The invention discloses a strain wave gearing device and a robot. The strain wave gearing device includes a rigid internally toothed gear, a flexible gear, and a wave generator. The rigid internally toothed gear has a plurality of internal teeth on the inner peripheral surface, and expands in an annular shape about the central axis. The flexible gear extends in a bottomed cylindrical shape in a direction parallel to the central axis. The flexible gear has a tooth portion, a main body portion, and a bottom portion. The tooth portion extends in a cylindrical shape along the central axis and has a plurality of external teeth meshing with the plurality of internal tooth portions of the rigid internal tooth gear. The wave generator rotates around the central axis on the radial inner side of the tooth part of the flexible gear. The wave generator has a non-perfect circle cam and a flexible bearing. The non-perfect circle cam rotates around the central shaft and has an outer diameter which varies according to the position in the circumferential direction. An inner ring of the flexible bearing is fixed to the non-perfect circle cam, and an outer ring is fixed to the flexible gear. When the Vickers hardness of the tooth portion of the flexible gear is set to be Vfg and the Vickers hardness of the outer ring of the flexible bearing is set to be Vfb, 300 HV < = Vfgt; vfb is established.
本发明公开波动齿轮装置及机器人。该波动齿轮装置具有刚性内齿齿轮、挠性齿轮以及波动发生器。刚性内齿齿轮在内周面具有多个内齿,以中心轴为中心以圆环状扩展。挠性齿轮沿与中心轴平行的方向以有底筒状延伸。另外,挠性齿轮具有齿部、主体部以及底部。齿部沿中心轴以筒状延伸,具有相对于刚性内齿齿轮的多个内齿部分啮合的多个外齿。波动发生器在挠性齿轮的齿部的径向内侧绕中心轴旋转。波动发生器具有非正圆凸轮和挠性轴承。非正圆凸轮绕中心轴旋转,具有根据周向的位置不同而不同的外径。挠性轴承的内圈固定于非正圆凸轮且外圈固定于挠性齿轮。若将挠性齿轮的齿部的维氏硬度设为Vfg、将挠性轴承的外圈的维氏硬度设为Vfb,则300HV≤Vfg
Strain wave gear device and robot
波动齿轮装置及机器人
2024-04-30
Patent
Electronic Resource
Chinese
IPC: | F16H Getriebe , GEARING / B21D WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL , Bearbeiten oder Verarbeiten von Blechen, Metallrohren, -stangen oder -profilen ohne wesentliches Abtragen des Werkstoffs / B25J Manipulatoren , MANIPULATORS / B62M RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES , Antrieb von Radfahrzeugen oder Schlitten durch den Fahrer / C21D Veränderung der physikalischen Struktur von Eisenmetallen , MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS / C22C Legierungen , ALLOYS |
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