Flexible wheel, harmonic transmission and robot

Abstract

The invention provides a flexible wheel, a harmonic transmission and a robot. The flexible wheel comprises a matching part (1) arranged at the open end of a flexible wheel body and used for cooperating with a wave generator, wherein the matching part (1) is provided with a first inner hole (2), and an angle of inclination alpha is formed between the hole wall of the first inner hole (2) and the central axis of the flexible wheel body. According to the flexible wheel, the axial force applied to the wave generator can be reduced, and the service life of the wave generator is prolonged.

Description

technical field [0001] The application belongs to the technical field of robots, and in particular relates to a flexspline, a harmonic transmission and a robot. Background technique [0002] The harmonic reducer has many advantages such as high transmission precision, large speed ratio, small size, simple structure and wide application. Such as figure 1 and figure 2 As shown, the reducer is mainly composed of a rigid spline, a flexible spline 1' and a wave generator 2'. The working process is generally that the rigid spline is fixed, and when the wave generator 2' rotates, it forces the flexible spline 1' to produce elastic deformation, so that the teeth of the flexible spline 1' and the rigid spline enter the meshing state, thereby realizing transmission. [0003] Such as Figure 4 Middle a shows the structural diagram of the flexible spline 1' when it is not installed on the wave generator 2' and deformed. At this time, the flexible spline 1' is circular. The wave ge...

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Problems solved by technology

When working normally, the wave generator 2' inputs torque, and the flexible spline 1' is at the major axis of the wave generator 2' ellipse ( Figure 4 Driven by the expansion area of ​​the middle flexible spline), the forced deformation occurs, and the semi-short axis ( Figure 4 contraction area of ​​the middle flexspline) is subjected to sudden extrusion force to produce elastic deformation, and the wave generator 2' bearing is subjected to the reaction force F from the flexspline 1' ( image 3 ), the force can be decomposed into axial force F1 and radial force F2. At this time, wave generator 2' has a tendency to move inward under the action of axial force F1, but the inner hole and shaft of wave generator 2' Fixed connection, long-term operation will cause axial displacement between flexible bearing and motor shaft or bearing damage

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