Double-flexspline harmonic reducer with limitable deformation
The present application discloses a double-flexspline harmonic reducer, comprising a strong flexspline ( 3 ) , a weak flexspline ( 2 ), a wave generator ( 1 ), and a deformation stopper ( 4 ) of the strong flexspline; the strong flexspline and the weak flexspline are coaxially fixed axially and radially, the strong flexspline and the weak flexspline are respectively provided with teeth that can engage with each other; the number of teeth of the strong flexspline and the weak flexspline are different; the wave generator is used to make the weak flexspline to undergo non-circular elastic deformation and partially engage with the strong flexspline; the contact part of the strong flexspline and the weak flexspline is subjected to the radial pressure of the weak flexspline to generate a non-circular elastic deformation, a flexible tubular wall of the strong flexspline has a toothless surface, and a limiting contact surface is processed on the toothless surface.
1. A double-flexspline harmonic reducer, comprising a strong flexspline, a weak flexspline, a wave generator, and a deformation stopper of the strong flexspline;
the strong flexspline and the weak flexspline are coaxially fixed axially and radially, the strong flexspline and the weak flexspline are respectively provided with teeth that can engage with each other; the number of teeth of the strong flexspline and the weak flexspline are different;
the wave generator is used to make the weak flexspline to undergo non-circular elastic deformation and partially engage with the strong flexspline;
the contact part of the strong flexspline and the weak flexspline is subjected to the radial pressure of the weak flexspline to generate a non-circular elastic deformation, a flexible tubular wall of the strong flexspline has a toothless surface, and a limiting contact surface is processed on the toothless surface, and the deformation stopper of the strong flexspline is relatively fixed with the strong flexspline;
the deformation stopper of the strong flexspline is processed with an annular limiting surface, and the limiting contact surface, located at the non-circular elastic deformation region where the strong flexspline is subjected to the radial pressure of the weak flexspline, is contacted with the annular limiting surface, and the deformation of the strong flexspline is limited due to the contact between the strong flexspline after deformation the deformation stopper.
2. The double-flexspline harmonic reducer according to claim 1 , wherein the annular limiting surface is the annular limiting surface with a gradually changing diameter.
3. The double-flexspline harmonic reducer according to claim 2 , wherein the diameter of the deformation stopper is different with that of the annular limiting surface of the strong flexspline by adjusting axial position of the deformation stopper relative to the strong flexspline, so as to adjust the deformation limiting value of the strong flexspline.
4. The double-flexspline harmonic reducer according to claim 3 , wherein the deformation stopper of the strong flexspline is axially fixed to the strong flexspline directly through threads or indirectly through other elements of the reducer, and the deformation stopper and the strong flexspline realize axial position adjustment through relative rotation by the threads.
5. The double-flexspline harmonic reducer according to claim 4 , wherein the fixing of the deformation stopper and the strong flexspline via threads further includes a thread-locking mechanism, the thread-locking mechanism is a top thread or a spline.
6. The double-flexspline harmonic reducer according to claim 4 , wherein a gear is provided on the deformation stopper of the strong flexspline, an external element may push the gear via other gears or worm so as to rotate the deformation stopper, and the external element may further lock the gear on the deformation stopper by adopting a non-rotating gear or worm so as to realize the locking of the fixed position of the deformation stopper along the axial direction of the strong flexspline relative to the strong flexspline.
7. The double-flexspline harmonic reducer according to claim 1 , wherein the double-flexspline harmonic reducer further comprises an elastic element used for applying axial force to the deformation stopper, and the deformation stopper can move axially under the force of the elastic element.
8. The double-flexspline harmonic reducer according to claim 1 , wherein the deformation stopper of the strong flexspline can be processed into a flexspline protective housing or a part of the flexspline protective housing.
9. The double-flexspline harmonic reducer according to claim 1 , wherein the double-flexspline harmonic reducer further comprises a connecting element which is relatively fixed to the strong flexspline, and the deformation stopper is fixedly connected to the connecting element to realize the relative fixing between the connecting element and the strong flexspline.
10. The double-flexspline harmonic reducer according to claim 6 , wherein the double-flexspline harmonic reducer further comprises a gear or worm, the gear or the worm and the gear processed on the deformation stopper form a gear transmission pair or a worm helical gear transmission pair, and the rotation axis of the gear/worm is relatively fixed to the strong flexspline.