Harmonic variable speed unit, actuator and robot

Abstract

The embodiment of the present application provides a harmonic speed change unit, an actuator and a robot, wherein the harmonic speed change unit comprises: a transmission shaft; a harmonic generator assembly, a harmonic flexspline assembly and a harmonic steel wheel which are arranged around the outer periphery of the transmission shaft, the harmonic generator assembly is matched with the harmonic flexspline assembly and the harmonic steel wheel, the harmonic flexspline assembly is drivingly connected with the transmission shaft; and an auxiliary mounting member, the auxiliary mounting member has an assembly hole, the auxiliary mounting member is connected with the harmonic flexspline assembly, and the assembly hole is coaxially arranged with the harmonic flexspline assembly; the auxiliary mounting member is sleeved on the transmission shaft through the assembly hole, so that the harmonic flexspline assembly is coaxially assembled with the harmonic generator. Through the auxiliary mounting member, the harmonic generator assembly and the harmonic flexspline assembly are more accurately positioned when assembled, the mutual assembly is easier, and the assembly deflection is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a harmonic speed change unit, an actuator and a robot. BACKGROUND

[0002] In the field of intelligent robots, an actuator is usually used to provide power for each joint of the robot so that each joint can make corresponding movements. However, the assembly process of the actuator currently used is relatively cumbersome, which affects the assembly efficiency. SUMMARY

[0003] In view of the above problems, the embodiments of the present application are proposed to provide a harmonic speed change unit, an actuator and a robot which solve the above problems.

[0004] In one embodiment of the present application, a harmonic speed change unit is provided, comprising:

[0005] a transmission shaft;

[0006] a harmonic generator assembly, a harmonic flexspline assembly and a harmonic steel wheel arranged around the outer periphery of the transmission shaft, the harmonic generator assembly cooperating with the harmonic flexspline assembly and the harmonic steel wheel, and the harmonic flexspline assembly being drivingly connected to the transmission shaft; and

[0007] an auxiliary mounting member having an assembly hole, the auxiliary mounting member being connected to the harmonic flexspline assembly, and the assembly hole being coaxially arranged with the harmonic flexspline assembly; the auxiliary mounting member is sleeved on the transmission shaft through the assembly hole, so that the harmonic flexspline assembly is coaxially assembled with the harmonic generator.

[0008] In some embodiments, the harmonic generator assembly comprises a generator connecting member and a wave generator connected to the generator connecting member.

[0009] The transmission shaft is connected to the generator connecting member through a first bearing member, so that the transmission shaft is coaxially assembled with the harmonic generator.

[0010] In some embodiments, a circlip member for limiting the first bearing member is arranged on the transmission shaft.

[0011] In some embodiments, the harmonic flexspline assembly comprises a harmonic flexspline and a flexspline connecting member, the harmonic flexspline being fixedly connected to the flexspline connecting member, and the flexspline connecting member being provided with a first fitting connecting portion.

[0012] The auxiliary mounting member is fixedly connected to the flexspline connecting member.

[0013] One end of the axial direction of the transmission shaft is provided with a second fitting connection part matched with the first fitting connection part, and the transmission shaft is connected with the first fitting connection part through the second fitting connection part.

[0014] In some embodiments, one of the first fitting connection part and the second fitting connection part is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure.

[0015] In some embodiments, the harmonic gear includes a bottom plate and a side wall arranged on the bottom plate, the bottom plate and the side wall form an assembly cavity, the bottom plate has a first connecting hole and a first shaft hole;

[0016] The gear connecting piece has a second connecting hole and a second shaft hole, a fastener is arranged in the first connecting hole and the second connecting hole to connect the gear connecting piece to the bottom plate and outside the assembly cavity, the first shaft hole and the second shaft hole are coaxially arranged;

[0017] The auxiliary mounting piece is a cylindrical structure, the auxiliary mounting piece has a third connecting hole and the assembly hole, a fastener is arranged in the third connecting hole and the first connecting hole to connect the auxiliary mounting piece to the gear connecting piece and inside the first shaft hole and the second shaft hole, the assembly hole is coaxially arranged with the first shaft hole;

[0018] The transmission shaft is connected with the gear connecting piece through the assembly hole.

[0019] Correspondingly, the embodiment of the present application also provides an actuator, which comprises:

[0020] a driving unit and a harmonic transmission unit as described above;

[0021] The driving unit comprises a motor housing and a driving motor, the driving motor is arranged in the motor housing and is sleeved on the outer periphery of the transmission shaft in the harmonic transmission unit;

[0022] The harmonic generator assembly in the harmonic transmission unit is connected with the rotor of the driving motor, and the harmonic steel wheel is connected with the motor housing.

[0023] In some embodiments, the harmonic generator assembly comprises a wave generator and a generator connecting piece, and the wave generator is connected to the rotor of the driving motor through the generator connecting piece.

[0024] In some embodiments, the actuator further has a rotation space, and the rotation space is provided with a detection gear assembly;

[0025] The detection gear assembly is drivingly connected with the driving unit and the transmission shaft, respectively.

[0026] In some embodiments, a driving plate and a rear cover are further included;

[0027] The driving plate is located in the rotation space and annularly arranged around the transmission shaft, and an encoder is arranged on the driving plate and used in cooperation with the detection gear assembly;

[0028] The rear cover covers the rotation space.

[0029] In some embodiments, a holding brake assembly is further included, which is arranged in the rotation space and located on a side of the driving unit away from the harmonic transmission unit, and the holding brake assembly is connected with the driving unit and annularly arranged around the outer periphery of the transmission shaft.

[0030] Correspondingly, the embodiment of the present application further provides a robot, which comprises the actuator.

[0031] The technical scheme provided by the embodiment of the present application, by arranging the auxiliary mounting member, the harmonic generator assembly and the harmonic flexspline assembly in the harmonic transmission unit can be positioned more accurately through the shaft hole cooperation when assembled, the mutual assembly is easier, the assembly deviation is reduced, and the assembly of the harmonic flexspline assembly and the transmission shaft is facilitated, and the assembly efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0033] Figure 1 The top view structural schematic diagram of the actuator provided by the embodiment of the present application;

[0034] Figure 2 The cross-sectional structural schematic diagram of the actuator provided by the embodiment of the present application along the A-A plane; Figure 1

[0035] Figure 3 The local cross-sectional plane structural schematic diagram of the actuator provided by the embodiment of the present application;

[0036] Figure 4 The local cross-sectional three-dimensional structural schematic diagram of the actuator provided by the embodiment of the present application;

[0037] Figure 5 The local cross-sectional structural schematic diagram of the detection gear assembly of the actuator provided by the embodiment of the present application; ​

[0038] Figure 6 A partial cross-sectional perspective view of a driving unit of an actuator according to an embodiment of the present application is provided.

[0039] Figure 7 A perspective exploded view of an actuator according to an embodiment of the present application is provided.

[0040] Legend of reference numerals

[0041] 1: output flange; 1001: first through hole; 2: transmission shaft; 2001: second embedded connecting part; 202: hollow cavity; 3: auxiliary mounting; 4: harmonic flexspline; 5: harmonic generator; 6: harmonic steel wheel; 7: clasp spring part; 8: first bearing part; 9: generator connecting part; 10: driving motor; 101: third embedded connecting part; 11: gear fixing sleeve; 111: fourth embedded connecting part; 12: second bearing part; 13: third bearing part; 14: motor end detection gear; 15: magnet base; 16: encoding magnet; 17: driving board; 18: driving board waterproof sleeve; 19: first sealing ring; 20: rear cover part; 201: second through hole; 21: gear cover plate; 211: first rotating cavity; 212: second rotating cavity; 213: third rotating cavity; 22: second sealing ring; 23: output end detection gear; 24: fourth bearing part; 25: fifth bearing part; 26: output end input gear; 27: brake shell; 28: motor end input gear; 29: brake piece; 30: motor shell; 31: flexspline connecting part; 311: first embedded connecting part; 32: steel wheel connecting part; 33: crossed roller bearing; 34: fixed flange. DETAILED DESCRIPTION

[0042] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the embodiments of the present application.

[0043] In the description of the embodiments of the present application, it should be understood that the terms "comprising" and "having" and any variations thereof used in this text are intended to include but not limited to contain, for example, a process, method, system, product or device containing a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] In addition, in the embodiments of the present application, unless specifically defined and limited otherwise, the terms "connection", "connection", "fixing", "installation" and the like should be understood in a broad sense, for example, they can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium, can be internal communication of two elements or interaction relationship of two elements, unless specifically defined otherwise, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances by those skilled in the art.

[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0046] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone.

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0048] Figure 1 The top structure schematic diagram of the actuator provided in the embodiments of the present application is shown in Figure 2 The side structure schematic diagram of the actuator provided in the embodiments of the present application is shown in Figure 1 The cross-sectional structure schematic diagram of the actuator provided in the embodiments of the present application along A-A plane is shown in Figure 3 The partial cross-sectional plane structure schematic diagram of the actuator provided in the embodiments of the present application is shown in Figures 1 to 3

[0049] ​In one embodiment of the present invention, a harmonic speed change unit is provided, including: a drive shaft 2, and a harmonic generator assembly, a harmonic flexible wheel assembly, and a harmonic steel wheel 6 arranged around the outer periphery of the drive shaft 2. The harmonic generator assembly cooperates with the harmonic flexible wheel assembly and the harmonic steel wheel 6, and the harmonic flexible wheel assembly is drivenly connected to the drive shaft 2.

[0050] To facilitate the assembly between the harmonic generator assembly and the harmonic flexure assembly in the transmission unit, the harmonic transmission unit also includes an auxiliary mounting component 3. The auxiliary mounting component 3 has an assembly hole, and the auxiliary mounting component 3 is connected to the harmonic flexure assembly. The assembly hole is coaxially arranged with the harmonic flexure assembly. The auxiliary mounting component 3 is sleeved on the transmission shaft 2 through the assembly hole so that the harmonic flexure assembly and the harmonic generator 5 are coaxially assembled.

[0051] In traditional harmonic transmissions, the assembly areas of the harmonic generator assembly and the harmonic flexure assembly are elliptical in shape and have a relatively tight fit. Without the assistance of the auxiliary mounting part 3, the assembly operation between the harmonic generator assembly and the harmonic flexure assembly is relatively difficult. In the technical solution provided by this embodiment of the invention, by setting the auxiliary mounting part 3, the positioning of the harmonic generator assembly and the harmonic flexure assembly in the harmonic transmission unit is more accurate during assembly, making mutual assembly easier and reducing assembly misalignment. At the same time, it also facilitates the assembly between the harmonic flexure assembly and the drive shaft 2, reducing assembly difficulty and improving assembly efficiency.

[0052] The harmonic speed-changing unit provided in this embodiment of the invention includes, but is not limited to, actuators. One possible implementation of the actuator is that it includes a drive unit, with a transmission shaft 2 passing through the middle of the drive unit. The harmonic steel wheel 6 is fixedly connected to the drive unit. To better utilize space, such as... Figure 2 As shown in the diagram, the harmonic generator assembly, harmonic flexible wheel assembly, and harmonic steel wheel 6 are positioned at the upper part of the drive unit along the axial direction of the transmission shaft 2. The driving force of the drive unit can be transmitted to the output flange at the output end of the actuator via the harmonic speed change unit. The harmonic speed change unit can be used for either speed reduction or speed increase to achieve the target torque, depending on the specific requirements. Simultaneously, when the drive unit is energized, it can drive the output flange to rotate via the harmonic speed change unit, thereby directly or indirectly transmitting driving force. The transmission shaft 2 is fixed to the output flange, its function being to transmit the output torque to the other end of the actuator, facilitating position detection and other structural effects.

[0053] In some feasible embodiments of the present invention, the assembly process of a harmonic speed change unit is as follows: first, the harmonic steel wheel 6 is fixedly connected to the drive unit, and then the harmonic generator 5 is set on the drive unit. At this time, the harmonic generator 5 is located inside the circle of the harmonic steel wheel.

[0054] Then, the auxiliary mounting member 3 is fixedly connected with the harmonic wave flexspline assembly through fasteners, such as through bolts. Figure 3 When the harmonic wave flexspline assembly is coaxially assembled with the harmonic wave generator assembly from top to bottom, the transmission shaft 2 is first matched with the assembly hole of the auxiliary mounting member 3, that is, the auxiliary mounting member 3 is sleeved with the transmission shaft 2 through the assembly hole, at this time, the harmonic wave flexspline assembly and the harmonic wave generator assembly have a coaxial positioning relationship, when the harmonic wave flexspline assembly continues to be assembled downward, the assembly between the harmonic wave flexspline assembly and the harmonic wave generator assembly can be easily completed, and the auxiliary mounting member 3 can effectively reduce the deflection of the harmonic wave flexspline assembly and the harmonic wave generator assembly during assembly.

[0055] Continuing to refer to Figure 2 and Figure 3 In some implementable embodiments of the present application, an implementable manner of the harmonic wave generator assembly is that the harmonic wave generator assembly comprises a generator connecting member 9 and a harmonic wave generator 5 connected to the generator connecting member 9. The transmission shaft 2 is connected with the generator connecting member 9 through the first bearing member 8, so that the transmission shaft 2 is coaxially assembled with the harmonic wave generator 5. By arranging the generator connecting member 9, the harmonic wave generator 5 is more easily connected to the rotor of the driving motor 10, and the stability of the connection can be effectively improved.

[0056] In order to reduce the interference between the generator connecting member 9 and the transmission shaft 2 during rotation, the generator connecting member 9 is connected with the transmission shaft 2 through the first bearing member 8. The first bearing member 8 is connected with the transmission shaft 2 through the inner ring, and the outer ring of the first bearing member 8 is connected with the generator connecting member 9. At the same time, through the first bearing member 8, the transmission shaft 2 can be coaxially assembled with the harmonic wave generator 5 through the first bearing member 8, so that the coaxial assembly between the harmonic wave flexspline assembly and the harmonic wave generator assembly can be indirectly realized when the transmission shaft 2 is matched with the auxiliary mounting member 3 through the assembly hole.

[0057] In order to further ensure the position stability of the first bearing member 8, in some implementable embodiments of the present application, the transmission shaft 2 is provided with a circlip member 7 for limiting the position of the first bearing member 8. The circlip member 7 can be fixedly arranged on the transmission shaft 2, so as to limit the axial position of the first bearing member 8, and avoid the axial displacement of the first bearing member 8.

[0058] In some implementable embodiments of the present application, continuing to refer to Figure 2 and Figure 3, one implementation of the harmonic gear assembly is that the harmonic gear assembly comprises the harmonic gear 4 and the harmonic gear connecting piece 31, the harmonic gear 4 is fixedly connected with the harmonic gear connecting piece 31, and the auxiliary mounting piece 3 is fixedly connected with the harmonic gear connecting piece 31. In order to realize the speed change function, the harmonic gear 4 usually has a certain flexibility, and when cooperating with the harmonic generator 5 to perform the speed change operation, the harmonic gear 4 usually deforms. Therefore, the structural strength of the harmonic gear 4 is relatively weak, in order to improve the connection stability of the harmonic gear 4, the harmonic gear connecting piece 31 is arranged on the harmonic gear 4 in the embodiment of the application, the rigidity of the harmonic gear connecting piece 31 is greater than the rigidity of the harmonic gear 4, and the harmonic gear assembly is connected with other components through the harmonic gear connecting piece 31, such as the connection between the harmonic gear assembly and the auxiliary mounting piece 3 and the transmission shaft 2, and the unstable connection caused by deformation does not occur. In addition, the harmonic gear assembly and the transmission shaft 2 also appear the conduction of the acting force and the torque, therefore, the conduction of the acting force and the torque between the harmonic gear assembly and the transmission shaft 2 is realized through the harmonic gear connecting piece 31 with greater rigidity, so that the acting force and the torque can be more directly and quickly conducted, and the lag of the conduction of the acting force and the torque caused by deformation is reduced.

[0059] Further, referring to Figure 3 and Figure 4 , the harmonic gear connecting piece 31 is provided with a first embedded connecting part 311; one end of the axial direction of the transmission shaft 2 is provided with a second embedded connecting part 2001 used in cooperation with the first embedded connecting part 311, and the transmission shaft 2 is embeddedly connected with the first embedded connecting part 311 through the second embedded connecting part 2001. Through the second embedded connecting part 2001 and the first embedded connecting part 311, the connection between the harmonic gear connecting piece 31 and the transmission shaft 2 is more stable, and the assembly is easier, at the same time, after the first embedded connecting part 311 and the second embedded connecting part 2001 are embeddedly connected, the relative circumferential rotation between the harmonic gear connecting piece 31 and the transmission shaft 2 is limited, and the synchronous circumferential rotation of the transmission shaft 2 driven by the harmonic gear connecting piece 31 can be more effectively realized, so that the torque transmission is easier, more direct and faster.

[0060] The first and second fitting connection parts 311 and 2001 include but are not limited to a convex-concave structure matched with each other. In some embodiments, one of the first and second fitting connection parts 311 and 2001 is a card slot structure, and the other is a convex structure matched with the card slot structure. Such a convex-concave matching structure can achieve the simplest assembly, that is, after the axial alignment position is aligned, the circumferential relative positioning and torque transmission can be achieved. Of course, the positions of the card slot structure and the convex structure can be interchanged, or the first fitting connection part 311 simultaneously includes a card slot structure and a convex structure, and correspondingly, the second fitting connection part 2001 also simultaneously includes a card slot structure and a convex structure, and the first and second fitting connection parts 311 and 2001 are matched with each other. The shapes of the card slot structure and the convex structure are not specifically limited in the embodiments of the present application, and can satisfy the mutual fitting, for example, into a tooth shape.

[0061] In some embodiments of the present application, one implementation of the harmonic gear 4 is that the harmonic gear 4 includes a bottom plate and a side wall arranged on the bottom plate, and the bottom plate and the side wall enclose an assembly cavity. The harmonic gear 4 can be approximately a bucket-shaped structure, and the bottom plate is the bottom of the bucket and the side wall is the wall of the bucket. After the harmonic gear 4 is assembled with the harmonic generator assembly, the harmonic gear 4 covers the harmonic generator assembly in the assembly cavity, and the side wall is located between the harmonic generator assembly and the harmonic gear 6.

[0062] One connection mode between the harmonic gear 4, the harmonic gear connecting piece 31 and the auxiliary mounting piece 3 is that the bottom plate has a first connecting hole and a first shaft hole. The harmonic gear connecting piece 31 has a second connecting hole and a second shaft hole, and a fastener is arranged in the first connecting hole and the second connecting hole to connect the harmonic gear connecting piece 31 to the bottom plate and outside the assembly cavity, and the first shaft hole and the second shaft hole are coaxially arranged. The fastener includes but is not limited to a screw or a bolt, and the fastener can be multiple and uniformly arranged around the first shaft hole. At the same time, the fastener can also connect the output flange 1 to the harmonic gear connecting piece 31, the harmonic gear connecting piece 31 can drive the output flange 1 to rotate, and the output flange 1 can serve as an output end of the actuator.

[0063] The auxiliary mounting piece 3 is a cylindrical structure, and the auxiliary mounting piece 3 has a third connecting hole and an assembly hole. A fastener is arranged in the third connecting hole and the first connecting hole to connect the auxiliary mounting piece 3 to the harmonic gear connecting piece 31 and inside the first shaft hole and the second shaft hole, and the assembly hole is coaxially arranged with the first shaft hole. The fastener for connecting the auxiliary mounting piece 3 to the harmonic gear connecting piece 31 and the fastener for connecting the harmonic gear 4 and the harmonic gear connecting piece 31 can be the same or different, and can be set according to different requirements, which is not specifically limited here.

[0064] The transmission shaft 2 is connected with the flexspline connecting piece 31 through the assembly hole, so that the transmission shaft 2, the auxiliary mounting piece 3, the harmonic flexspline 4 and the flexspline connecting piece 31 are coaxially arranged, at the same time, the harmonic generator assembly is arranged around the transmission shaft 2, so that when the harmonic flexspline assembly and the harmonic generator assembly are assembled, the transmission shaft 2, the auxiliary mounting piece 3, the harmonic flexspline 4 and the flexspline connecting piece 31 are coaxially arranged with the harmonic generator 5, and then the coaxial assembly of the harmonic flexspline assembly and the harmonic generator 5 is realized.

[0065] Further, in order to make the relative position of the auxiliary mounting piece 3 more stable, in some realizable embodiments of the present application, the inner wall of the first shaft hole and / or the inner wall of the second shaft hole is provided with a positioning groove. The outer wall of the auxiliary mounting piece 3 is provided with a positioning protrusion used in cooperation with the positioning groove, and the auxiliary mounting piece 3 is connected with the positioning groove through the positioning protrusion. Through the cooperation between the positioning groove and the positioning protrusion, the auxiliary mounting piece 3 can be effectively positioned, and the installation position of the auxiliary mounting piece 3 relative to the flexspline connecting piece 31 and the harmonic flexspline 4 is limited, so that the installation position of the auxiliary mounting piece 3 is more accurate. At the same time, the positioning groove and the positioning protrusion increase the contact area between the auxiliary mounting piece 3 and the flexspline connecting piece 31 and the harmonic flexspline 4, so as to increase the friction and reduce the relative displacement between them, thereby ensuring that the relative position of the auxiliary mounting piece 3 is more stable.

[0066] Continuing to refer to Figure 2 and Figure 3 In some realizable embodiments of the present application, the harmonic steel wheel 6 can be fixedly arranged on the driving unit. One fixing mode is that the harmonic steel wheel 6 can be fixed on the driving unit through a fastener. In order to make the connection of the harmonic steel wheel 6 more stable, the harmonic steel wheel 6 is provided with a steel wheel connecting piece 32 on the side away from the driving unit, the steel wheel connecting piece 32 is adapted to the annular structure of the harmonic steel wheel 6, the driving unit, the harmonic steel wheel 6 and the steel wheel connecting piece 32 are stacked, and the fastener is sequentially connected with the driving unit through the steel wheel connecting piece 32 and the harmonic steel wheel 6. A clamping structure is formed between the steel wheel connecting piece 32 and the driving unit, the harmonic steel wheel 6 is clamped and fixed between the steel wheel connecting piece 32 and the driving unit, so as to ensure the stable position of the harmonic steel wheel 6.

[0067] Further, to complete the installation and positioning of the rotating structure such as the output flange, the actuator further comprises a fixed flange 34, which is annularly arranged on the outer periphery of the output flange 1 and fixedly connected with the steel wheel connecting piece 32. To make the rotation of the output flange 1 and the harmonic wave gear assembly more smooth, a cross roller bearing 33 is arranged between the fixed flange 34 and the output flange 1 and between the steel wheel connecting piece 32 and the harmonic wave gear connecting piece 31, that is, the inner ring of the cross roller bearing 33 is pressed tightly by the output flange 1 and the harmonic wave gear connecting piece 31, and the outer ring of the cross roller bearing 33 is pressed tightly by the steel wheel connecting piece 32 and the fixed flange 34. The fixed flange 34 and the steel wheel connecting piece 32 can be connected through fasteners, to reasonably utilize the fasteners and reduce the number of fasteners used, in the embodiment of the present application, when assembling the fixed flange 34, the fasteners used for fixation can be simultaneously passed through the fixed flange 34, the steel wheel connecting piece 32 and the harmonic wave steel wheel 6 and then connected with the driving unit, without the need to additionally arrange fasteners for fixing the harmonic wave steel wheel 6, so that the number of fasteners used can be reduced, the cost can be reduced, and the overall weight of the actuator can also be reduced.

[0068] Correspondingly, based on the above-mentioned embodiments, the embodiment of the present application further provides an actuator, which comprises a driving unit and a harmonic wave speed change unit as described in the above-mentioned embodiments, and the implementation manner of the harmonic wave speed change unit can refer to or draw lessons from the implementation manners in the above-mentioned embodiments.

[0069] The middle part of the driving unit is provided with a transmission shaft 2. The driving unit in the embodiment of the present application comprises but is not limited to a hollow annular structure, and the transmission shaft 2 is arranged in the hollow region of the driving unit.

[0070] The harmonic wave speed change unit comprises a harmonic wave generator assembly, a harmonic wave gear assembly and a harmonic wave steel wheel 6, the harmonic wave generator assembly is drivingly connected with the driving unit, the harmonic wave gear assembly is drivingly connected with the transmission shaft 2, and the harmonic wave steel wheel 6 is fixedly connected with the driving unit. Through the harmonic wave speed change unit, the driving force of the driving unit can be transmitted to the output flange at the output end of the actuator, when the driving unit is powered, the driving unit can drive the output flange to rotate through the speed change unit, so as to directly or indirectly output the driving force outward. The transmission shaft 2 is fixed with the output flange, and the function is to transmit the output torque to the other end of the actuator, so as to realize the effect of facilitating position detection in structure.

[0071] Continuing to refer to Figure 2 and Figure 3In some possible embodiments of the present application, one possible implementation of the driving unit is that the driving unit comprises a motor housing 30 and a driving motor 10, the driving motor 10 is arranged in the motor housing 30 and is sleeved on the outer periphery of the transmission shaft 2 in the harmonic speed change unit. The motor housing 30 can protect the driving motor 10 and avoid affecting other components when the driving motor 10 rotates, thereby improving safety. The driving motor 10 can be a hollow annular structure, and the specific structure of the driving motor 10 is not specifically limited in the embodiments of the present application. In some possible embodiments, the driving motor 10 includes but is not limited to an outer rotor motor. The harmonic generator assembly in the harmonic speed change unit is connected with the rotor of the driving motor 10 to drive the harmonic generator assembly to rotate. The motor housing 30 is connected with the stator of the driving motor 10 and is connected with the harmonic steel wheel 6, thereby being used to fix the steel wheel connecting piece 32 and the fixing flange 34.

[0072] In some possible embodiments of the present application, one possible implementation of the harmonic generator assembly is that the harmonic generator assembly comprises a wave generator and a generator connecting piece 9, the wave generator is connected with the rotor of the driving motor 10 through the generator connecting piece 9. When the driving motor 10 is powered on, the rotor of the driving motor 10 rotates, and the rotor can drive the wave generator to rotate around the rotation axis through the generator connecting piece 9. By arranging the generator connecting piece 9, the wave generator is more easily connected with the rotor of the driving motor 10, and the stability of the connection can be effectively improved. Further, to reduce the interference between the generator connecting piece 9 and the transmission shaft 2 during rotation, the generator connecting piece 9 is connected with the transmission shaft 2 through a first bearing piece 8. The first bearing piece 8 is connected with the transmission shaft 2 through the inner ring, and the outer ring of the first bearing piece 8 is connected with the generator connecting piece 9. When the driving motor 10 drives the wave generator to rotate through the generator connecting piece 9, the transmission shaft 2 is driven to rotate by the harmonic flexspline assembly, and based on the action of the first bearing piece 8, the generator connecting piece 9 and the transmission shaft 2 do not interfere with each other, so that the rotation of the two is more smooth.

[0073] To further ensure the position stability of the first bearing piece 8, in some possible embodiments of the present application, a circlip piece 7 is arranged on the transmission shaft 2 at the side of the first bearing piece 8 away from the driving motor 10. The circlip piece 7 is fixedly arranged on the transmission shaft 2, thereby defining the axial position of the first bearing piece 8 and avoiding the axial displacement of the first bearing piece 8.

[0074] Further, in order to better detect the rotation information of the output end of the actuator and the driving unit, in some possible embodiments of the present application, the actuator further has a rotation space, and a detection gear assembly is arranged in the rotation space. The detection gear assembly is in transmission connection with the driving unit and the transmission shaft 2 respectively. The detection gear assembly can rotate synchronously with the driving unit and the transmission shaft 2, and the rotation information of the output end of the actuator and the driving unit can be recorded in real time by the detection gear assembly cooperating with the corresponding encoder. The rotation information includes but is not limited to the number of rotations, the rotation angle, the rotation speed and the rotation position and the like. Based on the fact that the output end and the driving unit can be detected by different detection gears and identified and processed by different encoders, the actuator adopts double encoders for corresponding detection and recording, and the position of the actuator can be recorded for a long time in the case of power failure. It should be noted that the encoder used in cooperation with the detection gear assembly can be arranged on the actuator or other positions, and the embodiments of the present application are not limited in this regard.

[0075] Further, referring to Figure 2 and Figure 5 One way of arranging the encoder used in cooperation with the detection gear assembly is that, in some possible embodiments of the present application, the actuator further includes a driving plate 17, the driving plate 17 is located in the rotation space and annularly arranged on the transmission shaft 2, and the driving plate 17 is provided with an encoder used in cooperation with the detection gear assembly. The driving plate 17 is provided with a plurality of electronic elements for realizing various functions of the actuator, and the plurality of electronic elements include the encoder. Based on the triggering action of the detection gear assembly, the encoder can detect and record corresponding rotation data.

[0076] In order to protect the electronic elements on the driving plate 17 and the detection gear assembly, the actuator is further provided with a rear cover 20 covering the rotation space. The rear cover 20 makes the rotation space form a relatively dense environment, so as to avoid the interference of the external environment on the electronic elements and the detection gear assembly, thereby making the detection operation more accurate.

[0077] Further, in some possible embodiments of the present application, referring to Figure 2 and Figure 5 One possible way of the detection gear assembly is that the detection gear assembly includes an output end input gear 26, a motor end input gear 28, an output end detection gear 23 and a motor end detection gear 14. The transmission shaft 2 is provided with the output end input gear 26. The output end input gear 26 can rotate synchronously with the transmission shaft 2, and the rotation action of the output end input gear 26 is synchronous with the rotation action of the output end of the actuator. In one possible way, the output end input gear 26, the output end detection gear 23 and the motor end detection gear 14 are arranged in the rotation space.

[0078] In order to detect the rotation information of the driving unit, the actuator further comprises a gear fixing sleeve 11 rotatably sleeved on the transmission shaft 2, one end of the gear fixing sleeve 11 is drivingly connected with the driving unit, a motor end input gear 28 is arranged on the circumferential direction of the gear fixing sleeve 11, and the gear fixing sleeve 11 at least partially extends into the rotation space. Specifically, the motor end input gear 28 is fixedly integrated with the gear fixing sleeve 11 by welding, one end of the gear fixing sleeve 11 is drivingly connected with the rotor of the driving motor 10, the gear fixing sleeve 11 rotates synchronously with the rotor of the driving motor 10, and the rotation action of the gear fixing sleeve 11 is synchronous with the rotation action of the rotor. With the rotation of the gear fixing sleeve 11, the motor end input gear 28 rotates synchronously, and the rotation action of the motor end input gear 28 is synchronous with the rotation action of the rotor.

[0079] The output end detection gear 23 is rotatably arranged on one side of the transmission shaft 2 in the radial direction and is in meshing transmission connection with the output end input gear 26. The output end detection gear 23 can rotate synchronously with the output end input gear 26 under the driving of the output end input gear 26, and at the same time, the output end detection gear 23 can cooperate with the corresponding encoder to detect and record the corresponding rotation information of the output end.

[0080] The motor end detection gear 14 is rotatably arranged on the other side of the transmission shaft 2 in the radial direction and is in meshing transmission connection with the motor end input gear 28. The motor end detection gear 14 can rotate synchronously with the motor end input gear 28 under the driving of the motor end input gear 28, and at the same time, the motor end detection gear 14 can cooperate with the corresponding encoder to detect and record the corresponding rotation information of the rotor of the driving motor 10.

[0081] Continuing to refer to Figure 2In order to enable the transmission of the motor end of the actuator to start and stop more quickly, in some embodiments of the present application, the actuator further comprises a brake assembly, which is arranged in the rotating space and located on the side of the drive unit away from the harmonic speed change unit. The brake assembly is connected with the drive unit and arranged around the outer periphery of the transmission shaft 2. The gear fixing sleeve 11 is sleeved on the transmission shaft 2, so that the brake assembly is arranged around the outer periphery of the transmission shaft 2, and further arranged around the outer periphery of the gear fixing sleeve 11. The brake assembly can perform brake action and release action according to control. When the brake assembly performs brake action, the brake assembly can tightly hold the gear fixing sleeve 11, so that the gear fixing sleeve 11 cannot rotate. At this time, since the gear fixing sleeve 11 stops rotating, the driving motor 10 also cannot rotate. When the brake assembly performs release action, the fixing sleeve 11 can continue to rotate, and the driving motor 10 resumes rotating. If the driving motor 10 is controlled to stop by power-off or other methods, due to inertia and other factors, the stopping action of the rotor of the driving motor 10 is hysteresis, and cannot be quickly realized. By using the brake assembly, the start and stop of the driving motor 10 can be more direct and rapid, the hysteresis of the action is reduced, and when the actuator is applied to a robot, the action of the robot is more smooth and more close to human action.

[0082] In some embodiments of the present application, one implementation of the brake assembly comprises a brake housing 27 and a brake 29 movably arranged in the brake housing 27. The brake housing 27 is connected with the drive unit. The brake 29 is arranged around the outer periphery of the transmission shaft 2. The brake housing 27 is fixedly connected with the motor housing 30 of the drive unit by fasteners, and the brake 29 is protected by the brake housing 27, and interference of the movable brake 29 with other components is avoided, and safety is improved. In some embodiments, at least a part of the brake housing 27 extends into the motor housing 30, at least a part of the motor housing 30 surrounds the outer periphery of the brake housing 27, and the brake 29 is located in the overlapping area of the brake housing 27 and the motor housing 30, so that the compactness of the structure of the actuator is improved.

[0083] It should be noted that the driving plate 17 and the rear cover 20 can be arranged on the motor housing 30 according to different requirements. When the actuator is provided with a brake assembly, the driving plate 17 and the rear cover 20 can also be arranged on the brake housing 27.

[0084] For example, one transmission mode of the actuator is that when the actuator is powered on, the brake 29 of the brake assembly is in a released state, the rotor of the driving motor 10 drives the generator connecting piece 9 to rotate, the wave generator rotates with the generator connecting piece 9, the wave generator drives the harmonic gear assembly to rotate, and the harmonic gear assembly drives the output flange 1 to rotate. At the same time, the rotor of the driving motor 10 drives the motor end input gear 28 to rotate through the gear protection sleeve, the motor end input gear 28 drives the motor end detection gear 14 to rotate, the rotor of the driving motor 10 drives the transmission shaft 2 to rotate through the harmonic gear assembly, the transmission shaft 2 drives the output end input gear 26 to rotate, and the output end input gear 26 drives the output end detection gear 23 to rotate. The output end detection gear 23 and the motor end detection gear 14 correspond to an encoder respectively to detect the rotation data, and the position of the driving motor 10 and the output flange 1 is controlled in real time through the double-encoder structure.

[0085] In some implementable embodiments of the present application, one way in which the output end detection gear 23 and the motor end detection gear 14 cooperate with the encoder to detect and record corresponding rotation information is that the output end detection gear 23 and the motor end detection gear 14 are respectively provided with a magnet assembly. The driving board 17 is provided with an encoder used in cooperation with the magnet assembly. The magnet assembly can trigger the encoder to detect corresponding data during the rotation of the detection gear, so as to be converted into corresponding rotation information such as rotation angle, rotation speed and rotation position. Based on the rotation information detected by the encoder, the actuator can be better controlled to complete the required action.

[0086] Continuing to refer to Figure 2 and Figure 5 In some implementable embodiments of the present application, one implementable way of the magnet assembly is that the magnet assembly includes a magnet seat 15 and an encoding magnet 16; the magnet seat 15 is connected with the output end detection gear 23 or the motor end detection gear 14, and the encoding magnet 16 is fixedly arranged on the magnet seat 15. The magnet seat 15 and the output end detection gear 23 or the motor end detection gear 14 can be connected through fasteners, such as screw fixing connection, and the encoding magnet 16 and the magnet seat 15 are integrally fixed by means of gluing, but are not limited thereto. With the rotation of the detection gear, the magnet seat 15 rotates synchronously, thereby driving the encoding magnet 16 to rotate synchronously, and triggering the encoder to detect corresponding rotation information.

[0087] In order to avoid the interference of the brake housing 27 to the rotation of the gear fixing sleeve 11, in some embodiments of the present application, a second bearing 12 is arranged on the gear fixing sleeve 11, and the gear fixing sleeve 11 is rotatably connected with the brake housing 27 through the second bearing 12. That is, the inner ring of the second bearing 12 is fixedly sleeved with the gear fixing sleeve 11, and the outer ring of the second bearing 12 is fixedly connected with the brake housing 27. When the gear fixing sleeve 11 rotates with the rotor of the driving motor 10, the brake housing 27 will not affect the rotation of the gear fixing sleeve 11 based on the second bearing 12, and the rotation of the gear fixing sleeve 11 can be more smooth.

[0088] Further, in some embodiments of the present application, one connection mode between the gear fixing sleeve 11 and the driving unit is that Figure 2 , referring to Figure 6 , the rotor of the driving unit is provided with a third embedded connection part 101. One end of the gear fixing sleeve 11 is provided with a fourth embedded connection part 111 matched with the third embedded connection part 101, and the gear fixing sleeve 11 is embeddedly connected with the third embedded connection part 101 through the fourth embedded connection part 111. Through the fourth embedded connection part 111 and the third embedded connection part 101, the connection between the rotor of the driving motor 10 and the gear fixing sleeve 11 is more stable, and the assembly is easier. At the same time, after the third embedded connection part 101 and the fourth embedded connection part 111 are embeddedly connected, the relative circumferential rotation between the rotor of the driving motor 10 and the gear fixing sleeve 11 can be limited, and the synchronous circumferential rotation of the rotor of the driving motor 10 driving the gear fixing sleeve 11 can be more effectively realized, so that the torque transmission is easier, more direct and faster.

[0089] The third embedded connection part 101 and the fourth embedded connection part 111 include but are not limited to the mutually matched convex-concave structure. In some embodiments, one of the third embedded connection part 101 and the fourth embedded connection part 111 is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure. Of course, the positions of the clamping groove structure and the protruding structure can be transposed with each other, or the third embedded connection part 101 simultaneously includes the clamping groove structure and the protruding structure, and correspondingly, the fourth embedded connection part 111 also simultaneously includes the clamping groove structure and the protruding structure, and the third embedded connection part 101 and the fourth embedded connection part 111 are matched with each other. The shapes of the clamping groove structure and the protruding structure are not limited in the embodiments of the present application, and can be matched with each other.

[0090] Further, in order to make the detection of the rotation of the gear assembly more stable, in some embodiments of the present application, referring to Figure 2 , Figure 5 and Figure 7The rotation space is provided with a gear cover plate 21, the gear cover plate 21 is provided with a first rotation cavity 211, a second rotation cavity 212 and a third rotation cavity 213. The gear cover plate 21 is sleeved on the circumferential outer periphery of the transmission shaft 2 through the second rotation cavity 212, and the output end input gear 26 and the motor end input gear 28 are rotatably arranged in the second rotation cavity 212. The output end detection gear 23 is rotatably arranged in the first rotation cavity 211. The motor end detection gear 14 is rotatably arranged in the third rotation cavity 213. The gear cover plate 21 separates the gears connected with each other to ensure that the gears rotate in the respective spaces and avoid interference of actions other than transmission. Meanwhile, the gear cover plate 21 can also provide support for the output end detection gear 23 and the motor end detection gear 14 to ensure the stability of the rotation of the output end detection gear 23 and the motor end detection gear 14. The gear cover plate 21 includes but is not limited to being fixed on the band brake shell 27 by fasteners, such as screws or bolts.

[0091] To make the rotation of the gears smoother, in some embodiments of the present application, the motor end detection gear 14 is provided with a third bearing 13 at each axial end, one end of the motor end detection gear 14 is rotatably connected with the band brake shell 27 through the third bearing 13 thereon, that is, the inner ring of the third bearing 13 cooperates with one end of the motor end detection gear 14, and the outer ring of the third bearing 13 cooperates with the band brake shell 27. The other end of the motor end detection gear 14 is rotatably connected with the third rotation cavity 213 through the third bearing 13 thereon, that is, the inner ring of the third bearing 13 cooperates with the other end of the motor end detection gear 14, and the outer ring of the third bearing 13 cooperates with the inner wall of the third rotation cavity 213. The third bearing 13 reduces the rotation friction of the motor end detection gear 14 to make the rotation of the motor end detection gear 14 smoother.

[0092] The output end detection gear 23 is provided with a fourth bearing 24 at each axial end, one end of the output end detection gear 23 is rotatably connected with the band brake shell 27 through the fourth bearing 24 thereon, that is, the inner ring of the fourth bearing 24 cooperates with one end of the output end detection gear 23, and the outer ring of the fourth bearing 24 cooperates with the band brake shell 27. The other end of the output end detection gear 23 is rotatably connected with the first rotation cavity 211 through the fourth bearing 24 thereon, that is, the inner ring of the fourth bearing 24 cooperates with the other end of the output end detection gear 23, and the outer ring of the fourth bearing 24 cooperates with the inner wall of the first rotation cavity 211. The fourth bearing 24 reduces the rotation friction of the output end detection gear 23 to make the rotation of the output end detection gear 23 smoother.

[0093] The fifth bearing member 25 is arranged on the transmission shaft 2, and the transmission shaft 2 is rotatably connected with the second rotating cavity 212 through the fifth bearing member 25. That is, the inner ring of the fifth bearing member 25 is matched with the transmission shaft 2, and the outer ring of the fifth bearing member 25 is matched with the inner wall of the second rotating cavity 212. The rotating friction between the transmission shaft 2 and the gear cover plate 21 is reduced through the fifth bearing member 25, so that the transmission shaft 2 rotates more smoothly. In an implementable embodiment, the output input gear 26 has a reinforcing wall extending along the axial direction of the transmission shaft 2, and the inner ring of the fifth bearing member 25 is matched with the reinforcing wall of the output input gear 26.

[0094] Further, in order to facilitate the connection of cables between different actuators, referring to Figures 1 to 5 , and Figure 7 , in some implementable embodiments of the present application, the transmission shaft 2 has a hollow cavity 202 extending through the axial direction. At the same time, the output flange 1 drivenly connected with one end of the transmission shaft 2 has a first through hole 1001 extending through the hollow cavity 202, and the rear cover member 20 arranged at the other end of the transmission shaft 2 has a second through hole 201 extending through the hollow cavity 202. Based on the first through hole 1001, the second through hole 201 and the hollow cavity 202 of the transmission shaft 2, the actuators have a hollow structure extending through the upper and lower portions, and the cables connected between the actuators can pass through the hollow structure from the inside of the actuators, so as to solve the problem that the cables are easily jammed, wound or damaged when the actuators act.

[0095] Further, in order to prevent external substances such as water, dust and the like from entering the rotating space and affecting the driving plate 17 and the detection gear assembly, referring to Figure 2 , Figure 5 and Figure 7 , the rear cover member 20 is connected with the band brake assembly and covers the rotating space, and a first sealing structure is arranged at the connection between the rear cover member 20 and the band brake assembly. The first sealing structure can effectively prevent water and other external substances from entering the inside of the actuator from the joint between the rear cover member 20 and the band brake housing 27. In order to make the sealing effect of the first sealing structure better, a first sealing groove facing the band brake assembly is arranged on the area of the rear cover member 20 connected with the band brake assembly, the first sealing structure is a first sealing ring 19, the first sealing ring 19 is arranged in the first sealing groove, and when the rear cover member 20 is connected with the band brake assembly, the first sealing ring 19 is pressed to seal the connection between the rear cover member 20 and the band brake assembly.

[0096] When the transmission shaft 2 has the hollow cavity 202, the rear cover 20 has a second through hole 201 penetrating the hollow cavity 202, and a second sealing structure is arranged between the second through hole 201, the rotating space and the transmission shaft 2, so as to prevent external substances from entering the actuator through the gap between the transmission shaft 2 and the rear cover 20.

[0097] Further, one implementation of the second sealing structure is that the second sealing structure comprises a driving plate waterproof sleeve 18 and second sealing rings 22 arranged at the axial ends of the driving plate waterproof sleeve 18, one end of the driving plate waterproof sleeve 18 is sleeved on the transmission shaft 2 in the axial direction, and the other end is abutted on the rear cover 20 and surrounds the second through hole 201. The connection between the driving plate waterproof sleeve 18 and the transmission shaft 2 and the connection between the driving plate waterproof sleeve 18 and the rear cover 20 are both sealed by the second sealing rings 22. By sealing the gap between the rear cover 20 and the transmission shaft 2 by the driving plate waterproof sleeve 18, and by sealing the gap between the driving plate waterproof sleeve 18 and the transmission shaft 2 and the gap between the driving plate waterproof sleeve 18 and the rear cover 20 by the second sealing rings 22 at the two ends of the driving plate waterproof sleeve 18, it can be prevented that external substances such as water enter the actuator from the joint between the rear cover 20 and the driving plate waterproof sleeve 18 and the joint between the driving plate waterproof sleeve 18 and the transmission shaft 2.

[0098] In order to make the sealing effect of the second sealing structure better, the inner wall of the end of the driving plate waterproof sleeve 18 connected with the transmission shaft 2 is provided with a second sealing groove extending in the radial direction and towards the transmission shaft 2. The axial end face of the end of the driving plate waterproof sleeve 18 connected with the rear cover 20 is provided with a third sealing groove extending in the axial direction and towards the rear cover 20. The second sealing groove and the third sealing groove are respectively provided with the second sealing ring 22. The second sealing ring 22 can be positioned by the sealing groove, so as to ensure the position stability of the second sealing ring 22 and avoid displacement of the second sealing ring 22 affecting the sealing effect in the use process. At the same time, based on the orientation of the sealing groove, the second sealing ring 22 can directly seal the gap between the driving plate waterproof sleeve 18 and the transmission shaft 2 and the gap between the driving plate waterproof sleeve 18 and the rear cover 20, so that the sealing effect is better.

[0099] Further, based on the technical solutions provided in the above embodiments, correspondingly, the embodiments of the present application also provide a robot, which comprises an actuator as in the above embodiments. It should be noted that, in the case of no structural conflict, the implementation mode of the actuator can refer to the implementation mode of the actuator described in the above embodiments, which will not be described herein.

[0100] To sum up, the technical scheme provided by the embodiment of the present application, by setting the auxiliary mounting member 3, makes the harmonic generator assembly and the harmonic flexspline assembly in the harmonic speed change unit more accurate in positioning when assembling, makes mutual assembly easier, reduces the occurrence of assembly deflection, at the same time, also facilitates the assembly between the harmonic flexspline assembly and the transmission shaft 2, thereby reducing the assembly difficulty and improving the assembly efficiency. The actuator provided by the embodiment of the present application can be used as a replacement scheme of the traditional servo motor, and is especially suitable for special fields such as service robots, medical robots, industrial robots, etc.

[0101] It should be noted that, in the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0102] In the description of the specification of the embodiments of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0103] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0104] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A harmonic variable speed unit, characterized by, The harmonic generator assembly, the harmonic flexspline assembly and the harmonic gear wheel are arranged around the outer periphery of the transmission shaft, the harmonic generator assembly cooperates with the harmonic flexspline assembly and the harmonic gear wheel, the harmonic flexspline assembly is drivingly connected with the transmission shaft. An auxiliary mounting member is provided, the auxiliary mounting member has an assembly hole, the auxiliary mounting member is connected with the harmonic flexspline assembly, and the assembly hole is coaxially arranged with the harmonic flexspline assembly; the auxiliary mounting member is sleeved on the transmission shaft through the assembly hole, so that the harmonic flexspline assembly is coaxially assembled with the harmonic generator. When the harmonic flexspline assembly and the harmonic generator assembly are coaxially assembled, the transmission shaft is first matched with the assembly hole of the auxiliary mounting member, so that the harmonic flexspline assembly and the harmonic generator assembly have a coaxial positioning relationship. The harmonic generator assembly comprises a generator connecting member and a harmonic generator connected to the generator connecting member. The transmission shaft is connected with the generator connecting member through a first bearing member, so that the transmission shaft is coaxially assembled with the harmonic generator. A clamping spring member is arranged on the transmission shaft to limit the first bearing member.

2. The harmonic speed-variation unit according to claim 1, characterized in that, The harmonic flexspline assembly comprises a harmonic flexspline and a flexspline connecting member, the harmonic flexspline is fixedly connected with the flexspline connecting member, and a first embedded connecting part is arranged on the flexspline connecting member. The auxiliary mounting member is fixedly connected with the flexspline connecting member.

3. The harmonic speed-variation unit according to claim 2, characterized in that, One end of the transmission shaft in the axial direction is provided with a second embedded connecting part matched with the first embedded connecting part, and the transmission shaft is embeddedly connected with the first embedded connecting part through the second embedded connecting part.

4. The harmonic speed-variation unit according to claim 1, characterized in that, One of the first embedded connecting part and the second embedded connecting part is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure. The harmonic flexspline comprises a bottom plate and a side wall arranged around the bottom plate, the bottom plate and the side wall form an assembly cavity, the bottom plate has a first connecting hole and a first shaft hole; The flexspline connecting member has a second connecting hole and a second shaft hole, a fastener is arranged in the first connecting hole and the second connecting hole to connect the flexspline connecting member to the bottom plate and outside the assembly cavity, and the first shaft hole and the second shaft hole are coaxially arranged; 5. The harmonic speed-variation unit according to claim 4, characterized in that, The auxiliary mounting member is a cylindrical structure, the auxiliary mounting member has a third connecting hole and the assembly hole, a fastener is arranged in the third connecting hole and the first connecting hole to connect the auxiliary mounting member to the flexspline connecting member and inside the first shaft hole and the second shaft hole, and the assembly hole is coaxially arranged with the first shaft hole; 6. The harmonic speed-variation unit according to claim 4, characterized in that, The transmission shaft is connected with the flexspline connecting member through the assembly hole. The harmonic transmission unit comprises a drive unit and a harmonic transmission unit as claimed in any one of claims 1 to 6. The drive unit comprises a motor housing and a drive motor, the drive motor is arranged in the motor housing and sleeved on the outer periphery of the transmission shaft in the harmonic transmission unit; The harmonic generator assembly in the harmonic transmission unit is connected with the rotor of the drive motor, and the harmonic gear wheel is connected with the motor housing.

7. An actuator, characterized by ​ ​ ​ ​ 8. The actuator of claim 7, wherein, The harmonic generator assembly comprises a wave generator and a generator connecting piece, the wave generator is connected to the rotor of the driving motor through the generator connecting piece.

9. An actuator as claimed in claim 7 or 8, characterised in that, The actuator further has a rotating space, and a detection gear assembly is arranged in the rotating space; The detection gear assembly is in driving connection with the driving unit and the transmission shaft respectively.

10. The actuator of claim 9, wherein, Further comprising a driving plate and a rear cover piece; The driving plate is located in the rotating space and annularly arranged around the transmission shaft, and an encoder for cooperating with the detection gear assembly is arranged on the driving plate; The rear cover piece covers the rotating space.

11. The actuator of claim 9, wherein, Further comprising a holding brake assembly, the holding brake assembly is arranged in the rotating space and located on the side of the driving unit away from the harmonic transmission unit, the holding brake assembly is connected with the driving unit and annularly arranged around the outer periphery of the transmission shaft.

12. A robot, characterized by: The robot comprises the actuator according to any one of claims 7 to 11.

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