FLEXSPLINE, HARMONIC REDUCER AND ROBOT JOINT STRUCTURE

摘要

A flexspline comprises an outer layer (2), an accumulation layer, and an output shaft (3) that are sleeved together outside-in sequentially. The outer layer (1) has external teeth (4) disposed on an external surface thereof. The accumulation layer comprises at least two layers of layer structure that can be deformed in the radial direction, and the innermost layer of the accumulation layer is fixed on the output shaft (3). Connection between the outer layer (1) and the outermost layer of the accumulation layer and connection between every two layers of the accumulation layer are achieved through connection portions. The deformation of the outermost layer of the flexspline is provided by multi-layer deformation accumulation, and the deformation amount provided by each intermediate layer may be reduced, so that the length of the cylindrical body is reduced, that is, the axial dimension of the flexspline is reduced, and therefore, a harmonic reducer adopting the flexspline may be made more compact. At the same time, the output shaft (3) and the flexspline are integrated into one piece or secured rigidly, saving the tooth-engagement output of the circular flexspline, thereby facilitating reduction of the backlash of the reducer and increase of the transmission efficiency.