Stiffness compensation device, harmonic reducer and robot

Abstract

The invention provides a stiffness compensation device, a harmonic reducer and a robot. The stiffness compensation device includes a flexible cup sleeve, a flexible bearing and a cam body. The flexible cup sleeve has an accommodation chamber; the flexible bearing sleeve is on the flexible cup sleeve; the cam body can The cam body is arranged in the accommodation cavity for axial movement, and the cam body has a plurality of outer peripheral surfaces with different shapes along its axial direction, and each outer peripheral surface can be selectively set correspondingly to the flexible bearing, so as to adjust the radial deformation of the flexible bearing. Since the cam body has outer peripheral surfaces with different shapes, after the different outer peripheral surfaces move to positions corresponding to the flexible bearing, the radial deformation of the flexible cup sleeve and the flexible bearing will be changed, that is, the degree of deformation of the flexible bearing will be changed. Since changing the degree of deformation of the flexible bearing can change the degree of deformation of the flex spline, the rigid-flex gear teeth of the harmonic reducer can change the deformation degree of the flex spline after wear and tear, which can increase the number of meshing tooth pairs and the size of the meshing area of ​​the rigid-flex spline, thereby Improve the torsional stiffness and service life of the harmonic reducer.

Description

technical field [0001] The invention relates to the technical field of harmonic reducers, in particular to a stiffness compensation device, a harmonic reducer and a robot. Background technique [0002] The harmonic reducer is mainly composed of a rigid wheel, a flexible wheel and a wave generator, and the wave generator is composed of a cam with a special curved profile and a flexible bearing. During the movement, the long axis of the cam will force the flexible bearing and the flexible spline to produce controllable radial elastic deformation. The flexible spline and the rigid spline mesh with each other to transmit motion and power. When it is enough to eliminate the backlash between adjacent tooth pairs, multi-tooth meshing is formed, and the number of multi-tooth meshing depends on the backlash distribution between the gear teeth in the assembled state and the elastic deformation of the flexspline under the action of meshing force. [0003] The number of multi-teeth mes...

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Problems solved by technology

[0004] In the prior art, the contact area is enlarged and the rigidity of the harmonic reducer is improved by replacing the common cross-roller bearing with the ballless bearing formed by the combination of the support sleeve and the support shaft, but this method changes the rigid bearing part to The dynamic fit of the supporting sleeve and the supporting shaft, changing the friction form between the parts, will directly affect the transmission accuracy of the harmonic reducer, which is not conducive to the improvement of the overall performance

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