Steel wheel and harmonic reducer having same

Abstract

The present application relates to a rigid wheel and a harmonic reducer having the same. The rigid wheel is used in the harmonic reducer and includes a first gear and a second gear, the first gear and the second gear being fixed by a first fastener, an adjustment assembly being provided between the first gear and the second gear, the thickness of the first gear being greater than the thickness of the second gear, a first fixing groove being provided on the first gear, the adjustment assembly being embedded in the first fixing groove, and the adjustment assembly being connected to the first gear and the second gear respectively to allow the second gear to rotate relative to the first gear. According to the rigid wheel of the present invention, when meshing with the flexspline, it is possible to eliminate gear tooth backlash, improve the meshing transmission efficiency of the gear pair composed of the rigid wheel and the flexspline, and at the same time reduce the wear of the gear pair, thereby increasing the service life of the rigid wheel and the flexspline, and thereby increasing the service life of the entire harmonic reducer.

Description

Technical Field

[0001] The present application relates to the technical field of harmonic reducers, and in particular to a rigid wheel and a harmonic reducer having the same. Background Art

[0002] Harmonic reducers are precision transmission devices widely used in the joint modules of industrial robots. The device is developed based on the principle of wave deformation. Harmonic reducers usually consist of three major components: a flexspline, a rigid spline, and a wave generator. The flexspline is an elastic component that undergoes periodic elastic deformation under the action of the wave generator. This deformation causes the flexspline teeth and the rigid spline teeth to mesh, thereby achieving the transmission of motion and torque. In harmonic transmission, the meshing of the rigid spline teeth and the flexspline teeth is used to achieve the functions of reducing speed and increasing torque. The core transmission parts - gears - have inevitable errors during the processing, manufacturing, and assembly processes, resulting in excessive gear tooth side clearance during the meshing motion of the gear set. Under the speed excitation of the harmonic drive, the existence of gear side clearance will cause inter-tooth impact, which can easily cause gear wear and increase noise. This affects the transmission efficiency and service life of the gear pair, and thus affects the performance and service life of the harmonic reducer as a whole.

[0003] Regarding the design of harmonic drive backlash elimination mechanisms, researchers in this field have proposed different design schemes. Patent CN107559386 A proposes a dual-reducer mutual backlash elimination and zero-backlash device. The backlash elimination gears at the output and input ends of the two reducers are used to form two backlash elimination mechanisms. The backlash elimination mechanisms cooperate with the two reducers to achieve the purpose of backlash elimination. This design scheme has a complex structure and a large volume, and uses multiple pairs of gears to mesh for backlash elimination. However, there is still side clearance in the gears, which cannot improve the transmission efficiency and service life of the gear pairs. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a rigid spline that, when meshing with a flexspline, eliminates tooth backlash, thereby improving the meshing transmission efficiency of the combined gear pair of the rigid spline and flexspline. Due to the compression of the flexspline by a wave generator, the teeth of the cylinder and the flexspline undergo varying degrees of deformation, thereby reducing the meshing area between the teeth. When the first gear and the second gear are assembled together, the tooth width is reduced, thereby avoiding gear interference, reducing wear on the gear pair, and increasing the service life of the rigid spline and flexspline.

[0005] The present invention also provides a harmonic reducer, comprising the above-mentioned rigid wheel.

[0006] According to the present invention, the rigid wheel is used for a harmonic reducer, including a first gear and a second gear, the first gear and the second gear are fixed by a first fastener, an adjustment component is provided between the first gear and the second gear, the thickness of the first gear is greater than the thickness of the second gear, a first fixing groove is provided on the first gear, the adjustment component is embedded in the first fixing groove, and the adjustment component is respectively connected to the first gear and the second gear to allow the second gear to rotate relative to the first gear.

[0007] According to the present invention, when the rigid wheel is engaged with the flexible wheel, the side clearance of the gear teeth can be eliminated, thereby improving the meshing transmission efficiency of the gear pair composed of the rigid wheel and the flexible wheel. At the same time, the wear of the gear pair can be reduced, the service life of the rigid wheel and the flexible wheel can be increased, and the service life of the entire harmonic reducer can be increased.

[0008] According to the rigid wheel of the present invention, the adjustment assembly includes an elastic member, which is clamped in the first fixed groove. The elastic member is an annular structure with an opening. The elastic member includes a main body and connecting parts located at both ends of the main body. The two connecting parts are respectively connected to the first gear and the second gear.

[0009] Optionally, the width of the body gradually decreases from the middle portion toward the connecting portion, and / or the thickness of the elastic member is less than the depth of the first fixing groove.

[0010] Optionally, the elastic member includes a first arc segment defining an outer contour and a second arc segment defining an inner contour, the first arc segment and the second arc segment are eccentrically arranged, and the radius corresponding to the first arc segment is greater than the radius corresponding to the second arc segment.

[0011] Optionally, an assembly hole is provided on the connecting portion, and an angle ɑ is formed between the centers of the two assembly holes and the line connecting the center of the second arc segment, and ɑ satisfies: 60°<ɑ<90°.

[0012] Optionally, the center of the second arc segment is located on the pitch circle axis of the first gear.

[0013] Optionally, a first fixing groove is provided on the first gear, a second fixing groove is provided on the side of the second gear facing the first gear, the second fixing groove is spaced apart from the first fixing groove, the first fixing groove is arranged around the second fixing groove, the second fixing groove is constructed as an annular structure, and a first sealing ring is embedded in the second fixing groove.

[0014] Optionally, one of the first gear and the second gear is provided with a protruding column, and the other is provided with a limiting groove, and the protruding column is embedded in the limiting groove.

[0015] Optionally, there are two protruding columns and two limiting grooves, and the two protruding columns are located on the same pitch circle and are respectively located at two ends of the diameter of the pitch circle.

[0016] Optionally, one of the protruding columns is located between the two connecting parts.

[0017] The harmonic reducer according to the present invention comprises: a flexspline; a wave generator, which is clamped inside the flexspline; and a rigid wheel as described above, which is sleeved outside the flexspline and meshed with the flexspline.

[0018] According to the harmonic reducer of the present invention, when the rigid wheel and the flexible wheel are meshed, the side clearance of the gear teeth can be eliminated, thereby improving the meshing transmission efficiency of the gear pair composed of the rigid wheel and the flexible wheel. At the same time, the wear of the gear pair can be reduced, the service life of the rigid wheel and the flexible wheel can be increased, and the service life of the entire harmonic reducer can be increased.

[0019] According to the harmonic reducer of the present invention, the harmonic reducer further includes a rigid bearing, the rigid wheel and the flexible wheel are respectively fixed on opposite sides of the rigid bearing, the rigid wheel includes a first gear and a second gear, and the second gear is located between the first gear and the rigid bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 is a cross-sectional view of a harmonic reducer according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0024] Figure 3 is a perspective view of a rigid wheel according to an embodiment of the present invention;

[0025] Figure 4 An exploded view of a rigid wheel according to an embodiment of the present invention;

[0026] Figure 5 is a front view of the second gear of the rigid wheel according to an embodiment of the present invention;

[0027] Figure 6 is a front view of the first gear of the rigid wheel according to an embodiment of the present invention;

[0028] Figure 7 2 is a front view of the elastic member of the rigid wheel according to an embodiment of the present invention.

[0029] Reference numerals:

[0030] Harmonic reducer 100, rigid wheel 1, rigid bearing 2, flexible wheel 3, wave generator 4, first fastener 5, fourth fastener 6, second gear 101, second positioning hole 1011, second fixing groove 1012, limiting groove 1013, first gear 102, first positioning hole 1021, first fixing groove 1022, elastic member 103, assembly hole 1031, first arc segment 1033, second arc segment 1034, third fastener 104, second fastener 105, first sealing ring 106, second sealing ring 107, and boss 108. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0032] like Figure 1 As shown, harmonic reducer 100 includes a rigid wheel 1, a flexspline 3, and a wave generator 4. Before assembly, the flexspline 3 and its inner hole are circular. Once the wave generator 4 is installed into the inner hole of the flexspline 3, the wave generator 4's major axis is slightly longer than the inner hole diameter of the flexspline 3, squeezing the inner hole of the flexspline 3 into an elliptical shape. This forces the flexspline 3 to fully mesh with the fixed rigid wheel 1 along its major axis and completely disengage along its minor axis. The remaining teeth are either engaged or disengaged depending on the rotational position of the flexspline 3. Since the rigid wheel 1 is fixed, the flexspline 3 rotates clockwise when the wave generator 4 rotates counterclockwise. When the wave generator 4 rotates continuously, the major axis and minor axis of the flexspline 3 and the positions of engagement and disengagement change continuously. The teeth of the flexspline 3 turn from engagement to disengagement, then from engagement to disengagement, and so on. The cycle of engagement, engagement, disengagement, engagement, engagement... repeats itself, forcing the flexspline 3 to rotate continuously.

[0033] The rigid wheel 1 used in the harmonic reducer 100 will be described below with reference to the accompanying drawings.

[0034] like Figure 2-Figure 4 as well as Figure 6As shown, the rigid wheel 1 according to an embodiment of the present invention includes a first gear 102 and a second gear 101, the first gear 102 and the second gear 101 are fixed by a first fastener 5, an adjustment component is provided between the first gear 102 and the second gear 101, the thickness of the first gear 102 is greater than the thickness of the second gear 101, and a first fixing groove 1022 is provided on the first gear 102, and the adjustment component is embedded in the first fixing groove 1022, and the adjustment component is respectively connected to the first gear 102 and the second gear 101 to allow the second gear 101 to rotate relative to the first gear 102.

[0035] To elaborate, the first gear 102 is provided with a plurality of first gear teeth, and the second gear 101 is provided with a plurality of second gear teeth. The thickness of the first gear 102 is greater than the thickness of the second gear 101. The pitch circle axes of the first gear 102 and the second gear 101 coincide with each other, and the parameters of the first gear teeth and the second gear teeth are the same (the same here means the same within the manufacturing error range). The first gear 102 and the second gear 101 are fixed by a first fastener 5. There is an assembly gap between the first fastener 5 and the first gear 102 and the second gear 101. Since the adjustment component is embedded in the first gear 102, through the adjustment action of the adjustment component, when the rigid wheel 1 rotates, the assembly gap allows the second gear 101 to rotate relative to the first gear 102, and the second gear 101 produces an angular phase displacement relative to the first gear 102. The flexspline 3 is provided with a plurality of gear teeth. When the rigid wheel 1 is used in the harmonic reducer 100, the first gear 102 serves as the main gear and the second gear 101 serves as the sub-gear. The first gear teeth and the second gear teeth are simultaneously meshed with the gear teeth of the flexspline 3. The tooth gap width of the first gear 102 and the second gear 101 is the same. When the first gear 102 and the second gear 101 are assembled together, the tooth gap width becomes smaller, so that after being assembled with the flexspline 3, the gear gap can be eliminated when the first gear teeth, the second gear teeth and the third gear teeth are meshed.

[0036] Therefore, the provision of the second gear teeth can offset the tooth side clearance between the first gear teeth and the gear teeth of the flexspline 3 , thereby improving the meshing transmission efficiency of the rigid wheel 1 and the flexspline 3 .

[0037] In some embodiments, the thickness t1 of the first gear 102 and the thickness t2 of the second gear 101 are related by t1 = 3 / 2t2. It should be noted that this proportional relationship refers to the proportional relationship between the thickness of the first gear 102 and the thickness of the second gear 101 within the allowable range of manufacturing tolerances. This allows the first gear 102 and the second gear 101 to effectively eliminate gear tooth backlash when meshing with the flexspline 3, but this application is not limited thereto.

[0038] According to the embodiment of the present invention, the rigid wheel 1 can eliminate the side clearance of the gear teeth when meshing with the flexible wheel 3, thereby improving the meshing transmission efficiency of the gear pair composed of the rigid wheel 1 and the flexible wheel 3. At the same time, it can avoid meshing interference, reduce the wear of the gear pair, and increase the service life of the rigid wheel 1 and the flexible wheel 3, thereby increasing the service life of the entire harmonic reducer 100.

[0039] like Figure 7 As shown, according to an embodiment of the rigid wheel 1 of the present invention, the adjustment assembly includes an elastic member 103, which is clamped in the first fixing groove 1022. The elastic member 103 is an annular structure with an opening. The elastic member 103 includes a body and connecting portions located at both ends of the body. The two connecting portions are respectively connected to the first gear 102 and the second gear 101. The two connecting portions are used to define the relative installation position of the elastic member 103. The two connecting portions are integrally formed with the body. The inner ring of the elastic member 103 can be a circular ring with an opening or an elliptical ring.

[0040] like Figure 4 As shown, the adjustment assembly further includes a second fastener 105 and a third fastener 104. The second fastener 105 connects one connecting portion of the elastic member 103 to the first gear 102, and the third fastener 104 connects the other connecting portion of the elastic member 103 to the second gear 101. The second fastener 105 may be a pin, a bolt, or the like, and this application does not limit this. The third fastener 104 may be a pin, a bolt, or the like, and this application does not limit this.

[0041] like Figure 4-Figure 7 As shown, an assembly hole 1031 is provided on the connecting portion, a first positioning hole 1021 is provided on the first gear 102, a second positioning hole 1011 is provided on the second gear 101, the second fastener 105 is passed through the first positioning hole 1021 and an assembly hole 1031, and the third fastener 104 is passed through the second positioning hole 1011 and an assembly hole 1031, thereby realizing the connection between one connecting portion and the first gear 102, and the connection between the other connecting portion and the second gear 101.

[0042] In some embodiments, the width of the body gradually decreases from the middle toward the connection portion. This arrangement allows the body to be more easily compressed near the connection portion while maintaining overall structural stability, thereby allowing the second gear 101 to rotate relative to the first gear 102, resulting in angular phase displacement.

[0043] In some embodiments, the thickness of the elastic member 103 is less than the depth of the first fixing groove 1022, so that when the first gear 102 and the second gear 101 are installed, the first gear 102 and the second gear 101 can abut against each other, preventing the first gear teeth and the second gear teeth from generating a gap in the axial direction, ensuring the meshing and installation fit between the first gear 102, the second gear 101 and the flexible spline 3, avoiding the generation of collision vibration and reducing noise.

[0044] like Figure 7 As shown, in some embodiments, the elastic member 103 includes a first arc segment 1033 defining an outer contour and a second arc segment 1034 defining an inner contour. The first arc segment 1033 and the second arc segment 1034 are eccentrically arranged, and the radius corresponding to the first arc segment 1033 is greater than the radius corresponding to the second arc segment 1034.

[0045] The distance L between the center O1 of the first arc segment 1033 and the center O2 of the second arc segment 1034 satisfies: 3mm≦L≦5mm. For example, L can be 3mm, 3.5mm, 4mm, 4.5mm, or 5mm.

[0046] like Figure 7 As shown, in some embodiments, the connecting portion is provided with an assembly hole 1031. The angle ɑ is defined by the line connecting the center O3 of the two assembly holes 1031 and the center O2 of the second arc segment 1034. ɑ satisfies the following: 60° < ɑ < 90°. For example, ɑ can be 65°, 70°, 75°, 80°, 85°, etc. If ɑ is too small, the misalignment between the second gear teeth and the first gear teeth will not offset the backlash. If ɑ is too large, the misalignment between the second gear teeth and the first gear teeth will be too large, causing the second gear teeth to become stuck with the teeth of the flexspline 3. Therefore, it is necessary to set an appropriate ɑ value.

[0047] In some embodiments, the center O2 of the second arc segment 1034 is located on the pitch circle axis of the first gear 102, and the pitch circle axis of the first gear 102 and the pitch circle axis of the second gear 101 are collinear, that is, the center O2 of the second arc segment 1034 is located on the pitch circle axis of the first gear 102 and the pitch circle axis of the second gear 101. This can facilitate the positioning of the assembly hole 1031 on the first gear 102 and the assembly hole 1031 on the second gear 101 during processing.

[0048] like Figure 2 and Figure 6As shown, in some embodiments, a first fixing groove 1022 is provided on the first gear 102, and a second fixing groove 1012 is provided on the side of the second gear 101 facing the first gear 102. The second fixing groove 1012 is spaced apart from the first fixing groove 1022, and the first fixing groove 1022 is arranged around the second fixing groove 1012. The second fixing groove 1012 is constructed in an annular structure, and a first sealing ring 106 is embedded in the second fixing groove 1012. The first sealing ring 106 is placed between the first gear 102 and the second gear 101, ensuring good sealing performance between the first gear 102 and the second gear 101, while also ensuring the meshing and installation fit between the first gear 102, the second gear 101, and the flexible spline 3, preventing collision vibration, grease leakage, and reducing noise.

[0049] The second fixing groove 1012 is configured as a circular ring structure, and accordingly the first sealing ring 106 is also configured as a circular ring shape matching the second fixing groove 1012 .

[0050] like Figure 5 and Figure 6 As shown, in some embodiments, one of the first gear 102 and the second gear 101 is provided with a boss 108, and the other is provided with a limiting groove 1013, and the boss 108 is embedded in the limiting groove 1013. In this way, through the cooperation of the boss 108 and the limiting groove 1013, the first gear 102 and the second gear 101 can be pre-positioned, so that the first gear teeth of the first gear 102 are aligned with the second gear teeth of the second gear 101, preventing too many misaligned teeth from meshing with the third gear of the flexible spline 3, so that the tooth clearance cannot be eliminated.

[0051] like Figure 5 and Figure 6 As shown, in some embodiments, there are two bosses 108 and two limiting grooves 1013, and the two bosses 108 are located on the same pitch circle and are respectively located at the two ends of the diameter of the pitch circle. In other words, a maximum of two bosses 108 are provided. Since the bosses 108 are spaced apart, when the number of bosses 108 is greater than two, the first gear 102 and the second gear 101 will be fixed, and the second gear 101 cannot produce an angular phase displacement relative to the first gear 102. The two bosses 108 are located on the same pitch circle, which can simplify the installation and alignment steps of the first gear 102 and the second gear 101, and there is no need to deliberately align a boss 108 with a limiting groove 1013. The two bosses 108 are respectively located at the two ends of a certain diameter of the pitch circle, which can simplify positioning during processing, thereby simplifying processing time and reducing production costs.

[0052] It should be noted that the limiting groove 1013 can be a through hole or a blind hole with one end closed, and this application does not impose any restrictions.

[0053] In some embodiments, one of the bosses 108 is located between the two connecting parts. Since one of the two assembly holes 1031 is provided on the first gear 102 and the other is provided on the second gear 101, due to the structural characteristics of the gears (the first gear 102 and the second gear 101), the corresponding assembly holes 1031 need to be accurately aligned during installation. In this way, when installing the first gear 102 and the second gear 101, it is only necessary to align the boss with the assembly hole 1031 next to it with the limiting groove 1013 with the assembly hole 1031 next to it to achieve the positioning installation of the two assembly holes 1031, which plays a role in preventing mistakes and simplifies the installation process.

[0054] In some embodiments, the distances between the boss 108 and the assembly holes 1031 on both sides are equal, which can simplify processing and positioning.

[0055] It is understandable that the boss 108 and the assembly hole 1031 are located on different pitch circles (the descriptions involving the pitch circle refer to the relationship between the central axis of the corresponding component and the pitch circle).

[0056] like Figure 1 As shown, the harmonic speed reducer 100 according to the present invention includes: a flexspline 3; a wave generator 4, which is clamped inside the flexspline 3; and the rigid wheel 1 as described above, which is sleeved outside the flexspline 3 and meshed with the flexspline 3.

[0057] like Figure 2 As shown, according to the harmonic reducer 100 of an embodiment of the present invention, the harmonic reducer 100 also includes a rigid bearing 2, the rigid wheel 1 and the flexible wheel 3 are respectively fixed on opposite sides of the rigid bearing 2, the rigid wheel 1 includes a first gear 102 and a second gear 101, and the second gear 101 is located between the first gear 102 and the rigid bearing 2.

[0058] The rigid wheel 1 can be fixed to one side of the rigid bearing 2 by a first fastener 5, and the flexible wheel 3 is fixed to the other side of the rigid bearing 2 by a second fastener 105. The second gear 101 is located between the first gear 102 and the rigid bearing 2. The second gear 101 is provided with a third fixing groove on the side facing the rigid bearing 2, and a second sealing ring 107 is provided in the third fixing groove. The second sealing ring 107 is placed between the second gear 101 and the rigid bearing 2, so that there is good sealing performance between the second gear 101 and the rigid bearing 2, and at the same time, it can ensure the meshing and installation fit between the second gear 101 and the flexible wheel 3, avoid the generation of collision vibration, and reduce noise. In addition, placing the second gear 101 between the first gear 102 and the rigid bearing 2 can also limit the rotation of the second gear 101, preventing the second gear 101 from misaligning too many teeth with the first gear 102, thereby affecting the meshing transmission with the flexible wheel 3.

[0059] Four evenly distributed first fastening holes are provided on the rigid wheel 1, and each first fastener 5 passes through a first fastening hole to fix the rigid wheel 1 to one side of the rigid bearing 2. Four evenly distributed second fastening holes are provided on the bottom end surface of the top-hat-shaped flexible wheel 3, and each fourth fastener 6 passes through a second fastening hole to fix the flexible wheel 3 to the rigid bearing 2.

[0060] According to the harmonic reducer 100 of the embodiment of the present invention, when the rigid wheel 1 and the flexible wheel 3 are meshed, the gear tooth backlash can be eliminated, thereby improving the meshing transmission efficiency of the gear pair composed of the rigid wheel 1 and the flexible wheel 3. At the same time, the wear of the gear pair can be reduced, and the service life of the rigid wheel 1 and the flexible wheel 3 can be increased, thereby increasing the service life of the entire harmonic reducer 100.

[0061] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0062] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0063] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A rigid wheel for a harmonic reducer, characterized in that: The invention comprises a first gear and a second gear, wherein the first gear and the second gear are fixed by a first fastener, an adjustment component is provided between the first gear and the second gear, the thickness of the first gear is greater than the thickness of the second gear, a first fixing groove is provided on the first gear, the adjustment component is embedded in the first fixing groove, the adjustment component is respectively connected to the first gear and the second gear to allow the second gear to rotate relative to the first gear, and a staggered tooth with a reduced tooth groove width is formed between the first gear and the second gear, which meshes with the third gear teeth on the flexible spline.

2. The rigid wheel according to claim 1, characterized in that: The adjustment assembly includes an elastic member, which is clamped in the first fixing groove. The elastic member is an annular structure with an opening. The elastic member includes a main body and connecting parts located at both ends of the main body. The two connecting parts are respectively connected to the first gear and the second gear.

3. The rigid wheel according to claim 2, characterized in that: The width of the body gradually decreases from the middle portion toward the connecting portion, and / or The thickness of the elastic member is smaller than the depth of the first fixing groove.

4. The rigid wheel according to claim 3, characterized in that: The elastic member includes a first arc segment defining an outer contour and a second arc segment defining an inner contour. The first arc segment and the second arc segment are eccentrically arranged, and a radius corresponding to the first arc segment is greater than a radius corresponding to the second arc segment.

5. The rigid wheel according to claim 4, characterized in that: An assembly hole is provided on the connecting portion, and the angle between the centers of the two assembly holes and the line connecting the centers of the second arc segments is ɑ, and ɑ satisfies: 60°<ɑ<90°.

6. The rigid wheel according to claim 5, characterized in that: The center of the second arc segment is located on the pitch circle axis of the first gear.

7. The rigid wheel according to claim 2, characterized in that: The first fixing groove is provided on the first gear, and the second fixing groove is provided on the side of the second gear facing the first gear. The second fixing groove is spaced apart from the first fixing groove, and the first fixing groove is arranged around the second fixing groove. The second fixing groove is constructed as an annular structure, and a first sealing ring is embedded in the second fixing groove.

8. The rigid wheel according to claim 2, characterized in that: One of the first gear and the second gear is provided with a protruding column, and the other is provided with a limiting groove, and the protruding column is embedded in the limiting groove.

9. The rigid wheel according to claim 8, characterized in that: There are two protruding columns and two limiting grooves. The two protruding columns are located on the same pitch circle and are respectively located at two ends of the diameter of the pitch circle.

10. The rigid wheel according to claim 9, characterized in that: One of the protruding columns is located between the two connecting portions.

11. A harmonic reducer, characterized in that: include: Flexspline; a wave generator, the wave generator being clamped in the flexspline; The rigid wheel according to any one of claims 1 to 10, wherein the rigid wheel is sleeved outside the flexible wheel and meshes with the flexible wheel.

12. The harmonic reducer according to claim 11, characterized in that: The harmonic reducer further includes a rigid bearing, the rigid wheel and the flexible wheel are respectively fixed on opposite sides of the rigid bearing, the rigid wheel includes a first gear and a second gear, and the second gear is located between the first gear and the rigid bearing.

Images