Harmonic reducer

Abstract

This invention provides a harmonic reducer. The harmonic reducer includes: a rigid wheel, the inner circumferential surface of which is provided with a first toothed portion; a flexible wheel, including a flexible wheel body and a plurality of connecting portions, the outer circumferential surface of a first end of the flexible wheel body is provided with a second toothed portion that meshes with the first toothed portion, the plurality of connecting portions are disposed on a second end of the flexible wheel body and are spaced apart along the outer circumferential surface of the second end; a wave generator; a bearing, the wave generator being mounted on the flexible wheel body via the bearing; a flexible wheel flange; and a movable column; wherein at least one connecting portion forms a strip-shaped mounting space between itself and the flexible wheel flange and / or the bearing, the movable column being movably disposed within the strip-shaped mounting space to move along the extending direction of the strip-shaped mounting space, the extending direction of the strip-shaped mounting space being consistent with the radial direction of the flexible wheel. This invention effectively solves the problem of easy misalignment of the flexible wheel teeth in existing harmonic reducers.

Description

Technical Field

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

[0002] Currently, harmonic reducers are precision reducers used in the joints of industrial robots. They typically consist of three main components: a flexible wheel, a rigid wheel, and a wave generator. The wave generator rotates to cause the flexible wheel to undergo periodic undulating deformation, forcing the flexible wheel and the rigid wheel to mesh internally with a small tooth difference, thereby transmitting motion and power. In the harmonic reducer's transmission process, to meet the torque transmission requirements, the bottom flange of the cylinder is set to a perfect circle, while the teeth of the cylinder need to become an ellipse following the contour and movement of the wave generator.

[0003] However, for cap-type harmonic gear reducers, the meshing flexible gear teeth and rigid gear teeth are the main failure points during long-term operation of the harmonic reducer. There is a situation where the flexible gear teeth are misaligned, which affects the power transmission between the flexible gear teeth and the rigid gear teeth, and even affects the normal operation of the harmonic reducer. Summary of the Invention

[0004] The main objective of this invention is to provide a harmonic reducer to solve the problem of flexural tooth misalignment in existing harmonic reducers.

[0005] To achieve the above objectives, the present invention provides a harmonic reducer, comprising: a rigid wheel, the inner circumferential surface of which is provided with a first toothed portion; a flexible wheel, including a flexible wheel body and a plurality of connecting portions, the outer circumferential surface of a first end of the flexible wheel body is provided with a second toothed portion that meshes with the first toothed portion, the plurality of connecting portions are disposed on a second end of the flexible wheel body and are spaced apart along the outer circumferential surface of the second end; a wave generator; a bearing, the wave generator being mounted on the flexible wheel body via the bearing; a flexible wheel flange; and a movable column; wherein at least one connecting portion forms a strip-shaped mounting space between itself and the flexible wheel flange and / or the bearing, the movable column being movably disposed within the strip-shaped mounting space to move along the extension direction of the strip-shaped mounting space, the extension direction of the strip-shaped mounting space being consistent with the radial direction of the flexible wheel.

[0006] Furthermore, multiple connecting parts are evenly arranged on the second end of the flexible wheel body, and the number of connecting parts n is greater than or equal to 8 and less than or equal to 12.

[0007] Furthermore, each connection part has a through hole for fasteners to be inserted, and the flexure flange, flexure and bearing are connected by inserting the fasteners through the through hole, the flexure flange, the flexure and the bearing.

[0008] Furthermore, there are multiple sets of movable columns, with a total number of 2n. Each connecting part is correspondingly provided with two sets of movable columns, and the two sets of movable columns are located on both sides of the through hole. Each set of movable columns includes a first movable column and a second movable column, and the first and second movable columns of each set of movable columns are located on both sides of the connecting part corresponding to the set of movable columns.

[0009] Furthermore, the first movable column in each group of movable columns is one; or, the first movable column in each group of movable columns is multiple, and the multiple first movable columns are spaced apart along the circumference of the flexible wheel body; and / or, the second movable column in each group of movable columns is one; or, the second movable column in each group of movable columns is multiple, and the multiple second movable columns are spaced apart along the circumference of the flexible wheel body.

[0010] Furthermore, the surface of the connecting portion facing the flexure flange is a first surface, and the surface of the connecting portion facing the bearing is a second surface; the surface of the flexure flange facing the connecting portion has a first recess, and a strip-shaped mounting space is formed between the first recess and the first surface; and / or, the surface of the bearing facing the connecting portion has a second recess, and a strip-shaped mounting space is formed between the second recess and the second surface; or, the surface of the flexure flange facing the connecting portion has a first recess, and the first surface has a third recess communicating with the first recess, and a strip-shaped mounting space is formed between the first recess and the third recess; and / or, the surface of the bearing facing the connecting portion has a second recess, and the second surface has a fourth recess communicating with the second recess, and a strip-shaped mounting space is formed between the second recess and the fourth recess.

[0011] Furthermore, the connecting part is fan-shaped or strip-shaped.

[0012] Furthermore, there are multiple first movable columns in each group of movable columns, and / or multiple second movable columns in each group of movable columns; the harmonic reducer also includes: a pad block disposed between two adjacent first movable columns; and / or disposed between two adjacent second movable columns.

[0013] Furthermore, the flexible wheel body and multiple connecting parts are integrally formed, and each connecting part is made by bending at least part of the flexible wheel body.

[0014] Furthermore, the length L1 of the strip installation space and the length L of the movable column satisfy the following condition: L<L1≤1.5L.

[0015] The flexure wheel, using the technical solution of this invention, includes a flexure wheel body and multiple connecting parts. A second toothed portion disposed on the first end of the flexure wheel body meshes with a first toothed portion of the rigid wheel to achieve power transmission. Multiple connecting parts are disposed on the second end of the flexure wheel body and spaced apart along the outer circumferential surface of the second end. A movable column is movably disposed within a strip-shaped mounting space to move along the extension direction of the strip-shaped mounting space. Thus, during the operation of the wave generator, the second end of the flexure wheel undergoes an elliptical-like deformation, expanding outward along its major axis and contracting inward along its minor axis. Since the movable column can transmit circumferential loads while also undergoing radial displacement, the first end of the flexure wheel body can also move accordingly, thereby ensuring that the generatrix of the flexure wheel body is always parallel to its central axis. This prevents the second toothed portion from skewing, keeping it parallel to the first toothed portion, thus solving the problem of easy skewing of the flexure wheel teeth in existing harmonic reducers. Attached Figure Description

[0016] 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:

[0017] Figure 1 A cross-sectional view of an embodiment of the harmonic reducer according to the present invention is shown;

[0018] Figure 2 It shows Figure 1 Enlarged schematic diagram of point A in the harmonic reducer;

[0019] Figure 3 It shows Figure 1 Side view of the flex wheel in the harmonic reducer;

[0020] Figure 4 It shows Figure 3 A top view of the flexible wheel in the image;

[0021] Figure 5 It shows Figure 1 A top view of the bearings in the harmonic reducer;

[0022] Figure 6 It shows Figure 5 A cross-sectional view of the bearing in the image;

[0023] Figure 7 It shows Figure 1 A top view of the flexure flange of the harmonic reducer in the middle;

[0024] Figure 8 It shows Figure 7 A cross-sectional view of the flexible flange in the image.

[0025] The above figures include the following reference numerals:

[0026] 10. Rigid wheel;

[0027] 20. Flexible wheel; 21. Flexible wheel body; 22. Connecting part; 221. Through hole; 222. Third recess; 223. Fourth recess;

[0028] 30. Wave generator;

[0029] 40. Bearing; 41. Second recess;

[0030] 50. Flexible wheel flange; 51. First recess;

[0031] 60. Movable column; 61. First movable column; 62. Second movable column;

[0032] 70. Strip-shaped installation space;

[0033] 80. Spacer blocks. Detailed Implementation

[0034] 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.

[0035] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0036] In this invention, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0037] To address the problem of flexural tooth misalignment in existing harmonic reducers, this application provides a harmonic reducer.

[0038] like Figures 1 to 8As shown, the harmonic reducer includes a rigid wheel 10, a flexible wheel 20, a wave generator 30, a bearing 40, a flexible wheel flange 50, and a movable column 60. The inner circumferential surface of the rigid wheel 10 is provided with a first toothed portion. The flexible wheel 20 includes a flexible wheel body 21 and multiple connecting portions 22. A second toothed portion that meshes with the first toothed portion is provided on the outer circumferential surface of the first end of the flexible wheel body 21. The multiple connecting portions 22 are disposed on the second end of the flexible wheel body 21 and spaced apart along the outer circumferential surface of the second end. The wave generator 30 is mounted on the flexible wheel body 21 via the bearing 40. At least one connecting portion 22 forms a strip-shaped mounting space 70 between itself and the flexible wheel flange 50 and / or the bearing 40. The movable column 60 is movably disposed within the strip-shaped mounting space 70 to move along the extending direction of the strip-shaped mounting space 70, which is aligned with the radial direction of the flexible wheel 20.

[0039] Applying the technical solution of this embodiment, the flexible wheel 20 includes a flexible wheel body 21 and multiple connecting parts 22. A second toothed portion disposed on the first end of the flexible wheel body 21 meshes with the first toothed portion of the rigid wheel to achieve power transmission. Multiple connecting parts 22 are disposed on the second end of the flexible wheel body 21 and spaced apart along the outer circumferential surface of the second end. A movable column 60 is movably disposed within the strip-shaped mounting space 70 to move along the extension direction of the strip-shaped mounting space 70. Thus, during the operation of the wave generator 30, the second end of the flexible wheel 20 undergoes an elliptical-like deformation, expanding outward along its major axis and contracting inward along its minor axis. Since the movable column 60 can transmit circumferential loads while also undergoing radial displacement, the first end of the flexible wheel body 21 can also move accordingly, thereby ensuring that the generatrix of the flexible wheel body 21 is always parallel to its central axis, preventing the second toothed portion from skewing and ensuring it is parallel to the first toothed portion. This solves the problem of easy skewing of the flexible wheel teeth in existing harmonic reducers.

[0040] Optionally, multiple connecting portions 22 are evenly arranged on the second end of the flexure body 21, with the number of connecting portions 22 n being greater than or equal to 8 and less than or equal to 12. This arrangement makes the movement of the flexure body 21 more stable with the movement of the movable column 60, further ensuring that the generatrix of the flexure body 21 is always parallel to its central axis, thus improving the skewness phenomenon of the second toothed portion. At the same time, this arrangement simplifies the structure of the flexure 20, making it easier to manufacture and implement, and reducing the manufacturing cost of the harmonic reducer.

[0041] In this embodiment, there are 12 connecting parts 22, which are evenly arranged on the second end of the flexible wheel body 21.

[0042] It should be noted that the number of connecting parts 22 is not limited to this and can be adjusted according to working conditions and usage requirements. Optionally, there may be 9, 10, or 11 connecting parts 22.

[0043] like Figure 4 As shown, each connecting part 22 has a through hole 221 for fasteners to pass through. By passing fasteners through the through hole 221, the flexible wheel flange 50, the flexible wheel 20, and the bearing 40, the flexible wheel flange 50, the flexible wheel 20, and the bearing 40 are connected. In this way, the above arrangement makes the disassembly and assembly of the flexible wheel flange 50, the flexible wheel 20, and the bearing 40 easier and simpler, reducing the difficulty of disassembling and assembling the harmonic reducer.

[0044] Alternatively, the fastener may be a screw or a bolt.

[0045] In this embodiment, there are multiple sets of movable columns 60, with a total number of 2n sets. Each connecting part 22 is correspondingly arranged with two sets of movable columns 60, and the two sets of movable columns 60 are located on both sides of the through hole 221. Each set of movable columns 60 includes a first movable column 61 and a second movable column 62, and the first movable column 61 and the second movable column 62 of each set of movable columns 60 are located on both sides of the connecting part 22 corresponding to that set of movable columns 60. In this way, the above arrangement ensures that each connecting part 22 is corresponding to two sets of movable columns 60, that is, two sets of movable columns 60 are provided on each connecting part 22, thereby ensuring that the movable columns 60 can transmit circumferential loads while also undergoing radial displacement to drive the first end of the flexible wheel body 21 to move.

[0046] In this embodiment, the first movable column 61 and the second movable column 62 are spaced apart along the central axis of the harmonic reducer, with the first movable column 61 located above the second movable column 62.

[0047] Optionally, there may be one first movable column 61 in each group of movable columns 60; or, there may be multiple first movable columns 61 in each group of movable columns 60, spaced apart circumferentially along the flexible wheel body 21; and / or, there may be one second movable column 62 in each group of movable columns 60; or, there may be multiple second movable columns 62 in each group of movable columns 60, spaced apart circumferentially along the flexible wheel body 21. This arrangement allows for greater flexibility in selecting the number of first movable columns 61 in each group of movable columns 60 to meet different usage requirements and working conditions, and also improves the processing flexibility of the operator. Similarly, this arrangement allows for greater flexibility in selecting the number of second movable columns 62 in each group of movable columns 60 to meet different usage requirements and working conditions, and also improves the processing flexibility of the operator.

[0048] In this embodiment, there are two first movable columns 61 in each group of movable columns 60, and two second movable columns 62 in each group of movable columns 60.

[0049] It should be noted that the number of first movable columns 61 in each group of movable columns 60 is not limited to this and can be adjusted according to working conditions and usage requirements. Optionally, there may be three, four, or more first movable columns 61 in each group of movable columns 60.

[0050] It should be noted that the number of second movable columns 62 in each group of movable columns 60 is not limited to this and can be adjusted according to working conditions and usage requirements. Optionally, there may be three, four, or more second movable columns 62 in each group of movable columns 60.

[0051] Optionally, the surface of the connecting portion 22 facing the flexible wheel flange 50 is a first surface, and the surface of the connecting portion 22 facing the bearing 40 is a second surface; the surface of the flexible wheel flange 50 facing the connecting portion 22 has a first recess 51, and a strip-shaped mounting space 70 is formed between the first recess 51 and the first surface; and / or, the surface of the bearing 40 facing the connecting portion 22 has a second recess 41, and a strip-shaped mounting space 70 is formed between the second recess 41 and the second surface; or, the surface of the flexible wheel flange 50 facing the connecting portion 22 has a first recess 51, the first surface has a third recess 222 communicating with the first recess 51, and a strip-shaped mounting space 70 is formed between the first recess 51 and the third recess 222; and / or, the surface of the bearing 40 facing the connecting portion 22 has a second recess 41, the second surface has a fourth recess 223 communicating with the second recess 41, and a strip-shaped mounting space 70 is formed between the second recess 41 and the fourth recess 223. In this way, the above-mentioned configuration makes the formation of the strip installation space 70 more diverse, so as to meet different usage needs and working conditions, and also improve the processing flexibility of the staff.

[0052] In this embodiment, the surface of the flexible flange 50 facing the connecting portion 22 has a first recess 51, and the first surface has a third recess 222 communicating with the first recess 51, forming a strip-shaped mounting space 70 between the first recess 51 and the third recess 222. The surface of the bearing 40 facing the connecting portion 22 has a second recess 41, and the second surface has a fourth recess 223 communicating with the second recess 41, forming a strip-shaped mounting space 70 between the second recess 41 and the fourth recess 223.

[0053] Optionally, the connecting portion 22 can be fan-shaped or strip-shaped. In this way, the above-mentioned arrangement allows for greater diversity in the structure and shape of the connecting portion 22 to meet different usage requirements and working conditions, and also improves the processing flexibility of the workers.

[0054] In this embodiment, the connecting portion 22 is fan-shaped.

[0055] Optionally, there may be multiple first movable columns 61 in each group of movable columns 60, and / or multiple second movable columns 62 in each group of movable columns 60. The harmonic reducer also includes a pad 80. The pad 80 is disposed between two adjacent first movable columns 61; and / or between two adjacent second movable columns 62. In this way, the pad 80 separates two adjacent first movable columns 61, reducing structural wear on the first movable columns 61 and extending their service life. Simultaneously, the pad 80 separates two adjacent second movable columns 62, reducing structural wear on the second movable columns 62 and extending their service life.

[0056] In this embodiment, there are multiple pads 80, and the multiple pads 80 are arranged one-to-one with multiple sets of movable columns 60. Some pads 80 are arranged between two adjacent first movable columns 61, and other pads 80 are arranged between two adjacent second movable columns 62.

[0057] Optionally, the pad 80 is made of rubber or silicone.

[0058] In this embodiment, the flexible wheel body 21 and the multiple connecting parts 22 are integrally formed, and each connecting part 22 is formed by bending at least a portion of the flexible wheel body 21. In this way, the above-mentioned arrangement improves the overall structural strength of the flexible wheel 20 and extends its service life; on the other hand, it makes the processing of the connecting parts 22 easier and simpler, reducing the processing cost and difficulty of the connecting parts 22.

[0059] Optionally, the length L1 of the strip mounting space 70 and the length L of the movable column 60 satisfy the condition: L < L1 ≤ 1.5L. This arrangement ensures that the movable column 60 can move radially within the strip mounting space 70, improving the reliability of the movable column 60's movement and also enhancing the structural strength of the connection portion 22.

[0060] In this embodiment, L1 = 1.2L. This arrangement ensures that the movable column 60 can move radially within the strip-shaped installation space 70, and also makes the size selection of both parts more suitable, thus improving the structural strength of the connection portion 22.

[0061] It should be noted that the relationship between L1 and L is not limited to this and can be adjusted according to working conditions and usage requirements. Optionally, L1 = 1.1L, or L1 = 1.3L, or L1 = 1.4L.

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

[0063] The flexible wheel includes a flexible wheel body and multiple connecting parts. A second toothed portion located at the first end of the flexible wheel body meshes with a first toothed portion of the rigid wheel to achieve power transmission. Multiple connecting parts are located at the second end of the flexible wheel body and spaced apart along the outer circumferential surface of the second end. A movable column is movably disposed within a strip-shaped mounting space to move along the extension direction of the strip-shaped mounting space. Thus, during the operation of the wave generator, the second end of the flexible wheel undergoes an elliptical-like deformation, expanding outward along its major axis and contracting inward along its minor axis. Because the movable column can transmit circumferential loads while also undergoing radial displacement, the first end of the flexible wheel body can also move accordingly, ensuring that the generatrix of the flexible wheel body remains parallel to its central axis. This prevents the second toothed portion from skewing, keeping it parallel to the first toothed portion, thereby solving the problem of skewed flexible wheel teeth in existing harmonic reducers.

[0064] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0065] 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.

[0066] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0067] 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 harmonic reducer characterized by, The harmonic reducer comprises: a rigid gear (10), an inner circumferential surface of the rigid gear (10) being provided with a first toothed portion; a flexible gear (20), comprising a flexible gear body (21) and a plurality of connecting portions (22), an outer circumferential surface of a first end of the flexible gear body (21) being provided with a second toothed portion engaged with the first toothed portion, the plurality of connecting portions (22) being provided on a second end of the flexible gear body (21) and being spaced apart along an outer circumferential surface of the second end; a wave generator (30); a bearing (40), the wave generator (30) being provided on the flexible gear body (21) through the bearing (40); a flexible gear flange (50); a movable column (60); wherein a strip-shaped mounting space (70) is formed between at least one of the connecting portions (22) and the flexible gear flange (50) and / or the bearing (40), the movable column (60) being movably provided in the strip-shaped mounting space (70) to move along an extension direction of the strip-shaped mounting space (70), the extension direction of the strip-shaped mounting space (70) being consistent with a radial direction of the flexible gear (20).

2. The harmonic reducer of claim 1, wherein, The plurality of connecting portions (22) are uniformly arranged on the second end of the flexible gear body (21), and the number n of the connecting portions (22) is greater than or equal to 8 and less than or equal to 12.

3. The harmonic reducer of claim 1, wherein, Each of the connecting portions (22) has a through hole (221) for penetrating a fastener, and the flexible gear flange (50), the flexible gear (20) and the bearing (40) are connected by penetrating the fastener in the through hole (221).

4. The harmonic reducer of claim 3, wherein, The movable column (60) is in multiple groups, and the number of groups is 2n, each of the connecting portions (22) is provided in correspondence with two groups of the movable column (60), and the two groups of the movable column (60) are respectively located on two sides of the through hole (221); wherein each group of the movable column (60) comprises a first movable column (61) and a second movable column (62), and the first movable column (61) and the second movable column (62) of each group of the movable column (60) are respectively located on two sides of the connecting portion (22) provided in correspondence with the group of the movable column (60).

5. The harmonic reducer according to claim 1, wherein the first movable column (61) in each group of the movable column (60) is one; or the first movable column (61) in each group of the movable column (60) is multiple, and the multiple first movable columns (61) are spaced apart along a circumferential direction of the flexible gear body (21); and / or the second movable column (62) in each group of the movable column (60) is one; or the second movable column (62) in each group of the movable column (60) is multiple, and the multiple second movable columns (62) are spaced apart along the circumferential direction of the flexible gear body (21).

6. The harmonic reducer of claim 1, wherein, a surface of the connecting portion (22) facing the flexible gear flange (50) is a first surface, and a surface of the connecting portion (22) facing the bearing (40) is a second surface. The surface of the flexible gear flange (50) toward the connecting part (22) has a first recess (51), and the first recess (51) and the first surface form the strip-shaped mounting space (70); and / or, The surface of the bearing (40) toward the connecting part (22) has a second recess (41), and the second recess (41) and the second surface form the strip-shaped mounting space (70); or, The surface of the flexible gear flange (50) toward the connecting part (22) has a first recess (51), and the first surface has a third recess (222) in communication with the first recess (51), and the first recess (51) and the third recess (222) form the strip-shaped mounting space (70); and / or, The surface of the bearing (40) toward the connecting part (22) has a second recess (41), and the second surface has a fourth recess (223) in communication with the second recess (41), and the second recess (41) and the fourth recess (223) form the strip-shaped mounting space (70).

7. The harmonic reducer of claim 1, wherein, The connecting part (22) is in the shape of a sector or a strip.

8. The harmonic reducer of claim 1, wherein, There are multiple first movable columns (61) in each group of movable columns (60), and / or multiple second movable columns (62) in each group of movable columns (60); the harmonic reducer further comprises: A spacer (80) is arranged between two adjacent first movable columns (61); and / or, arranged between two adjacent second movable columns (62).

9. The harmonic reducer of claim 1, wherein, The flexible gear body (21) and multiple connecting parts (22) are integrally formed, and each connecting part (22) is made by bending at least part of the flexible gear body (21).

10. The harmonic reducer of claim 1, wherein, The length L1 of the strip-shaped mounting space (70) and the length L of the movable column (60) satisfy: L < L1 ≤ 1.5L.

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