Harmonic reducer

Abstract

The application discloses a harmonic reducer. The harmonic reducer comprises a primary reduction assembly and a secondary reduction assembly, the primary reduction assembly comprises a wave generator, a first flexible gear and a first rigid gear, the wave generator is used for being connected with a driver, an outer ring of the wave generator is engaged with an inner ring of the first flexible gear, and an outer ring of the first flexible gear is engaged with an inner ring of the first rigid gear. The outer ring of the first rigid gear is in an elliptical shape. The secondary reduction assembly comprises a second flexible gear, a second rigid gear and a flexible bearing, an inner ring of the flexible bearing is fixed to the outer ring of the first rigid gear, an outer ring of the flexible bearing is in contact with an inner ring of the second flexible gear, and an outer ring of the second flexible gear is engaged with an inner ring of the second rigid gear. The harmonic reducer disclosed by the application can be more compact and reduce the weight of the harmonic reducer on the basis of having a large transmission ratio, and can ensure transmission accuracy.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and in particular to a harmonic speed reducer. Background Technology

[0002] Harmonic reducers typically have harmonic transmission ratios between 30 and 300, meeting the needs of applications in robotics, CNC machine tools, automation equipment, and precision measurement. However, in applications requiring higher speed ratios, a single harmonic reducer is insufficient. The solution involves connecting two harmonic reducers in series or using a combination of planetary and harmonic structures. This, however, introduces the problem of larger dimensions and increased weight. For applications requiring more compact size, lighter weight, or higher precision, composite reducers using planetary and harmonic structures, along with other multi-stage gear reducers, still cannot meet the requirements. This limits technological development and the improvement of equipment precision in certain niche areas. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a harmonic reducer that can make the structure of the harmonic reducer more compact and reduce its weight while maintaining a large transmission ratio.

[0004] A harmonic reducer according to an embodiment of the present invention includes:

[0005] A primary reduction gear assembly includes a wave generator, a first flexible wheel, and a first rigid wheel. The wave generator is connected to a driver. The outer ring of the wave generator meshes with the inner ring of the first flexible wheel, and the outer ring of the first flexible wheel meshes with the inner ring of the first rigid wheel. The outer ring of the first rigid wheel is elliptical, and the difference in the number of teeth between the outer teeth of the first flexible wheel and the inner teeth of the first rigid wheel is two, and the number of teeth on the outer ring of the first flexible wheel is less than the number of teeth on the inner ring of the first rigid wheel.

[0006] The two-stage reduction assembly includes a second flexible wheel, a second rigid wheel, and a flexible bearing. The inner ring of the flexible bearing is fixed to the outer ring of the first rigid wheel. The outer ring of the flexible bearing contacts the inner ring of the second flexible wheel. The outer ring of the second flexible wheel meshes with the inner ring of the second rigid wheel. The difference in the number of teeth between the outer teeth of the second flexible wheel and the inner teeth of the second rigid wheel is two, and the number of teeth on the outer teeth of the second flexible wheel is less than the number of teeth on the inner teeth of the second rigid wheel.

[0007] The harmonic reducer according to embodiments of the present invention has at least the following beneficial effects: In the first-stage reduction assembly, the reduction is achieved by the cooperation of a wave generator, a first flexible wheel, and a first rigid wheel. An elliptical first rigid wheel and a flexible bearing combination serve as the second wave generator in the second-stage reduction assembly, cooperating with the second flexible wheel and the second rigid wheel in the second-stage reduction assembly to achieve second-stage reduction, thereby realizing a large transmission ratio reduction in the harmonic reducer. Furthermore, since the wave generator, first flexible wheel, first rigid wheel, flexible bearing, second flexible wheel, and second rigid wheel are sequentially nested, its structure can be configured very compactly. Compared to reducers combining planetary and harmonic structures, which require larger housings such as planetary arms and solid transmission gears, the harmonic reducer of the present application embodiment can reduce the axial thickness and weight of the reducer. Moreover, since the precision of the harmonic structure is greater than that of the planetary structure, the harmonic reducer of the present application embodiment can improve transmission accuracy. Compared to two harmonic structures connected in series, the harmonic reducer of this embodiment does not require a connecting flange in the middle of the two harmonic structures for connection. Therefore, the harmonic reducer of this embodiment can also reduce the axial thickness and weight of the reducer.

[0008] According to some embodiments of the present invention, the harmonic reducer further includes a flange, the first flexible wheel and the second flexible wheel are respectively fixedly connected to the flange, and the first rigid wheel and the second rigid wheel are respectively rotatably connected to the flange.

[0009] According to some embodiments of the present invention, the flange is provided with a first connecting portion, the first flexible wheel includes a first meshing portion and a second connecting portion connected to each other, the inner ring of the first meshing portion meshes with the wave generator, the outer ring of the first meshing portion meshes with the inner ring of the first rigid wheel, the second connecting portion extends inward along the inner ring direction of the first flexible wheel, and the second connecting portion is fixedly connected to the first connecting portion.

[0010] According to some embodiments of the present invention, the first connecting portion is provided with a first through hole, which penetrates the first connecting portion along the flange toward the first flexible wheel, and the second connecting portion is provided with a second through hole, which has the same penetration direction as the first through hole, and the first through hole and the second through hole are connected.

[0011] According to some embodiments of the present invention, the first connecting portion is threadedly connected to the second connecting portion.

[0012] According to some embodiments of the present invention, the flange is provided with a third connecting portion, the second flexible wheel includes a second meshing portion and a fourth connecting portion connected to each other, the inner ring of the second meshing portion contacts the flexible bearing, the outer ring of the second meshing portion meshes with the second rigid wheel, the fourth connecting portion extends outward along the outer ring direction of the second flexible wheel, and the fourth connecting portion is fixedly connected to the third connecting portion.

[0013] According to some embodiments of the present invention, the harmonic reducer further includes a limiting sleeve and a first bearing. The third connecting part, the fourth connecting part, and the limiting sleeve abut against each other and are fixed to each other in sequence. The limiting sleeve is provided with a first limiting groove on the side facing the second rigid wheel. The second rigid wheel includes a third meshing part and a fifth connecting part that are connected to each other. The inner ring of the third meshing part meshes with the outer ring of the second flexible wheel. The fifth connecting part extends in the direction toward the flange, and a second limiting groove is provided on the side of the fifth connecting part away from the first rigid wheel. The first bearing is sleeved on the fifth connecting part, and the inner ring of the first bearing is located in the second limiting groove, and the outer ring of the first bearing is located in the first limiting groove.

[0014] According to some embodiments of the present invention, the flange is provided with a receiving groove on the side facing the wave generator, the first rigid wheel includes a fourth meshing part and a sixth connecting part that are connected to each other, the inner ring of the fourth meshing part meshes with the outer ring of the first flexible wheel, the outer ring of the fourth meshing part is fixed with the inner ring of the flexible bearing, the sixth connecting part extends in a direction close to the flange and is at least partially located in the receiving groove, the harmonic reducer also includes a second bearing, the second bearing is sleeved on the outer surface of the sixth connecting part, and the outer ring of the second bearing abuts against the inner surface of the receiving groove.

[0015] According to some embodiments of the present invention, the flange is provided with a first connecting portion, the first connecting portion extending in a direction toward the first flexible wheel, the first flexible wheel including a first meshing portion and a second connecting portion connected to each other, the inner ring of the first meshing portion meshing with the wave generator, the outer ring of the first meshing portion meshing with the inner ring of the first rigid wheel, the second connecting portion extending inward along the inner ring direction of the first flexible wheel, and the second connecting portion being fixedly connected to the first connecting portion; the harmonic reducer further includes a third bearing, the third bearing being sleeved on the first connecting portion, and the outer ring of the third bearing abutting against the sixth connecting portion.

[0016] According to some embodiments of the present invention, along the direction of the flange toward the fourth engagement portion, the sixth connecting portion is sequentially provided with a first step, a second step and a third step, wherein the first step and the third step are respectively provided on the outer ring of the sixth connecting portion, the second step is provided on the inner ring of the sixth connecting portion, the first step abuts against the second bearing, the second step abuts against the third bearing, and the third step abuts against the flexible bearing.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1 This is a schematic diagram of a harmonic reducer according to a first aspect embodiment of the present invention;

[0020] Figure 2 This is a left view of a harmonic reducer according to a first aspect embodiment of the present invention;

[0021] Figure 3 This is a right view of a harmonic reducer according to a first aspect embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of a harmonic reducer according to a second aspect embodiment of the present invention;

[0023] Figure 5 This is a left view of a harmonic reducer according to a second aspect embodiment of the present invention;

[0024] Figure 6 This is a right view of a harmonic reducer according to a second aspect embodiment of the present invention.

[0025] Figure label:

[0026] Harmonic reducer 100;

[0027] The components include: a first-stage reduction gear 200, a wave generator 210, a cam 211, a second flexible bearing 212, a first flexible wheel 220, a first meshing part 221, a second connecting part 222, a second through hole 223, a first rigid wheel 230, a fourth meshing part 231, a sixth connecting part 232, a first step 233, a second step 234, and a third step 235.

[0028] The components include a secondary reduction gear 300, a second flexible wheel 310, a second meshing part 311, a fourth connecting part 312, a second rigid wheel 320, a third meshing part 321, a fifth connecting part 322, a second limiting groove 323, and a flexible bearing 330.

[0029] Flange 400, first connecting part 410, first through hole 411, third connecting part 420, receiving groove 430, body 440;

[0030] Limiting sleeve 500, first limiting groove 501, first bearing 510, second bearing 520, third bearing 530. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limiting this invention.

[0033] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0034] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0035] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0036] The harmonic reducer of the present invention is described below with reference to the accompanying drawings.

[0037] Reference Figures 1 to 6 According to an embodiment of the present invention, a harmonic reducer 100 includes a primary reduction assembly 200 and a secondary reduction assembly 300. The primary reduction assembly 200 includes a wave generator 210, a first flexible wheel 220, and a first rigid wheel 230. The wave generator 210 is connected to a driver. The outer ring of the wave generator 210 meshes with the inner ring of the first flexible wheel 220, and the outer ring of the first flexible wheel 220 meshes with the inner ring of the first rigid wheel 230. The outer ring of the first rigid wheel 230 is elliptical, and the difference in the number of teeth between the outer teeth of the first flexible wheel 220 and the inner teeth of the first rigid wheel 230 is two, with the number of outer teeth of the first flexible wheel 220 being less than the number of inner teeth of the first rigid wheel 230. The secondary reduction assembly 300 includes a second flexible wheel 310, a second rigid wheel 320, and a flexible bearing 330. The inner ring of the flexible bearing 330 is fixed to the outer ring of the first rigid wheel 230. The outer ring of the flexible bearing 330 is in contact with the inner ring of the second flexible wheel 310. The outer ring of the second flexible wheel 310 meshes with the inner ring of the second rigid wheel 320. The difference in the number of teeth between the outer teeth of the second flexible wheel 310 and the inner teeth of the second rigid wheel 320 is two, and the number of teeth on the outer teeth of the second flexible wheel 310 is less than the number of teeth on the inner teeth of the second rigid wheel 320.

[0038] In the first-stage reduction assembly 200, the first-stage reduction is achieved through the cooperation of the wave generator 210, the first flexible wheel 220, and the first rigid wheel 230. The elliptical first rigid wheel 230 and the flexible bearing 330 are combined to form the second wave generator in the second-stage reduction assembly 300, which cooperates with the second flexible wheel 310 and the second rigid wheel 320 in the second-stage reduction assembly 300 to achieve second-stage reduction. This results in a large transmission ratio reduction for the harmonic reducer 100. Since the wave generator 210, the first flexible wheel 220, the first rigid wheel 230, the flexible bearing 330, the second flexible wheel 310, and the second rigid wheel 320 are sequentially nested, the structure can be designed to be very compact. Compared to reducers that combine planetary and harmonic structures, which require larger housings such as planetary arms and solid transmission gears, the harmonic reducer 100 of this embodiment can reduce the axial thickness and weight of the reducer. Furthermore, since the precision of the harmonic structure is greater than that of the planetary structure, the harmonic reducer 100 of this embodiment can improve transmission accuracy. Compared to two harmonic structures connected in series, since the harmonic reducer 100 of this application embodiment does not require a connecting flange 400 to connect the two harmonic structures in the middle, the harmonic reducer 100 of this application embodiment can also reduce the thickness of the reducer in the axial direction and the weight of the reducer.

[0039] It is understandable that, since the first flexible wheel 220 and the first rigid wheel 230, and the second flexible wheel 310 and the second rigid wheel 320 are all rotating relative to each other when the harmonic reducer 100 is in use, the axial direction of the harmonic reducer 100 is the extension direction of the rotation axis of the relative rotation, and the radial direction of the harmonic reducer 100 is the direction perpendicular to the axial direction of the harmonic reducer 100.

[0040] Specifically, the wave generator 210 can be selected as a conventional wave generator 210 in the art, such as a wave generator 210 composed of a cam 211 and a second flexible bearing 212. The cam 211 can be provided with a keyway to cooperate with the drive shaft of the driver, or the cam 211 can be directly fixedly connected to the drive end of the driver by bolts or other pre-tightening components. In the embodiment where the first flexible wheel 220 and the second flexible wheel 310 are fixed ends, the second rigid wheel 320 is the output end. In the embodiment where the second rigid wheel 320 is the fixed end, the first flexible wheel 220 and the second flexible wheel 310 can both serve as output ends.

[0041] The harmonic reducer 100 of this embodiment can achieve a transmission ratio between 300 and 25000. The specific transmission ratio is calculated based on the number of teeth of the first flexible wheel 220, the first rigid wheel 230, the second flexible wheel 310, and the second rigid wheel 320. The calculation method is a conventional method in the art and will not be elaborated here. Furthermore, the ellipse of the first rigid wheel 230 is the same as the ellipse of the cam 211 in the wave generator 210. The harmonic transmission principle in the first-stage reduction assembly 200 and the second-stage reduction assembly 300 is also common knowledge in the art, and the specific transmission principle will not be elaborated here.

[0042] Reference Figure 1 In some embodiments, the harmonic reducer 100 includes a flange 400, a first flexible wheel 220 and a second flexible wheel 310 fixedly connected to the flange 400, and a first rigid wheel 230 and a second rigid wheel 320 rotatably connected to the flange 400. The first flexible wheel 220, the second flexible wheel 310, the first rigid wheel 230, and the second rigid wheel 320 can be interconnected through a single flange 400, and both the first flexible wheel 220 and the second flexible wheel 310 are fixedly connected to the flange 400, thus securing the first flexible wheel 220 and the second flexible wheel 310.

[0043] Furthermore, the flange 400 is provided with a first connecting portion 410. The first flexible wheel 220 includes a first engaging portion 221 and a second connecting portion 222 that are interconnected. The inner ring of the first engaging portion 221 engages with the wave generator 210, and the outer ring of the first engaging portion 221 engages with the inner ring of the first rigid wheel 230. The second connecting portion 222 extends inward along the inner ring direction of the first flexible wheel 220, so that the first flexible wheel 220 is formed into a cup-shaped flexible wheel. The second connecting portion 222 is fixedly connected to the first connecting portion 410. The second connecting portion 222 extends inward along the inner ring direction of the first flexible wheel 220 to connect with the first connecting portion 222. This allows the space of the inner ring of the first flexible wheel 220 to be used for connection, providing space for the installation and connection of other components, and reducing the overall radial dimension of the harmonic reducer 100.

[0044] Specifically, the first connecting part 410 may be integrally formed on the flange 400, or the flange 400 may also include a body 440, and the first connecting part 410 may be fixed to the body 440 by bolts or other pre-tightening components. The first engaging part 221 and the second engaging part 311 are integrally formed.

[0045] As another improvement to the above scheme, referring to Figure 1 The flange 400 is provided with a third connecting portion 420. The second flexible wheel 310 includes a second meshing portion 311 and a fourth connecting portion 312 that are interconnected. The inner ring of the second meshing portion 311 contacts the flexible bearing 330, and the outer ring of the second meshing portion 311 meshes with the second rigid wheel 320. The fourth connecting portion 312 extends outward along the outer ring direction of the second flexible wheel 310, so that the second flexible wheel 310 is formed into a cap-shaped flexible wheel. The fourth connecting portion 312 is fixedly connected to the third connecting portion 420. By extending the fourth connecting portion 312 outward along the outer ring direction of the second flexible wheel 310, the space occupied by the second rigid wheel 320 in the outer ring direction of the second flexible wheel 310 can be utilized, and the interference between the second flexible wheel 310 and other components of the harmonic reducer 100 in the inner ring direction of the second flexible wheel 310 can be reduced. By setting the first flexible wheel 220 as a cup-shaped flexible wheel and the second flexible wheel 310 as a hat-shaped flexible wheel, the spatial layout of the harmonic reducer 100 can be reasonably utilized and the spatial configuration of the harmonic reducer 100 can be optimized, thereby making the structure of the harmonic reducer 100 more compact and reducing the volume of the harmonic reducer 100.

[0046] An embodiment of the present invention also provides an improvement, referring to Figure 1 The harmonic reducer 100 also includes a limiting sleeve 500 and a first bearing 510. The third connecting part 420, the fourth connecting part 312, and the limiting sleeve 500 abut against each other and are fixed to each other in sequence. The limiting sleeve 500 is provided with a first limiting groove 501 on the side facing the second rigid wheel 320. The second rigid wheel 320 includes a third meshing part 321 and a fifth connecting part 322 that are connected to each other. The inner ring of the third meshing part 321 meshes with the outer ring of the second flexible wheel 310. The fifth connecting part 322 extends in the direction toward the flange 400, and a second limiting groove 323 is provided on the side of the fifth connecting part 322 away from the first rigid wheel 230. The first bearing 510 is sleeved on the fifth connecting part 322, and the inner ring of the first bearing 510 is located in the second limiting groove 323, while the outer ring of the first bearing 510 is located in the first limiting groove 501. By setting the first bearing 510, the second rigid wheel 320 can be further supported, thereby improving the motion stability of the second rigid wheel 320 and the structural stability of the harmonic reducer 100. In addition, the first bearing 510 can reduce the frictional force between the second rigid wheel 320 and the limiting sleeve 500 while the second rigid wheel 320 is supported, thereby reducing the resistance to the rotation of the second rigid wheel 320 and ensuring the transmission of the second rigid wheel 320.

[0047] Specifically, the third meshing part 321 and the fifth connecting part 322 of the second rigid wheel 320 can be integrally formed, or they can be fixedly connected as one piece by bolts or other pre-tightening components. The third connecting part 420, the fourth connecting part 312, and the limiting sleeve 500 can be fixedly connected by bolts or other pre-tightening components, thereby improving the structural stability of the harmonic reducer 100. The fourth connecting part 312 and the limiting sleeve 500 can be further fixed by bolts or other pre-tightening components, thereby further improving the structural stability of the harmonic reducer 100. The extension direction of the fifth connecting part 322 is parallel to the axial direction of the harmonic reducer 100.

[0048] As a first aspect of the embodiment of the present invention, refer to Figures 1 to 3 The flange 400 has a receiving groove 430 on the side facing the wave generator 210. The first rigid wheel 230 includes a fourth meshing part 231 and a sixth connecting part 232 that are connected to each other. The inner ring of the fourth meshing part 231 meshes with the outer ring of the first flexible wheel 220. The outer ring of the fourth meshing part 231 is fixed with the inner ring of the flexible bearing 330. The sixth connecting part 232 extends in a direction close to the flange 400 and is at least partially located in the receiving groove 430. The harmonic reducer 100 also includes a second bearing 520. The second bearing 520 is sleeved on the outer surface of the sixth connecting part 232. The outer ring of the second bearing 520 abuts against the inner surface of the receiving groove 430. By fitting the second bearing 520 onto the sixth connecting portion 232 of the first rigid wheel 230, and having the second bearing 520 abut against the inner surface of the receiving groove 430, support can be provided for the first rigid wheel 230, improving the motion stability of the first rigid wheel 230 and the structural stability of the harmonic reducer 100. Furthermore, the second bearing 520 can reduce the frictional force between the first rigid wheel 230 and the flange 400 during relative rotation, thereby reducing the resistance to rotation of the first rigid wheel 230 and ensuring the transmission of the first rigid wheel 230. Specifically, the extending direction of the sixth connecting portion 232 is parallel to the axial direction of the harmonic reducer 100.

[0049] Furthermore, refer to Figure 4The flange 400 is provided with a first connecting portion 410, which extends toward the first flexible wheel 220. The first flexible wheel 220 includes a first engaging portion 221 and a second connecting portion 222 that are interconnected. The inner ring of the first engaging portion 221 engages with the wave generator 210, and the outer ring of the first engaging portion 221 engages with the inner ring of the first rigid wheel 230. The second connecting portion 222 extends inward along the direction of the inner ring of the first flexible wheel 220 and is fixedly connected to the first connecting portion 410. The harmonic reducer 100 also includes a third bearing 530, which is sleeved on the first connecting portion 410, and the outer ring of the third bearing 530 abuts against the sixth connecting portion 232. By providing a third bearing 530 on the first connecting part 410, and having the outer ring of the third bearing 530 abut against the sixth connecting part 232, the first rigid wheel 230 can be further supported, thereby improving the motion stability of the first rigid wheel 230 and the structural stability of the harmonic reducer 100. This also reduces the frictional force between the first rigid wheel 230 and the first connecting part 410 as the first rigid wheel 230 gains support, thus reducing the resistance to the rotation of the first rigid wheel 230 and ensuring the transmission of the first rigid wheel 230.

[0050] Specifically, the extension direction of the first connecting portion 410 is parallel to the axial direction of the harmonic reducer 100. Furthermore, the first bearing 510, the second bearing 520, and the third bearing 530 mentioned above can all be selected as deep groove ball bearings or other bearings conventional in the art.

[0051] As a further improvement to the above scheme, referring to Figure 4 Along the flange 400 toward the fourth engagement part 231, the sixth connecting part 232 is provided with a first step 233, a second step 234 and a third step 235 in sequence. The first step 233 and the third step 235 are respectively provided on the outer ring of the sixth connecting part 232, and the second step 234 is provided on the inner ring of the sixth connecting part 232. The first step 233 abuts against the second bearing 520, the second step 234 abuts against the third bearing 530, and the third step 235 abuts against the flexible bearing 330. By setting the first step 233, the second step 234, and the third step 235, the installation positions of the second bearing 520, the third bearing 530, and the flexible bearing 330 can be positioned respectively. After assembly, the second bearing 520, the third bearing 530, and the flexible bearing 330 are limited, improving the structural stability of the harmonic reducer 100. Furthermore, the radial position of the second bearing 520, the third bearing 530, and the flexible bearing 330 in the harmonic reducer 100 can be adjusted by the height difference of each step.

[0052] As a second aspect of the present invention, refer to Figure 4To achieve hollow wiring in the harmonic reducer 100, a first connecting portion 410 is provided on the flange 400. The first flexible wheel 220 includes a first engaging portion 221 and a second connecting portion 222, and the second connecting portion 222 is fixedly connected to the first connecting portion 410. The first connecting portion 410 is provided with a first through hole 411, which penetrates the first connecting portion 410 along the flange 400 toward the first flexible wheel 220. The second connecting portion 222 is provided with a second through hole 223, which has the same penetrating direction as the first through hole 411, and the first through hole 411 and the second through hole 223 are connected. The first through hole 411 and the second through hole 223 enable the reducer 100 to cooperate with drives with wiring structures, such as hollow motors, to achieve hollow wiring, facilitating its application in scenarios requiring wiring and allowing for wire arrangement.

[0053] Furthermore, the first connecting part 410 and the second connecting part 222 are threaded together to achieve a detachable connection between the flange 400 and the first flexible wheel 220, thereby reducing assembly difficulty and improving assembly and disassembly efficiency. Specifically, the inner ring of the first connecting part 410 is provided with a first thread, and the outer ring of the second connecting part 222 is provided with a second thread. The threaded connection is achieved through the cooperation of the first thread and the second thread.

[0054] It should be noted that since the wave generator 210, the first flexible wheel 220, the second flexible wheel 310, the first rigid wheel 230, the second rigid wheel 320, the first bearing 510, the second bearing 520, and the third bearing 530 are all annular, the inner ring mentioned in this article refers to the annular surface facing the axis of rotation, and the direction of the inner ring is the direction facing the axis of rotation. The outer ring refers to the annular surface facing away from the axis of rotation, and the direction of the outer ring is the direction facing away from the axis of rotation.

[0055] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. Harmonic reducer, characterized in that, The application relates to a reducer, which comprises the following components: a primary reduction assembly, which comprises a wave generator, a first flexible gear and a first rigid gear, the wave generator is connected with a driver, the outer ring of the wave generator is engaged with the inner ring of the first flexible gear, the outer ring of the first flexible gear is engaged with the inner ring of the first rigid gear; wherein the outer ring of the first rigid gear is in an elliptical shape, the number difference between the outer teeth of the first flexible gear and the inner teeth of the first rigid gear is two, and the number of the outer teeth of the first flexible gear is less than that of the inner teeth of the first rigid gear; a secondary reduction assembly, which comprises a second flexible gear, a second rigid gear and a flexible bearing, the inner ring of the flexible bearing is fixed to the outer ring of the first rigid gear, the outer ring of the flexible bearing is in contact with the inner ring of the second flexible gear, the outer ring of the second flexible gear is engaged with the inner ring of the second rigid gear, the number difference between the outer teeth of the second flexible gear and the inner teeth of the second rigid gear is two, and the number of the outer teeth of the second flexible gear is less than that of the inner teeth of the second rigid gear; a flange, the first flexible gear and the second flexible gear are fixedly connected with the flange, and the first rigid gear and the second rigid gear are rotatably connected with the flange; the flange is provided with a first connecting part and a third connecting part, the first flexible gear comprises a first engaging part and a second connecting part which are connected with each other, the inner ring of the first engaging part is engaged with the wave generator, the outer ring of the first engaging part is engaged with the inner ring of the first rigid gear, the second connecting part extends inward along the inner ring of the first flexible gear, and the second connecting part is fixedly connected with the first connecting part; the second flexible gear comprises a second engaging part and a fourth connecting part which are connected with each other, the inner ring of the second engaging part is in contact with the flexible bearing, the outer ring of the second engaging part is engaged with the second rigid gear, the fourth connecting part extends outward along the outer ring of the second flexible gear, and the fourth connecting part is fixedly connected with the third connecting part; a limiting sleeve and a first bearing, the third connecting part, the fourth connecting part and the limiting sleeve are sequentially abutted and fixed with each other, one side of the limiting sleeve facing the second rigid gear is provided with a first limiting groove; the second rigid gear comprises a third engaging part and a fifth connecting part which are connected with each other, the inner ring of the third engaging part is engaged with the outer ring of the second flexible gear, the fifth connecting part extends in a direction facing the flange, one side of the fifth connecting part away from the first rigid gear is provided with a second limiting groove, the first bearing is sleeved on the fifth connecting part, the inner ring of the first bearing is located in the second limiting groove, and the outer ring of the first bearing is located in the first limiting groove; one side of the flange facing the wave generator is provided with a containing groove, the first rigid gear comprises a fourth engaging part and a sixth connecting part which are connected with each other, the inner ring of the fourth engaging part is engaged with the outer ring of the first flexible gear, the outer ring of the fourth engaging part is fixed with the inner ring of the flexible bearing, the sixth connecting part extends in a direction close to the flange and is at least partially located in the containing groove; a second bearing, which is sleeved on the outer surface of the sixth connecting part and abuts against the inner surface of the containing groove.

2. The harmonic reducer of claim 1, wherein, The first connecting part is provided with a first through hole penetrating the first connecting part in a direction of the flange towards the first flexspline, and the second connecting part is provided with a second through hole in the same direction as the first through hole, and the first through hole and the second through hole are communicated.

3. The harmonic reducer of claim 2, wherein, The first connecting part is threadedly connected with the second connecting part.

4. The harmonic reducer of claim 1, wherein, The flange is provided with a first connecting part extending in a direction towards the first flexspline, the first flexspline comprises a first engaging part and a second connecting part connected with each other, an inner ring of the first engaging part is engaged with the wave generator, an outer ring of the first engaging part is engaged with an inner ring of the first rigid gear, the second connecting part extends inwardly in a direction of the inner ring of the first flexspline, and the second connecting part is fixedly connected with the first connecting part; the harmonic reducer further comprises a third bearing, the third bearing is sleeved on the first connecting part, and an outer ring of the third bearing abuts against the sixth connecting part.

5. The harmonic reducer of claim 4, wherein, In a direction of the flange towards the fourth engaging part, the sixth connecting part is sequentially provided with a first step, a second step and a third step, wherein the first step and the third step are respectively arranged on an outer ring of the sixth connecting part, the second step is arranged on an inner ring of the sixth connecting part, the first step abuts against the second bearing, the second step abuts against the third bearing, and the third step abuts against the flexible bearing.

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