Harmonic reducer and driver

Abstract

The invention provides a harmonic reducer. The harmonic reducer comprises a wave generator assembly, a fixed gear, a flexible gear and an output assembly, wherein the flexible gear is cylindrical andcan generate elastic deformation under the action of external force, the flexible gear comprises a friction ring part, the flexible gear is extruded by the wave generator assembly to be deformed intoan elliptical flexible gear, the elliptical flexible gear is not in contact with the fixed gear at two end points of a long shaft of the oval flexible gear, and the elliptical flexible gear is in contact with the fixed gear at two end points of a short shaft of the elliptical flexible gear. According to the harmonic reducer, toothless harmonic reduction is carried out through a friction driving principle, so that a very high reduction ratio can be realized, and the transmission efficiency of the harmonic reducer is greatly improved. The invention further provides a driver. The driver can be directly connected with the toothless harmonic reducer through various motors, and the driver is small in size, light in weight and more suitable for being applied to the field of service robots.

Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a harmonic reducer and a driver. Background technique

[0002] At present, the key joint parts of the robot are all using harmonic reducers. Compared with other reducers, under the same speed ratio and the same load, the harmonic reducer has stable transmission, the highest precision, small structure size, and light mechanism weight. Used in precision industries such as robots, CNC machine tools, and semiconductor equipment.

[0003] The harmonic reducer in the prior art generally includes components such as a rigid spline, a flexible spline, and a wave generator including a flexible bearing. The torque output is transmitted through the thin-wall deformable flexspline; the flexspline is usually cup-shaped or hat-shaped, and the flexspline is thin-walled and has a part at a right angle close to 90 degrees. The flexible spline of this structure has high requirements on the perform...

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