Wave generator components, harmonic reducers and robots

Abstract

This invention provides a wave generator assembly, a harmonic reducer, and a robot. The wave generator assembly includes: a rotating shaft, including a shoulder and two first shaft segments located on opposite sides of the shoulder; two eccentric disk assemblies, respectively sleeved on the two first shaft segments; each eccentric disk assembly includes at least one eccentric disk, and each eccentric disk is fitted with a first bearing; the center lines of the outer peripheral surfaces of each eccentric disk are parallel to the rotation axis of the rotating shaft and lie on the same predetermined plane as the rotation axis, and the center lines of the outer peripheral surfaces of some eccentric disks are symmetrically arranged about the rotation axis with respect to the center lines of the outer peripheral surfaces of other eccentric disks; wherein, the major axis of the wave generator assembly is perpendicular to the rotation axis and lies on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the rotation axis and perpendicular to the predetermined plane, thereby solving the problem of poor transmission performance of harmonic reducers in the prior art.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and more specifically, to a wave generator assembly, a harmonic speed reducer, and a robot. Background Technology

[0002] Harmonic reducers are developed based on the principle of wave deformation and belong to precision transmission devices. They are widely used in the joint modules of industrial robots.

[0003] Harmonic reducers typically consist of three main components: a flexible wheel, a rigid wheel, and a wave generator. The flexible wheel is an elastic component that is fitted onto the wave generator to generate periodic elastic deformation under the action of the wave generator. This deformation causes the teeth of the flexible wheel and the teeth of the rigid wheel to mesh with each other, thereby realizing the transmission of motion and torque.

[0004] In existing technologies, wave generators consist of a cam and a flexible bearing. Damage to the flexible bearing is the most common failure mode of harmonic reducers. This is because the flexible bearing bears both radial load and alternating stress during transmission. Under the action of the wave generator, the generatrix of cup-shaped, top-hat-shaped, and pancake-shaped flexures will all undergo axial tapering deformation. Before deformation, the generatrix and the axis are parallel. After deformation, a certain angle is formed between the generatrix and the axis, i.e., a tapering is formed. This causes the front and rear sections of the flexure teeth to not simultaneously meet the meshing position designed in the tooth design, resulting in a shorter meshing line of the flexure along the tooth width direction, increasing tooth wear, and thus affecting the transmission performance of the harmonic reducer. Summary of the Invention

[0005] The main objective of this invention is to provide a wave generator assembly, a harmonic reducer, and a robot to solve the problem of poor transmission performance of harmonic reducers in the prior art.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a wave generator assembly is provided, comprising: a rotating shaft including a shoulder and two first shaft segments located on opposite sides of the shoulder, the outer diameter of each first shaft segment being smaller than the outer diameter of the shoulder; two eccentric disk assemblies respectively sleeved on the two first shaft segments; each eccentric disk assembly including at least one eccentric disk, the number of eccentric disks in the two eccentric disk assemblies being equal, each eccentric disk being sleeved with a first bearing for connection to a flexure assembly; the center lines of the outer peripheral surfaces of each eccentric disk being parallel to the rotation axis of the rotating shaft and located on the same predetermined plane as the rotation axis, the center lines of the outer peripheral surfaces of a portion of the eccentric disks being symmetrically arranged with respect to the rotation axis with respect to the center lines of the outer peripheral surfaces of another portion of the eccentric disks; wherein, the major axis of the wave generator assembly is perpendicular to the axis of rotation of the rotating shaft and located on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the axis of rotation of the rotating shaft and perpendicular to the predetermined plane.

[0007] Furthermore, each eccentric disk assembly includes one eccentric disk, and the two eccentric disk assemblies are respectively a first eccentric disk assembly and a second eccentric disk assembly. The center line of the outer peripheral surface of the eccentric disk in the first eccentric disk assembly and the center line of the outer peripheral surface of the eccentric disk in the second eccentric disk assembly are symmetrically arranged about the rotation axis; or each eccentric disk assembly includes multiple eccentric disks, and the center lines of the outer peripheral surfaces of any two adjacent eccentric disks in each eccentric disk assembly are symmetrically arranged about the rotation axis.

[0008] Furthermore, each eccentric disk assembly contains two eccentric disks, namely a first eccentric disk and a second eccentric disk located on the side of the first eccentric disk away from the shoulder. The center lines of the outer peripheral surfaces of the first eccentric disk and the second eccentric disk in each eccentric disk assembly are located on opposite sides of the rotation axis.

[0009] Furthermore, the eccentric disk includes an annular body and an annular protrusion disposed on the outer circumferential surface of the annular body. The annular body is used to be fitted onto the rotating shaft. The center line of the inner circumferential surface of the annular body is parallel to and spaced apart from the center line of the outer circumferential surface of the annular body. The annular protrusion is located at the end of the annular body away from the shaft shoulder. A stop ring is installed on the outer circumferential surface of the annular body near the shaft shoulder. The annular body, the annular protrusion, and the stop ring together form a first mounting space for installing a corresponding first bearing. Alternatively, the annular protrusion is located at the end of the annular body near the shaft shoulder. The eccentric disk also includes a first annular groove disposed on the outer circumferential surface of the annular body and located at the end of the annular body away from the shaft shoulder, for installing a first retaining ring. The annular body, the annular protrusion, and the first retaining ring together form a second mounting space for installing a corresponding first bearing.

[0010] Furthermore, each of the first shaft segments is provided with a second annular groove, and each second annular groove is located at the end of the corresponding first shaft segment away from the shaft shoulder, for installing a second retaining ring; wherein, each second retaining ring and the corresponding first shaft segment together with the shaft shoulder form a third mounting space for installing the corresponding eccentric disc assembly.

[0011] Furthermore, the rotating shaft also includes two second shaft segments, which are arranged one-to-one with the two first shaft segments. The outer diameter of each second shaft segment is smaller than the outer diameter of the corresponding first shaft segment. Each second shaft segment is located on the side of the corresponding first shaft segment away from the shoulder. The wave generator assembly also includes two rigid bearings, which are arranged one-to-one with the two second shaft segments. Each rigid bearing is sleeved on the corresponding second shaft segment for connection with the rigid wheel assembly; and / or the rotating shaft is a hollow shaft or a solid shaft.

[0012] According to a second aspect of the present invention, a harmonic reducer is provided, comprising: a wave generator assembly, wherein the wave generator assembly is the wave generator assembly described above; a flexible wheel assembly, which is sleeved outside the wave generator assembly and rotatably disposed relative to the wave generator assembly; and a rigid wheel assembly, which is sleeved outside the flexible wheel assembly and rotatably connected to the wave generator assembly so as to mesh with the flexible wheel assembly.

[0013] Furthermore, the flexible wheel assembly includes a hollow flexible wheel and a flexible sleeve. The flexible sleeve is fitted over the first bearing of the wave generator assembly, and the hollow flexible wheel is fitted over the flexible sleeve to be connected to the first bearing through the flexible sleeve. The outer circumferential surface of the hollow flexible wheel is provided with outer gear teeth.

[0014] Furthermore, the rigid wheel assembly includes an end cap rigid wheel, a bearing rigid wheel, and an end cap arranged sequentially and connected to each other along the rotation axis. The outer gear teeth of the flexible wheel assembly mesh with the inner gear teeth of the end cap rigid wheel and the bearing rigid wheel. The end of the end cap rigid wheel away from the bearing rigid wheel is sleeved on the rigid bearing at one end of the wave generator assembly, and the end of the end cap away from the bearing rigid wheel is sleeved on the rigid bearing at the other end of the wave generator assembly.

[0015] Furthermore, the number of inner gear teeth on one of the end cap rigid wheel and the bearing rigid wheel is the same as the number of outer gear teeth on the flexible wheel assembly, and the number of inner gear teeth on the other of the end cap rigid wheel and the bearing rigid wheel is greater than the number of outer gear teeth on the flexible wheel assembly; wherein, the bearing rigid wheel includes a bearing outer ring and a bearing inner ring that are rotatably connected, the inner gear teeth of the bearing rigid wheel are located on the bearing inner ring, the bearing outer ring is fixedly connected to the end cap rigid wheel, and the bearing inner ring is fixedly connected to the end cap.

[0016] According to a third aspect of the present invention, a robot is provided, comprising the aforementioned harmonic reducer.

[0017] According to the technical solution of this invention, the wave generator assembly of this invention includes: a rotating shaft, including a shoulder and two first shaft segments located on opposite sides of the shoulder, the outer diameter of each first shaft segment being smaller than the outer diameter of the shoulder; two eccentric disk assemblies, respectively sleeved on the two first shaft segments; each eccentric disk assembly includes at least one eccentric disk, the number of eccentric disks in the two eccentric disk assemblies is equal, and each eccentric disk is sleeved with a first bearing for connection to a flexible wheel assembly; the center lines of the outer peripheral surfaces of each eccentric disk are parallel to the rotation axis of the rotating shaft and lie on the same predetermined plane as the rotation axis, and the center lines of the outer peripheral surfaces of a portion of the eccentric disks are symmetrically arranged about the rotation axis with respect to the center lines of the outer peripheral surfaces of another portion of the eccentric disks; wherein, the major axis of the wave generator assembly is perpendicular to the rotation axis and lies on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the rotation axis and perpendicular to the predetermined plane. Thus, the wave generator assembly of the present invention, consisting of a rotating shaft, various eccentric disks, and first bearings fitted on each eccentric disk, possesses the wave generator function of a harmonic reducer in the prior art. Furthermore, the first bearings are ordinary bearings rather than flexible bearings. By fitting a flexible wheel assembly around and contacting each of the multiple first bearings, the flexible wheel assembly can generate wave deformation under the action of the wave generator assembly (even if its cross-section changes from circular to non-circular). Moreover, it can ensure that each cross-section of the flexible wheel along the axial direction has the same deformation in the same polar angle direction, achieving full tooth width parametric deformation. Compared with the wave generator in existing harmonic reducers, this design avoids the problem of bearing damage caused by the fluctuation deformation of flexible bearings, improves the service life of harmonic reducers, reduces the possibility of tapered deformation of the flexible gear assembly, increases the length of the axial meshing line between the teeth of the flexible gear assembly and the rigid gear assembly, and reduces the pressure on the teeth caused by meshing force under the same torque transmission conditions, thereby reducing tooth wear during transmission, extending the transmission accuracy retention time, and solving the problem of poor transmission performance of existing harmonic reducers. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A schematic diagram of an embodiment of a wave generator assembly according to the present invention is shown;

[0020] Figure 2 It shows Figure 1 Front view of the rotating shaft of the wave generator assembly shown;

[0021] Figure 3 It shows Figure 1A schematic diagram of the structure of the first eccentric disk assembly of the wave generator assembly shown;

[0022] Figure 4 It shows Figure 1 A schematic diagram of the structure of the second eccentric disk assembly of the wave generator assembly shown;

[0023] Figure 5 It shows having Figure 1 A cross-sectional view of the harmonic reducer of the wave generator assembly shown;

[0024] Figure 6 It shows Figure 5 The diagram shows the assembly of the wave generator assembly and the flex wheel assembly of the harmonic reducer.

[0025] Figure 7 It shows having Figure 1 An exploded view of the harmonic reducer of the wave generator assembly shown.

[0026] Figure 8 It shows Figure 7 A schematic diagram of the flex wheel assembly of the harmonic reducer shown;

[0027] Figure 9 It shows Figure 7 The diagram shows the structural schematic of the rigid wheel assembly of the harmonic reducer.

[0028] The above figures include the following reference numerals:

[0029] 100. Wave generator assembly; 101. Rotating shaft; 1010. Rotation axis; 1011. Shoulder; 1012. First shaft segment; 10121. Second annular groove; 10122. First keyway; 10123. Second retaining ring; 1013. Second shaft segment; 10131. Third annular groove; 10132. Third retaining ring; 1014. Third shaft segment; 102. Eccentric disk assembly; 1020. Eccentric disk; 10201. First eccentric disk; 10202. Second eccentric disk; 1021. First eccentric disk assembly; 1022. Second eccentric disk assembly; 1023. Annular body; 1024. Annular protrusion; 1025. First annular groove; 1026. First retaining ring; 1027. Stop ring; 103. First bearing; 104. Rigid bearing; 105. Flat key;

[0030] 200. Flexible wheel assembly; 201. Hollow flexible wheel; 202. Flexible sleeve;

[0031] 300, Rigid wheel assembly; 301, End cap rigid wheel; 3011, Fourth annular groove; 3012, Fourth retaining ring; 302, Bearing rigid wheel; 3021, Bearing outer ring; 3022, Bearing inner ring; 303, End cap; 304, First fastener; 305, Second fastener; 306, First sealing ring; 307, Second sealing ring;

[0032] 400. Skeleton oil seal. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] like Figures 1 to 9 As shown, the present invention provides a wave generator assembly, comprising: a rotating shaft 101, including a shoulder 1011 and two first shaft segments 1012 located on opposite sides of the shoulder 1011, wherein the outer diameter of each first shaft segment 1012 is smaller than the outer diameter of the shoulder 1011; two eccentric disk assemblies 102, respectively sleeved on the two first shaft segments 1012; each eccentric disk assembly 102 includes at least one eccentric disk 1020, the number of eccentric disks 1020 in the two eccentric disk assemblies 102 is equal, and each eccentric disk 1020 is sleeved with a first bearing 103 for connection with a flexspline assembly. The components 200 are connected; the center lines of the outer peripheral surfaces of each eccentric disk 1020 are parallel to the rotation axis 1010 of the rotating shaft 101 and are located on the same predetermined plane as the rotation axis 1010. The center lines of the outer peripheral surfaces of a portion of the eccentric disks 1020 and the center lines of the outer peripheral surfaces of another portion of the eccentric disks 1020 are symmetrically arranged about the rotation axis 1010 (specifically, axially symmetrical, with the rotation axis 1010 being the axis of symmetry); wherein, the major axis of the wave generator assembly is perpendicular to the rotation axis 1010 and located on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the rotation axis 1010 and perpendicular to the predetermined plane.

[0035] The wave generator assembly of the present invention, consisting of a rotating shaft 101, various eccentric disks 1020, and first bearings 103 sleeved on each eccentric disk 1020, possesses the wave generator function of a harmonic reducer in the prior art. Furthermore, the first bearings 103 are ordinary bearings rather than flexible bearings. By having a flexible wheel assembly 200 sleeved around and in contact with each of the multiple first bearings 103, the flexible wheel assembly 200 can generate wave deformation under the action of the wave generator assembly (even if its cross-section changes from circular to non-circular). Moreover, it can ensure that each cross-section of the flexible wheel along the axial direction has the same deformation in the same polar angle direction. It can achieve full tooth width participation in meshing. Compared with the wave generator of the harmonic reducer in the prior art, it avoids the problem of bearing damage caused by the fluctuation deformation of the flexible bearing, improves the service life of the harmonic reducer, reduces the possibility of tapered deformation of the flexible gear assembly 200, increases the length of the axial meshing line between the teeth of the flexible gear assembly 200 and the rigid gear assembly 300, and reduces the pressure on the teeth caused by the meshing force under the same torque transmission conditions, thereby reducing the wear of the teeth during the transmission process, extending the maintenance time of transmission accuracy, and solving the problem of poor transmission performance of the harmonic reducer in the prior art.

[0036] Specifically, the number of eccentric disks 1020 in the eccentric disk assembly 102 can be one or more, as long as the number of eccentric disks 1020 in the two eccentric disk assemblies 102 is equal, so as to meet the radial support stiffness requirements of the flexural assembly 200.

[0037] In an embodiment of the present invention (not shown), each eccentric disk assembly 102 includes an eccentric disk 1020, and the two eccentric disk assemblies 102 are respectively a first eccentric disk assembly 1021 and a second eccentric disk assembly 1022. The center lines of the outer peripheral surfaces of the eccentric disk 1020 in the first eccentric disk assembly 1021 and the center lines of the outer peripheral surfaces of the eccentric disk 1020 in the second eccentric disk assembly 1022 are symmetrically arranged about the rotation axis 1010 (specifically, axially symmetrical, meaning the rotation axis 1010 is symmetrical). The center lines of the outer peripheral surfaces of the eccentric disk 1020 in the first eccentric disk assembly 1021 and the eccentric disk 1020 in the second eccentric disk assembly 1022 are located on opposite sides of the rotation axis 1010, and the distance between the center line of the outer peripheral surface of the eccentric disk 1020 in the first eccentric disk assembly 1021 and the rotation axis 1010 is equal to the distance between the center line of the outer peripheral surface of the eccentric disk 1020 in the second eccentric disk assembly 1022 and the rotation axis 1010.

[0038] In another embodiment of the present invention, each eccentric disk assembly 102 includes a plurality of eccentric disks 1020. The center lines of the outer peripheral surfaces of any two adjacent eccentric disks 1020 in each eccentric disk assembly 102 are symmetrically arranged about the rotation axis 1010 (specifically, axially symmetrical, the rotation axis 1010 is the axis of symmetry). That is, the center lines of the outer peripheral surfaces of any two adjacent eccentric disks 1020 in each eccentric disk assembly 102 are located on opposite sides of the rotation axis 1010, and the distance between the center lines of the outer peripheral surfaces of any two adjacent eccentric disks 1020 in each eccentric disk assembly 102 and the rotation axis 1010 is equal.

[0039] In the present invention Figure 1 , Figure 3 and Figure 4 In the illustrated embodiment, each eccentric disk assembly 102 contains two eccentric disks 1020. The two eccentric disks 1020 are a first eccentric disk 10201 and a second eccentric disk 10202 located on the side of the first eccentric disk 10201 away from the shoulder 1011. The center lines of the outer peripheral surfaces of the first eccentric disk 10201 and the second eccentric disk 10202 in each eccentric disk assembly 102 are located on opposite sides of the rotation axis 1010.

[0040] The eccentric disk 1020 of the present invention includes an annular body 1023 and an annular protrusion 1024 disposed on the outer peripheral surface of the annular body 1023. The annular body 1023 is used to be sleeved on the rotating shaft 101. The center line of the inner peripheral surface of the annular body 1023 is parallel to and spaced apart from the center line of the outer peripheral surface of the annular body 1023. The annular protrusion 1024 is located at the end of the annular body 1023 away from the shoulder 1011. A stop ring 1027 is installed on the outer peripheral surface of the end of the annular body 1023 near the shoulder 1011. The annular body 1023, the annular protrusion 1024 and the stop ring 1024 are all present. The retaining ring 1027 together form a first mounting space for installing the corresponding first bearing 103; or the annular protrusion 1024 is located at one end of the annular body 1023 near the shoulder 1011; the eccentric disk 1020 also includes a first annular groove 1025, which is disposed on the outer circumferential surface of the annular body 1023 and located at one end of the annular body 1023 away from the shoulder 1011, for installing the first retaining ring 1026; the annular body 1023, the annular protrusion 1024 and the first retaining ring 1026 together form a second mounting space for installing the corresponding first bearing 103.

[0041] In the present invention Figure 1 , Figure 3 and Figure 4In the illustrated embodiment, the first eccentric disk 10201 includes an annular body 1023 and an annular protrusion 1024 disposed on the outer peripheral surface of the annular body 1023. The annular body 1023 is used to be sleeved on the rotating shaft 101. The center line of the inner peripheral surface of the annular body 1023 is parallel to and spaced apart from the center line of the outer peripheral surface of the annular body 1023. The annular protrusion 1024 is located at the end of the annular body 1023 away from the shoulder 1011. A stop ring 1027 is installed on the outer peripheral surface of the end of the annular body 1023 near the shoulder 1011. The annular body 1023, the annular protrusion 1024 and the stop ring 1027 together form a first mounting space for mounting the corresponding first bearing 103.

[0042] In the present invention Figure 1 , Figure 3 and Figure 4 In the illustrated embodiment, the second eccentric disk 10202 includes an annular body 1023 and an annular protrusion 1024 disposed on the outer peripheral surface of the annular body 1023. The annular body 1023 is used to be sleeved on the rotating shaft 101. The center line of the inner peripheral surface of the annular body 1023 is parallel to and spaced apart from the center line of the outer peripheral surface of the annular body 1023. The annular protrusion 1024 is located at the end of the annular body 1023 near the shoulder 1011. The eccentric disk 1020 also includes a first annular groove 1025, which is disposed on the outer peripheral surface of the annular body 1023 and located at the end of the annular body 1023 away from the shoulder 1011, for mounting the first retaining ring 1026. The annular body 1023, the annular protrusion 1024, and the first retaining ring 1026 together form a second mounting space for mounting the corresponding first bearing 103.

[0043] like Figure 1 and Figure 2 As shown, each of the first shaft segments 1012 is provided with a second annular groove 10121, and each second annular groove 10121 is located at the end of the corresponding first shaft segment 1012 away from the shoulder 1011, for mounting a second retaining ring 10123; wherein, each second retaining ring 10123 and the corresponding first shaft segment 1012 together with the shoulder 1011 form a third mounting space for mounting the corresponding eccentric disc assembly 102.

[0044] like Figure 1 and Figure 2As shown, the rotating shaft 101 also includes two second shaft segments 1013, which are arranged one-to-one with the two first shaft segments 1012. The outer diameter of each second shaft segment 1013 is smaller than the outer diameter of the corresponding first shaft segment 1012. Each second shaft segment 1013 is located on the side of the corresponding first shaft segment 1012 away from the shoulder 1011. The wave generator assembly also includes two rigid bearings 104, which are arranged one-to-one with the two second shaft segments 1013. Each rigid bearing 104 is sleeved on the corresponding second shaft segment 1013 for connection with the rigid wheel assembly 300.

[0045] Specifically, at least one second shaft segment 1013 is provided with a third annular groove 10131, which is located on the side of the corresponding rigid bearing 104 away from the shoulder 1011, for mounting a third retaining ring 10132. One side of the inner ring of the rigid bearing 104 mounted on the second shaft segment 1013 contacts the end face of the corresponding first shaft segment 1012, and the other side of the inner ring of the rigid bearing 104 mounted on the second shaft segment 1013 contacts the end face of the corresponding third retaining ring 10132, so as to axially limit the inner ring of the corresponding rigid bearing 104 by the corresponding first shaft segment 1012 and the third retaining ring 10132.

[0046] Optionally, the rotating shaft 101 of the present invention is a hollow shaft or a solid shaft.

[0047] The rotating shaft 101 of the present invention is circumferentially positioned with respect to each eccentric disk 1020 by a flat key 105. Each first shaft segment 1012 is provided with a first keyway 10122 on its outer circumferential surface, and each eccentric disk 1020 is also provided with a second keyway on its inner circumferential surface for corresponding to the first keyway 10122 on the corresponding first shaft segment 1012. A portion of each flat key 105 is inserted into the corresponding first keyway 10122, and another portion is inserted into the corresponding second keyway.

[0048] like Figures 1 to 9 As shown, the present invention provides a harmonic reducer, comprising: a wave generator assembly 100, wherein the wave generator assembly is the wave generator assembly described above; a flexible gear assembly 200, which is sleeved on the wave generator assembly 100 and rotatably disposed relative to the wave generator assembly 100; and a rigid gear assembly 300, which is sleeved on the flexible gear assembly 200 and rotatably connected to the wave generator assembly 100 so as to mesh with the flexible gear assembly 200.

[0049] like Figures 5 to 8As shown, the flexible wheel assembly 200 includes a hollow flexible wheel 201 and a flexible sleeve 202. The flexible sleeve 202 is sleeved on the outside of the first bearing 103 of the wave generator assembly 100, and the hollow flexible wheel 201 is sleeved on the outside of the flexible sleeve 202 so as to be connected to the first bearing 103 through the flexible sleeve 202. The outer peripheral surface of the hollow flexible wheel 201 is provided with outer gear teeth.

[0050] Both the hollow flexible wheel 201 and the flexible sleeve 202 are elastic thin-walled components. If the hollow flexible wheel 201 and the flexible sleeve 202 are an integral structure, the tooth ring wall thickness of the flexible wheel will be increased. This is not conducive to the wave deformation of the flexible wheel and will reduce the service life of the flexible wheel when resisting fatigue failure. Therefore, the flexible wheel assembly 200 is set as a split structure including the hollow flexible wheel 201 and the flexible sleeve 202 to reduce the tooth ring wall thickness of the flexible wheel. The flexible sleeve 202 is located between the outer peripheral surface of the wave generator assembly 100 and the inner peripheral surface of the hollow flexible wheel 201, which can increase the radial support area of ​​the inner peripheral surface of the hollow flexible wheel 201, improve the radial support stiffness of the wave generator assembly 100 on the hollow flexible wheel 201, and further reduce the wear on the inner peripheral surface of the hollow flexible wheel 201, so as to facilitate the wave deformation of the flexible wheel and make all parts of the flexible wheel reach the designed meshing position in the tooth width direction, ultimately improving the transmission accuracy and service life of the harmonic reducer.

[0051] like Figure 5 , Figure 7 as well as Figure 9 As shown, the rigid wheel assembly 300 includes an end cap rigid wheel 301, a bearing rigid wheel 302, and an end cap 303, which are sequentially arranged and connected to each other along the rotation axis 1010. The outer gear teeth of the flexible wheel assembly 200 mesh with the inner gear teeth of the end cap rigid wheel 301 and the bearing rigid wheel 302. The end of the end cap rigid wheel 301 away from the bearing rigid wheel 302 is sleeved on the rigid bearing 104 at one end of the wave generator assembly 100, and the end of the end cap 303 away from the bearing rigid wheel 302 is sleeved on the rigid bearing 104 at the other end of the wave generator assembly 100 to ensure the assembly accuracy of the rigid wheel assembly 300.

[0052] Specifically, the end cap rigid wheel 301 of the present invention is an end cap integrated rigid wheel, that is, the end cap rigid wheel 301 has both the function of an end cap and the function of a rigid wheel; the bearing rigid wheel 302 of the present invention is a cross roller bearing integrated rigid wheel, that is, the bearing rigid wheel 302 has both the function of a bearing and the function of a rigid wheel.

[0053] like Figure 9As shown, a fourth annular groove 3011 is provided on the inner circumferential surface of the end cover rigid wheel 301 for mounting the rigid bearing 104, for mounting the fourth retaining ring 3012. The fourth retaining ring 3012 is located on the side of the corresponding rigid bearing 104 near the shoulder 1011, so as to axially limit one side of the outer ring of the corresponding rigid bearing 104. The other side of the outer ring of the rigid bearing 104 is axially limited by the bottom surface of the rigid bearing mounting groove on the end cover rigid wheel 301.

[0054] Preferably, the number of inner gear teeth on one of the end cap rigid wheel 301 and the bearing rigid wheel 302 is the same as the number of outer gear teeth on the flexible wheel assembly 200, and the number of inner gear teeth on the other of the end cap rigid wheel 301 and the bearing rigid wheel 302 is greater than the number of outer gear teeth on the flexible wheel assembly 200; wherein, the bearing rigid wheel 302 includes a bearing outer ring 3021 and a bearing inner ring 3022 that are rotatably connected to each other, the inner gear teeth of the bearing rigid wheel 302 are located on the bearing inner ring 3022, the bearing outer ring 3021 is fixedly connected to the end cap rigid wheel 301, and the bearing inner ring 3022 is fixedly connected to the end cap 303.

[0055] In one embodiment of the present invention, the number of inner gear teeth on the bearing wheel 302 is two more than the number of outer gear teeth on the flexible wheel assembly 200.

[0056] Specifically, the outer ring 3021 of the bearing is detachably connected to the end cover wheel 301 by a plurality of first fasteners 304, and a first sealing ring 306 is sandwiched between the outer ring 3021 of the bearing and the end cover wheel 301; the inner ring 3022 of the bearing is detachably connected to the end cover 303 by a plurality of second fasteners 305, and a second sealing ring 307 is sandwiched between the inner ring 3022 of the bearing and the end cover 303; wherein, the first fasteners 304 and the second fasteners 305 are both screws, and the first sealing rings 306 and the second sealing rings 307 are both O-rings.

[0057] like Figure 5 As shown, a skeleton oil seal 400 is also sandwiched between the end cover rigid wheel 301 and the rotating shaft 101. The skeleton oil seal 400 is disposed on the second shaft section 1013 for mounting the corresponding rigid bearing 104 and is located on the side of the corresponding rigid bearing 104 away from the shoulder 1011. A skeleton oil seal 400 is also sandwiched between the end cover 303 and the rotating shaft 101. The skeleton oil seal 400 is disposed on the third shaft section 1014 for mounting on the side of the second shaft section 1013 of the corresponding rigid bearing 104 away from the shoulder 1011, and the skeleton oil seal 400 is located on the side of the corresponding rigid bearing 104 away from the shoulder 1011.

[0058] The harmonic reducer of the present invention has both the function of a conventional harmonic reducer and the function of differential transmission. When one of the end cover rigid wheel 301, bearing rigid wheel 302 and rotating shaft 101 is used as the input end, the transmission function of a conventional harmonic reducer can be realized, that is, one fixed end, one input end and one output end. When one of the end cover rigid wheel 301, bearing rigid wheel 302 and rotating shaft 101 are all used as input ends, the differential transmission function can be realized, that is, one input end, one output end and one adjustment input end (when the input speed of the adjustment input end is zero, the differential transmission will become the transmission of a conventional harmonic reducer).

[0059] In the harmonic reducer of the present invention, the outer ring 3021 of the bearing and the end cover rigid wheel 301 are detachably connected by a plurality of first fasteners 304, and the inner ring 3022 of the bearing and the end cover 303 are detachably connected by a plurality of second fasteners 305; wherein, the first fasteners 304 and the second fasteners 305 are both screws, the nut end of the first fastener 304 is located on the side of the end cover rigid wheel 301 away from the bearing rigid wheel 302 and is located inside the end cover rigid wheel 301, and the nut end of the second fastener 305 is located on the side of the end cover 303 away from the bearing rigid wheel 302 and is located inside the end cover 303.

[0060] When the harmonic reducer of the present invention is a harmonic reducer with differential transmission function, multiple countersunk through holes are provided on the side of the bearing outer ring 3021 away from the end cover rigid wheel 301, and the multiple countersunk through holes are arranged one-to-one with the multiple first through holes on the end cover rigid wheel 301. The threaded ends of multiple third fasteners pass through the multiple countersunk through holes on the bearing outer ring 3021 and the multiple first through holes on the end cover rigid wheel 301 and are connected to external components (such as gears). The nut ends of each third fastener are connected to the external components (such as gears). All are located on the side of the bearing outer ring 3021 away from the end cover wheel 301 and in the corresponding countersunk through holes; the end cover 303 is provided with multiple second through holes, and the bearing inner ring 3022 is provided with multiple threaded holes. The threaded ends of multiple fourth fasteners pass through the multiple second through holes one by one and are tightened in the multiple threaded holes. The nut ends of each fourth fastener are located on the side of the end cover 303 away from the bearing wheel 302 and on the outside of the end cover 303; among them, the third fastener and the fourth fastener are both screws.

[0061] The present invention also provides a robot including the aforementioned harmonic reducer.

[0062] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0063] The wave generator assembly of the present invention includes: a rotating shaft 101, including a shoulder 1011 and two first shaft segments 1012 located on opposite sides of the shoulder 1011, wherein the outer diameter of each first shaft segment 1012 is smaller than the outer diameter of the shoulder 1011; two eccentric disk assemblies 102, respectively sleeved on the two first shaft segments 1012; each eccentric disk assembly 102 includes at least one eccentric disk 1020, the number of eccentric disks 1020 in the two eccentric disk assemblies 102 is equal, and each eccentric disk 1020 is sleeved with a first bearing 10. 3. Connected to the flexible wheel assembly 200; the center lines of the outer peripheral surfaces of each eccentric disk 1020 are parallel to the rotation axis 1010 of the rotating shaft 101 and are located on the same predetermined plane as the rotation axis 1010. The center lines of the outer peripheral surfaces of a portion of the eccentric disks 1020 and the center lines of the outer peripheral surfaces of another portion of the eccentric disks 1020 are symmetrically arranged about the rotation axis 1010; wherein, the major axis of the wave generator assembly is perpendicular to the rotation axis 1010 and is located on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the rotation axis 1010 and is perpendicular to the predetermined plane. Thus, the wave generator assembly of the present invention, consisting of a rotating shaft 101, various eccentric disks 1020, and first bearings 103 sleeved on each eccentric disk 1020, possesses the wave generator function of a harmonic reducer in the prior art. Furthermore, the first bearings 103 are ordinary bearings rather than flexible bearings. By having the flexible wheel assembly 200 sleeved around and in contact with each of the multiple first bearings 103, the flexible wheel assembly 200 can generate wave deformation under the action of the wave generator assembly (even if its cross-section changes from circular to non-circular). Moreover, it can ensure that each cross-section of the flexible wheel along the axial direction has the same deformation in the same polar angle direction. The new design allows for full-width meshing, avoiding the problem of bearing damage caused by the wave deformation of flexible bearings compared to existing harmonic reducers. This improves the service life of the harmonic reducer, reduces the possibility of tapered deformation in the flexible gear assembly 200, and increases the length of the axial meshing line between the teeth of the flexible gear assembly 200 and the rigid gear assembly 300. Under the same torque transmission conditions, this reduces the pressure on the teeth caused by meshing force, thereby reducing tooth wear during transmission, extending the transmission accuracy retention time, and solving the problem of poor transmission performance in existing harmonic reducers.

[0064] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0065] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0066] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0067] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0068] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wave generator assembly, characterized in that, include: The rotating shaft (101) includes a shoulder (1011) and two first shaft segments (1012) located on opposite sides of the shoulder (1011), wherein the outer diameter of each first shaft segment (1012) is smaller than the outer diameter of the shoulder (1011); Two eccentric disk assemblies (102) are respectively sleeved on the two first shaft segments (1012); each eccentric disk assembly (102) includes at least one eccentric disk (1020), the number of eccentric disks (1020) in the two eccentric disk assemblies (102) is equal, and each eccentric disk (1020) is sleeved with a first bearing (103), the first bearing (103) is a non-flexible bearing, so as to connect with the flexible wheel assembly (200); The center lines of the outer peripheral surfaces of each of the eccentric disks (1020) are parallel to the rotation axis (1010) of the rotating shaft (101) and are located on the same predetermined plane as the rotation axis (1010). The center lines of the outer peripheral surfaces of a portion of the eccentric disks (1020) and the center lines of the outer peripheral surfaces of another portion of the eccentric disks (1020) are symmetrically arranged about the rotation axis (1010). The major axis of the wave generator assembly is perpendicular to the rotation axis (1010) and located on the predetermined plane, and the minor axis of the wave generator assembly is perpendicular to the rotation axis (1010) and perpendicular to the predetermined plane. Each of the first shaft segments (1012) is provided with a second annular groove (10121), and each of the second annular grooves (10121) is located at the end of the corresponding first shaft segment (1012) away from the shoulder (1011) for mounting a second retaining ring (10123); wherein each of the second retaining rings (10123) and the corresponding first shaft segment (1012) together with the shoulder (1011) form a third mounting space for mounting the corresponding eccentric disk assembly (102).

2. The wave generator assembly according to claim 1, characterized in that, Each of the eccentric disk assemblies (102) includes one eccentric disk (1020), and the two eccentric disk assemblies (102) are respectively a first eccentric disk assembly (1021) and a second eccentric disk assembly (1022). The center lines of the outer peripheral surfaces of the eccentric disk (1020) in the first eccentric disk assembly (1021) and the center lines of the outer peripheral surfaces of the eccentric disk (1020) in the second eccentric disk assembly (1022) are symmetrically arranged about the rotation axis (1010); or Each of the eccentric disk assemblies (102) includes a plurality of eccentric disks (1020), and the center lines of the outer peripheral surfaces of any two adjacent eccentric disks (1020) in each of the eccentric disk assemblies (102) are symmetrically arranged about the rotation axis (1010).

3. The wave generator assembly according to claim 1, characterized in that, Each of the eccentric disk assemblies (102) contains two eccentric disks (1020), namely a first eccentric disk (10201) and a second eccentric disk (10202) located on the side of the first eccentric disk (10201) away from the shoulder (1011). The center line of the outer peripheral surface of the first eccentric disk (10201) and the center line of the outer peripheral surface of the second eccentric disk (10202) in each of the eccentric disk assemblies (102) are located on opposite sides of the rotation axis (1010).

4. The wave generator assembly according to any one of claims 1 to 3, characterized in that, The eccentric disk (1020) includes an annular body (1023) and an annular protrusion (1024) disposed on the outer circumferential surface of the annular body (1023). The annular body (1023) is used to be sleeved on the rotating shaft (101). The center line of the inner circumferential surface of the annular body (1023) is parallel to and spaced apart from the center line of the outer circumferential surface of the annular body (1023). The annular protrusion (1024) is located at the end of the annular body (1023) away from the shoulder (1011); a stop ring (1027) is installed on the outer circumferential surface of the annular body (1023) near the shoulder (1011); the annular body (1023), the annular protrusion (1024), and the stop ring (1027) together form a first mounting space for installing the corresponding first bearing (103); or The annular protrusion (1024) is located at one end of the annular body (1023) near the shoulder (1011); the eccentric disk (1020) also includes a first annular groove (1025), which is disposed on the outer circumferential surface of the annular body (1023) and located at one end of the annular body (1023) away from the shoulder (1011) for mounting a first retaining ring (1026); the annular body (1023), the annular protrusion (1024) and the first retaining ring (1026) together form a second mounting space for mounting the corresponding first bearing (103).

5. The wave generator assembly according to any one of claims 1 to 3, characterized in that, The rotating shaft (101) further includes two second shaft segments (1013), which are arranged in a one-to-one correspondence with the two first shaft segments (1012). The outer diameter of each second shaft segment (1013) is smaller than the outer diameter of the corresponding first shaft segment (1012), and each second shaft segment (1013) is located on the side of the corresponding first shaft segment (1012) away from the shoulder (1011). The wave generator assembly further includes two rigid bearings (104), which are arranged in a one-to-one correspondence with the two second shaft segments (1013). Each rigid bearing (104) is sleeved on the corresponding second shaft segment (1013) for connection with the rigid wheel assembly (300); and / or The rotating shaft (101) is either a hollow shaft or a solid shaft.

6. A harmonic reducer, characterized in that, include: Wave generator assembly (100), wherein the wave generator assembly is the wave generator assembly according to any one of claims 1 to 5; A flexible wheel assembly (200) is sleeved outside the wave generator assembly (100) and rotatably disposed relative to the wave generator assembly (100); The rigid wheel assembly (300) is sleeved outside the flexible wheel assembly (200) and rotatably connected to the wave generator assembly (100) so as to mesh with the flexible wheel assembly (200).

7. The harmonic reducer according to claim 6, characterized in that, The flexible wheel assembly (200) includes a hollow flexible wheel (201) and a flexible sleeve (202). The flexible sleeve (202) is sleeved outside the first bearing (103) of the wave generator assembly (100). The hollow flexible wheel (201) is sleeved outside the flexible sleeve (202) to be connected to the first bearing (103) through the flexible sleeve (202). The outer circumferential surface of the hollow flexible wheel (201) is provided with outer gear teeth.

8. The harmonic reducer according to claim 6, characterized in that, The rigid wheel assembly (300) includes an end cap rigid wheel (301), a bearing rigid wheel (302), and an end cap (303) arranged sequentially and connected to each other along the rotation axis (1010). The outer gear teeth of the flexible wheel assembly (200) mesh with the inner gear teeth of the end cap rigid wheel (301) and the inner gear teeth of the bearing rigid wheel (302). The end of the end cap rigid wheel (301) away from the bearing rigid wheel (302) is sleeved on the rigid bearing (104) at one end of the wave generator assembly (100), and the end of the end cap (303) away from the bearing rigid wheel (302) is sleeved on the rigid bearing (104) at the other end of the wave generator assembly (100).

9. The harmonic reducer according to claim 8, characterized in that, The number of inner gear teeth on one of the end cap rigid wheel (301) and the bearing rigid wheel (302) is the same as the number of outer gear teeth on the flexible wheel assembly (200), and the number of inner gear teeth on the other of the end cap rigid wheel (301) and the bearing rigid wheel (302) is greater than the number of outer gear teeth on the flexible wheel assembly (200); wherein, the bearing rigid wheel (302) includes a bearing outer ring (3021) and a bearing inner ring (3022) that are rotatably connected to each other, the inner gear teeth of the bearing rigid wheel (3022) are located on the bearing inner ring (3022), the bearing outer ring (3021) is fixedly connected to the end cap rigid wheel (301), and the bearing inner ring (3022) is fixedly connected to the end cap (303).

10. A robot, characterized in that, The harmonic reducer includes any one of claims 6 to 9.

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