Short-flexspline type harmonic precision transmission device

Abstract

The invention provides a short-flexspline type harmonic precision transmission device. The device comprises duplex flexible wheels which comprise speed reduction tooth sections and output tooth sections in tooth length direction, wherein inner rings of flexible bearings are arranged on shock wave generators; the speed reduction tooth sections of the duplex flexsplines are arranged on outer rings of the flexible bearings; the output tooth sections of the duplex flexsplines are in engaging transmission with inner tooth rings on output plates through inner engaging zero-tooth-difference transmission; the output plates are connected with inner rings of cross bearings, and outer rings of the cross bearings are fixed to rigid gears; inner tooth rings of the rigid gears are in engaging transmission with the speed reduction tooth sections of the duplex flexsplines. Compared with a traditional device, the short-flexspline type harmonic precision transmission device has the advantages that the zero-tooth-difference harmonic transmission is performed; the structure is compact, and the axial size is greatly reduced; meanwhile, the zero-tooth-difference harmonic transmission has the characteristic of harmonic gear transmission, so that the transmission accuracy and the bearing capacity of the device are high; and the requirement of joints of an aerospace robot on a harmonic gear transmission device is met.

Description

technical field [0001] The invention relates to a short-tube harmonic precision transmission device used for robot joint transmission, and belongs to the technical field of robot joint precision deceleration transmission. Background technique [0002] The precision reducer transmission device is the core component used in the robot joint transmission. However, in the actual application of robots, the harmonic reducer with a normal ratio usually does not meet the installation space requirements of the robot deceleration link. Practical experience shows that it is necessary to use a short-tube flexible wheel harmonic reducer while keeping the performance of the harmonic reducer unchanged. Compared with the normal harmonic reducer, the short-tube flexible wheel harmonic reducer has a more compact structure, smaller volume and lighter weight. At the same time, the short-tube flexible wheel harmonic reducer is not only used in robots, but also has a growing demand in other fiel...

AI Technical Summary

Problems solved by technology

[0003] At present, there are still many unresolved problems in the design and processing of domestic short-tube harmonic reducers, mainly in low transmission efficiency, low carrying capacity, short life, and poor precision.

Therefore, the existing domestic harmonic gear transmissions cannot simultaneously meet the extremely stringent requirements of the aerospace robot joints for the harmonic gear transmissions in terms of installation space, quality, and transmission torque.

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