Wave generator and harmonic decelerator with wave generator

Abstract

The invention relates to a wave generator and a harmonic decelerator with the wave generator, and belongs to the technical field of harmonic decelerators. The wave generator comprises a wave generatorcam, the shape expression of the elliptical cross-section of the wave generator cam is r=r1+2 / Lsin2theta, wherein r is the radial diameter of the elliptical cross-section of the wave generator cam, r1 is the base circle diameter of the elliptical cross-section of the wave generator cam, L equals to the length of a long shaft of the elliptical cross-section of the wave generator cam minus the length of a short shaft of the elliptical cross-section of the wave generator cam, theta is angle of the wave generator generation curve, and theta is no less than 0 degree and no less than 360 degrees. The wave generator is reasonable in structure, the specific expression of the shape curve of the wave generator cam is not only provided, but also the wave generator makes a flexible wheel and a rigidwheel better mesh, meanwhile, the tooth number of meshing is greater than 30%, the force distribution of a flexible bearing and gear meshing tooth face is improved, the force of the flexible wheel tooth bottom is reduced, and the service life is prolonged.

Description

technical field [0001] The invention relates to a wave generator and a harmonic speed reducer with the wave generator, belonging to the technical field of harmonic speed reducers. Background technique [0002] The harmonic reducer is the heart of industrial robots, and the quality of the harmonic reducer directly determines the quality of the entire robot. It has the characteristics of high precision, small size and large reduction ratio. [0003] The core components of the harmonic reducer are mainly composed of flexible splines, rigid splines, and wave generators. In order to reduce the stress on the tooth surface during the harmonic transmission process and improve the precision and life of the reducer, the only way to increase the number of teeth that mesh with the flex spline and the rigid spline at the same time is to increase. At present, most harmonic manufacturers claim that the number of teeth meshing at the same time is about 20%. The number of teeth meshing at ...

AI Technical Summary

Problems solved by technology

[0008] One: The given wave generator cam shape curve expression is not detailed enough and cannot be used to guide production

[0009] Two: When the entire wave generator and the flexible spline are installed on the rigid spline, there will be fewer meshing teeth at the same time, resulting in a large force on the single tooth, resulting in accelerated wear and reduced life of the entire reducer

[0010] Three: On the premise that the long axis and circumference of the wave generator cam are the same, the current wave generator structure has less contact area in the long axis area, which directly leads to a reduction in the number of teeth meshing at the same time, and at the same time the short axis is longer, which may It will cause the problem that the internal teeth and the external teeth cannot be separated during transmission.

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