Double-arc harmonic wave robot joint

Abstract

The invention discloses a double-arc harmonic wave robot joint, and relates to the technical field of manufacturing of robots, in particular to the technical field of designing of robot joints. The inside of a joint shell is connected with a rigid double-arc gear; a flexible double-arc cup-shaped gear is engaged in the rigid double-arc gear; the inside of the flexible double-arc cup-shaped gear is connected with a wave generator through a flexible bearing and a double-arc harmonic wave speed reducer; a control end of the wave generator of the double-arc harmonic wave speed reducer is connected with a rotor of a synchronous alternating current servo motor; the center of the flexible double-arc cup-shaped gear is connected with an output bar; and the output bar is inserted into a through hole of the joint shell in a clearance mode. By the double-arc harmonic wave robot joint, the stress condition and the transmission engagement quality of a double-arc cup-shaped gear tooth root can be improved, and the bearing capacity and the torsion rigidity of the robot joint can be improved. The double-arc harmonic wave robot joint has the characteristics of stably and accurately moving, along with low noise and low heat radiation in the movement process.

Description

technical field [0001] The invention relates to the technical field of robot manufacturing, in particular to the technical field of robot joint design. Background technique [0002] At present, there are two problems in the harmonic robot joint based on the involute tooth shape: the stress at the tooth root of the involute flexspline is relatively large, which leads to the insufficient load capacity and torsional stiffness of the harmonic robot joint. The stress distribution at the tooth root of the flexspline is related to the tooth profile. Therefore, other tooth profiles are used to reduce the stress at the tooth root of the flexspline. In the design of harmonic transmission, the meshing of flexspline teeth and rigid spline teeth is based on the assumption of large deflection mechanics and geometric design. The curvature of the elastic deformation curve of the flexspline centerline is not a constant. The wave generator may cause the elastic deformation of the flexspline a...

AI Technical Summary

Problems solved by technology

[0002] At present, there are two problems in the harmonic robot joint based on the involute tooth shape: the stress at the root of the involute flex wheel is relatively large, which leads to the problem of insufficient bearing capacity and torsional rigidity of the harmonic robot joint

In the design of harmonic transmission, the meshing of flexspline teeth and rigid spline teeth is based on the assumption of large deflection mechanics and geometric design. The curvature of the elastic deformation curve of the flexspline centerline is not a constant. The wave generator may cause the elastic deformation of the flexspline and cause The lack of visual inspection of the meshing interference between the flex spline teeth and the rigid spline teeth

Due to the interference phenomenon of the meshing of the gear teeth, the deformation of the teeth is large during harmonic transmission, and the heat generated by the meshing is large.

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