，在轴体1的任一径向平面上投影，第一凸轮外轮廓段11的长轴 与第二凸轮外轮廓段12的长轴重合，如此，轴体1的连接键槽的设计可以设计为单一结构，而无需设置多个键槽以适应不同的凸轮外轮廓段。而当包括第三凸轮外轮廓段13时，第一凸轮外轮廓段11的长轴与第二凸轮外轮廓段12的长轴重合，第二凸轮外轮廓段12的长轴与第三凸轮外轮廓段13的长轴重合。
可选地，第一凸轮外轮廓段11与第二凸轮外轮廓段12的邻接处圆滑连接，以防止邻接处形成台阶对凸轮轴的插装调整造成障碍。圆滑连接具体例如为斜面连接或者圆弧面连接。
可选地，第一凸轮外轮廓段11与第二凸轮外轮廓段12的邻接处设有环槽14，以对第一凸轮外轮廓段11与第二凸轮外轮廓段12的接触面范围进行标识明确，便利操作人员对凸轮轴的插装深度进行调整。进一步地，环槽14中可拆卸地连接有卡簧，卡簧采用轴用弹性挡圈即可，其能够在电机输出轴轴向窜动时，对凸轮轴的外轮廓的接触段进行限定，例如防止接触段由需要接触的第二凸轮外轮廓段12滑动切换为第一凸轮外轮廓段11，保证轮齿啮合的刚度，降低减速器的运转噪音。
可以理解的，当凸轮轴的外轮廓具有多段外轮廓段时，任意相邻的两个轮廓段的邻接处皆圆滑连接，最好的，皆设置有环槽14以及对应的卡簧。
根据本公开的实施例，还提供一种波发生器，包括上述的凸轮轴，凸轮轴的外轮廓与处于其外周的薄壁环2过渡配合，以利于凸轮轴的插装深度的调整，薄壁环2与柔性外齿轮4的内孔壁之间设置有多个钢球3，从而实现薄壁环2与柔性外齿轮4之间的周向滚动连接。可选地，柔性外齿轮4的内孔壁上构造有第一环形轨道，薄壁环2的外周壁上构造有第二环形轨道，多个钢球3被第一环形轨道以及第二环形轨道夹持，进而实现对钢球3的轴向以及径向位移的限定。钢球3在轴向上的位置被第一环形轨道限制，不随凸轮轴插装深度的改变而改变。
根据本公开的实施例，还提供一种谐波减速器，包括上述的波发生器，波发生器通过柔性外齿轮4与刚性内齿轮5形成啮合。工作时，凸轮轴挤压薄壁环2，薄壁环2发生变形，在凸轮轴长轴方向上通过驱动钢球3挤压柔性外齿轮4，使柔性外齿轮4发生变形，柔性外齿轮4的齿嵌入刚性内齿轮5的齿内，实现柔性外齿轮4与刚性内齿轮5之间的啮合。在凸轮轴的长轴和短轴之间，存在柔性外齿轮4和刚性内齿轮5啮合的临界点。两个啮合临界点之间所形成的角度即为啮合区间。在长轴值固定的情况下，凸轮轴的长轴与短轴差值越大，则啮合区间越小；而长轴与短轴差值越小，则啮合区间越大。谐波减速器的啮合区间决定同时参与啮合的轮齿对数量，进而直接决 定谐波减速器的扭转刚度。
本公开还提供一种机器人，包括上述的谐波减速器。
本领域的技术人员容易理解的是，在不冲突的前提下，上述各有利方式可以自由地组合、叠加。
以上仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本公开的保护范围之内。以上仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开技术原理的前提下，还可以做出若干改进和变型，这些改进和变型也应视为本公开的保护范围。

Claims (10)

  1. 一种凸轮轴，其特征在于，包括轴体(1)，沿所述轴体(1)的轴向，所述凸轮轴的外轮廓包括第一凸轮外轮廓段(11)以及第二凸轮外轮廓段(12)，所述第一凸轮外轮廓段(11)的长轴与所述第二凸轮外轮廓段(12)的长轴相等，且所述第一凸轮外轮廓段(11)的短轴小于所述第二凸轮外轮廓段(12)的短轴。
  2. 根据权利要求1所述的凸轮轴，其特征在于，在所述轴体(1)的任一径向平面上投影，所述第一凸轮外轮廓段(11)的长轴与所述第二凸轮外轮廓段(12)的长轴重合。
  3. 根据权利要求1或2所述的凸轮轴，其特征在于，所述凸轮轴的外轮廓还包括第三凸轮外轮廓段(13)，所述第一凸轮外轮廓段(11)、第二凸轮外轮廓段(12)、第三凸轮外轮廓段(13)沿所述轴体(1)的轴向依次相邻设置，所述第二凸轮外轮廓段(12)的短轴小于所述第三凸轮外轮廓段(13)的短轴。
  4. 根据权利要求3所述的凸轮轴，其特征在于，在所述轴体(1)的任一径向平面上投影，所述第一凸轮外轮廓段(11)的长轴与所述第二凸轮外轮廓段(12)的长轴重合，所述第二凸轮外轮廓段(12)的长轴与所述第三凸轮外轮廓段(13)的长轴重合。
  5. 根据权利要求1-4任一所述的凸轮轴，其特征在于，所述第一凸轮外轮廓段(11)与所述第二凸轮外轮廓段(12)的邻接处圆滑连接。
  6. 根据权利要求1-5任一所述的凸轮轴，其特征在于，所述第一凸轮外轮廓段(11)与所述第二凸轮外轮廓段(12)的邻接处设有环槽(14)。
  7. 根据权利要求6所述的凸轮轴，其特征在于，所述环槽(14)中可拆卸地连接有卡簧。
  8. 一种波发生器，其特征在于，包括如权利要求1至7中任一项所述的凸轮轴。
  9. 一种谐波减速器，其特征在于，包括权利要求8中所述的波发生器。
  10. 一种机器人，其特征在于，包括权利要求9所述的谐波减速器。
PCT/CN2021/107544 2020-08-27 2021-07-21 凸轮轴、波发生器、谐波减速器和机器人 WO2022042143A1 (zh)

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