Harmonic reducer, machining method of harmonic reducer, joint module and joint robot

Abstract

The invention discloses a harmonic reducer and a machining method thereof, a joint module and a joint robot, the harmonic reducer comprises an input shaft, a wave generator, a flexible gear and a rigid gear, the input shaft is sleeved with the wave generator so as to synchronously rotate along with the input shaft, the wave generator is sleeved with the flexible gear, and the flexible gear is rotatably sleeved with the rigid gear; an outer gear ring is arranged on the outer peripheral wall of the flexible gear; an inner gear ring is arranged on the inner circumferential wall of the rigid gear and engaged with the outer gear ring. The outer gear ring comprises a plurality of first helical teeth, the first helical teeth are inclined to the axis of the flexible gear, the inner gear ring comprises a plurality of second helical teeth, and the second helical teeth are inclined to the axis of the rigid gear. Compared with straight teeth, after the flexible gear with the first helical teeth is meshed with the rigid gear with the second helical teeth, the bearing capacity and the contact ratio are higher, the transmission process is more stable, generated noise is smaller, and therefore the structural stability and the noise reduction effect of the harmonic reducer can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and in particular to a harmonic reducer and a processing method thereof, a joint module and a joint robot. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. In related technologies, the robot joints adjust the output speed through harmonic reducers. The flexible wheel and rigid wheel of the harmonic reducer are spur gears, which results in limited meshing area between the flexible wheel and the rigid wheel and poor power transmission effect. Summary of the invention

[0003] The main purpose of the present invention is to provide a harmonic reducer, aiming to solve the technical problem of how to improve the power transmission effect of the harmonic reducer.

[0004] To achieve the above-mentioned purpose, the harmonic reducer proposed in the present invention includes an input shaft, a wave generator, a flexible spline and a rigid spline, wherein the wave generator is sleeved on the input shaft to rotate synchronously with the input shaft, the flexible spline is sleeved on the wave generator, and the rigid spline is rotatably sleeved on the flexible spline; an outer ring gear is provided on the outer peripheral wall of the flexible spline; an inner ring gear is provided on the inner peripheral wall of the rigid spline, and the inner ring gear is meshed with the outer ring gear; the outer ring gear includes a plurality of first helical teeth, which are inclined to the axis of the flexible spline, and the inner ring gear includes a plurality of second helical teeth, which are inclined to the axis of the rigid spline.

[0005] Optionally, the angle between the first helical teeth and the axis of the flexible wheel is less than or equal to 30°; and / or the angle between the second helical teeth and the axis of the rigid wheel is less than or equal to 30°.

[0006] The present invention also provides a method for processing a harmonic reducer, which is used to process the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0007] Providing a flexible wheel workpiece;

[0008] Fixing the flexible wheel workpiece on a processing table;

[0009] Using a cutting electrode to cut tooth grooves on the outer peripheral wall of the flexible wheel workpiece, wherein the cutting electrode and the axis of the flexible wheel form an included angle of a preset angle;

[0010] The cutting electrode is driven to move along a preset trajectory along the designed contour of the flexible wheel workpiece to cut another tooth groove, and the first bevel tooth is formed between two adjacent tooth grooves.

[0011] The present invention also provides a method for processing a harmonic reducer, which is used to process the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0012] A flexible wheel workpiece and a helical gear shaping cutter are provided, wherein the teeth of the helical gear shaping cutter form an angle with its rotation axis;

[0013] The flexible wheel workpiece is rotatably mounted on the processing table;

[0014] The helical gear shaping cutter is driven to perform linear reciprocating motion and rotational motion simultaneously along the outer peripheral wall of the flexible wheel workpiece, and the flexible wheel workpiece is driven to rotate; wherein the rotation axis of the helical gear shaping cutter and the rotation axis of the flexible wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter is parallel to the rotation axis of the flexible wheel workpiece.

[0015] The present invention also provides a method for processing a harmonic reducer, which is used to process the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0016] Providing a flexible wheel workpiece and a hob;

[0017] The flexible wheel workpiece is rotatably mounted on the processing table;

[0018] The hob is driven to perform linear reciprocating motion and rotational motion along the outer peripheral wall of the flexible wheel at the same time, and drives the flexible wheel workpiece to rotate; wherein the rotation axis of the hob and the rotation axis of the flexible wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the hob is parallel to the rotation axis of the flexible wheel workpiece.

[0019] The present invention also provides a method for processing a harmonic reducer, which is used to process the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0020] Providing a rigid wheel workpiece;

[0021] Fixing the rigid wheel workpiece on a processing table;

[0022] Using a cutting electrode to cut tooth grooves on the inner peripheral wall of the rigid wheel workpiece, wherein the cutting electrode forms an included angle of a preset angle with the axis of the rigid wheel;

[0023] The cutting electrode is driven to move along a preset trajectory along the designed contour of the rigid wheel workpiece to cut out another tooth groove, and the second bevel tooth is formed between two adjacent tooth grooves.

[0024] The present invention also provides a method for processing a harmonic reducer, which is used to process the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0025] Providing a rigid wheel workpiece and a gear shaping cutter;

[0026] The rigid wheel workpiece is rotatably mounted on the processing table;

[0027] The gear shaping cutter is driven to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece at the same time, and the rigid wheel workpiece is driven to rotate; wherein the linear reciprocating motion direction of the gear shaping cutter is consistent with the extension direction of its rotation axis, and the rotation axis of the gear shaping cutter forms an included angle of a preset angle with the axis of the rigid wheel workpiece.

[0028] The present invention further provides a method for processing a harmonic reducer, which is used for processing the harmonic reducer as described above. The method for processing the harmonic reducer comprises:

[0029] A rigid wheel workpiece and a helical gear shaping cutter are provided, wherein the teeth of the helical gear shaping cutter form an angle with its rotation axis;

[0030] The rigid wheel workpiece is rotatably mounted on the processing table;

[0031] The helical gear shaping cutter is driven to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece at the same time, and the rigid wheel workpiece is driven to rotate; wherein the rotation axis of the helical gear shaping cutter and the rotation axis of the rigid wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter is parallel to the rotation axis of the rigid wheel workpiece.

[0032] The present invention also proposes a joint module, which includes a motor assembly and the harmonic reducer as described above, wherein the rotor of the motor assembly cooperates with the input shaft of the harmonic reducer to drive the input shaft to rotate.

[0033] The present invention also provides an articulated robot, which comprises the joint module as described above.

[0034] In the technical solution of the harmonic reducer of the present invention, the inner gear ring of the rigid wheel and the outer gear ring of the flexible wheel are set as helical teeth, so that the flexible wheel and the rigid wheel are meshed through the helical teeth, which can increase the meshing area of ​​the flexible wheel and the rigid wheel, thereby increasing the force that the flexible wheel and the rigid wheel can transmit, so as to improve the transmission efficiency of the flexible wheel and the rigid wheel. In addition, compared with straight teeth, after the flexible wheel with the first helical teeth is meshed with the rigid wheel with the second helical teeth, the load capacity and contact ratio are higher, the transmission process is smoother, and the noise generated is smaller, thereby improving the structural stability and noise reduction effect of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0036] Figure 1It is a cross-sectional schematic diagram of an embodiment of a harmonic reducer of the present invention;

[0037] Figure 2 It is a structural schematic diagram of an embodiment of a flexible pulley in the present invention;

[0038] Figure 3 It is a structural schematic diagram of another embodiment of the flexible wheel in the present invention;

[0039] Figure 4 It is a structural schematic diagram of an embodiment of a rigid wheel in the present invention;

[0040] Figure 5 It is a structural schematic diagram of an embodiment of a method for processing a flexible wheel in the present invention;

[0041] Figure 6 It is a structural schematic diagram of another embodiment of the processing method of the flexible wheel in the present invention;

[0042] Figure 7 It is a structural schematic diagram of another embodiment of the processing method of the flexible wheel in the present invention;

[0043] Figure 8 It is a structural schematic diagram of an embodiment of a method for processing a rigid wheel in the present invention;

[0044] Fig. 9 It is a structural schematic diagram of another embodiment of the method for processing a rigid wheel in the present invention;

[0045] Fig.10 It is a structural schematic diagram of another embodiment of the method for processing a rigid wheel in the present invention.

[0046] Description of Figure Numbers:

[0047] Label name Label name Label name 10 Flexwheel 20 Steel wheel 11 Outer gear ring 21 Internal gear ring 30 Flexspline workpiece 40 Cutting Electrode 50 Helical gear shaping cutter 60 Hob 70 Gear Shaping Cutter 80 Steel wheel workpiece 91 Input shaft 92 Wave Generator 100 Harmonic reducer

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions, taking "A and / or B as an example", including solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. In related technologies, the robot joints adjust the output speed through harmonic reducers. The flexible wheel and rigid wheel of the harmonic reducer are spur gears, which results in limited meshing area between the flexible wheel and the rigid wheel and poor power transmission effect.

[0053] The present invention proposes a harmonic reducer 100 , aiming to solve the technical problem of how to improve the power transmission effect of the harmonic reducer 100 .

[0054] In the embodiment of the present invention, Figures 1 to 4 As shown, Figure 1 It is a cross-sectional schematic diagram of an embodiment of a harmonic reducer 100 of the present invention; Figure 2 It is a structural schematic diagram of an embodiment of a flexible wheel 10 in the present invention; Figure 3 It is a structural schematic diagram of another embodiment of the flexible wheel 10 in the present invention; Figure 4 It is a schematic structural diagram of an embodiment of a rigid wheel 20 in the present invention.

[0055] The harmonic reducer 100 includes an input shaft 91, a wave generator 92, a flexible spline 10 and a rigid spline 20. The wave generator 92 is sleeved on the input shaft 91 to rotate synchronously with the input shaft 91. The flexible spline 10 is sleeved on the wave generator 92. The rigid spline 20 is rotatably sleeved on the flexible spline 10. An outer gear ring 11 is provided on the outer peripheral wall of the flexible spline 10. An inner gear ring 21 is provided on the inner peripheral wall of the rigid spline 20, and the inner gear ring 21 is meshed with the outer gear ring 11. The outer gear ring 11 includes a plurality of first helical teeth, which are inclined to the axis of the flexible spline 10. The inner gear ring 21 includes a plurality of second helical teeth, which are inclined to the axis of the rigid spline 20.

[0056] In this embodiment, the input shaft 91 is used to rotate synchronously with the power source. The wave generator 92 is a component that causes the flexible wheel 10 to produce controllable elastic deformation, and is used to press against the inner wall of the flexible wheel 10. The flexible wheel 10 is a thin-walled gear that can produce a large elastic deformation, and its inner hole diameter is slightly smaller than the long axis of the wave generator 92. When the wave generator 92 is installed in the flexible wheel 10, the cross-section of the flexible wheel 10 is forced to change from the original circle to an ellipse, and the teeth of the outer gear ring 11 near the two ends of its long axis are fully meshed with the inner gear ring 21 of the rigid wheel 20, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel 20. The teeth in other sections on the circumference are in a transitional state of meshing and disengagement. When the wave generator 92 rotates continuously, the deformation of the flexible wheel 10 changes continuously, so that the meshing state between the flexible wheel 10 and the rigid wheel 20 also changes continuously, from meshing, meshing, meshing out, disengaging, and then meshing again..., repeating over and over again, thereby realizing the slow rotation of the flexible wheel 10 relative to the rigid wheel 20 in the opposite direction of the wave generator 92.

[0057] like Figure 2 and Figure 3 As shown, the flexible wheel 10 has two forms. In the first form, the flexible wheel 10 includes a wheel barrel and an inner connecting ring, and the outer circumference of the inner connecting ring is connected to one end of the flexible wheel 10; in the second form, the flexible wheel 10 includes a wheel barrel and an outer connecting ring, and the inner circumference of the outer connecting ring is connected to one end of the flexible wheel 10. The outer gear ring 11 is arranged on the outer circumferential wall of the wheel barrel, and a plurality of first helical teeth are arranged along the circumference of the flexible wheel 10. The inner gear ring 21 is arranged on the inner circumferential wall of the rigid wheel 20, and a plurality of second helical teeth are arranged along the circumference of the rigid wheel 20. The angle between the first helical teeth and the axis of the flexible wheel 10 is equal to the angle between the second helical teeth and the axis of the rigid wheel 20.

[0058] The meshing of the flexible wheel 10 and the rigid wheel 20 by the helical teeth can increase the meshing area of ​​the flexible wheel 10 and the rigid wheel 20, thereby increasing the force that the flexible wheel 10 and the rigid wheel 20 can transmit, so as to improve the transmission efficiency of the flexible wheel 10 and the rigid wheel 20. In addition, compared with the straight teeth, after the flexible wheel 10 with the first helical teeth is meshed with the rigid wheel 20 with the second helical teeth, the load capacity and contact ratio are higher, the transmission process is smoother, and the noise generated is smaller, thereby improving the structural stability and noise reduction effect of the harmonic reducer 100.

[0059] Specifically, the angle between the first helical teeth and the axis of the flexible wheel 10 is less than or equal to 30°, for example, it can be 30°, 25°, 20°, 15°, 10° or 5°, etc. The angle between the second helical teeth and the axis of the rigid wheel 20 is less than or equal to 30°, for example, it can be 30°, 25°, 20°, 15°, 10° or 5°, etc.

[0060] For example, Figure 5 As shown, Figure 5 The present invention also provides a method for processing a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above. The processing method of the harmonic reducer 100 includes:

[0061] S100, providing a flexible wheel workpiece 30;

[0062] S110, fixing the flexible wheel workpiece 30 on a processing table;

[0063] S120, using a cutting electrode 40 to cut tooth grooves on the outer peripheral wall of the flexible spline workpiece 30, wherein the cutting electrode 40 and the axis of the flexible spline 10 form an included angle of a preset angle;

[0064] S130 , driving the cutting electrode 40 to move along a preset trajectory along the designed contour of the flexspline workpiece 30 to cut out another tooth groove, and forming the first bevel tooth between two adjacent tooth grooves.

[0065] In this embodiment, the flexible wheel workpiece 30 refers to the flexible wheel workpiece 30 that has not been processed with gear teeth. The flexible wheel workpiece 30 can be fixed on the processing table by clamping or pressing. The cutting electrode 40 is an electrode in the electric spark wire cutting technology. The cutting electrode 40 can cut a tooth groove on the outer peripheral wall of the flexible wheel workpiece 30. By cutting a plurality of tooth grooves on the outer peripheral wall of the flexible wheel workpiece 30, two adjacent tooth groove parts can form a first helical tooth. The angle between the cutting electrode 40 and the rotation axis of the flexible wheel workpiece 30 is the angle between the first helical tooth and the axis of the flexible wheel 10.

[0066] Specifically, the axis of the flexible wheel workpiece 30 can be at an angle to the height direction of the processing table, and the cutting electrode 40 can extend along the height direction of the processing table. In this way, the first helical tooth can be processed and the linear driving process of the cutting electrode 40 can be simplified, so as to reduce the processing difficulty of the flexible wheel workpiece 30 and improve the processing efficiency.

[0067] For example, Figure 6 As shown, Figure 6 The present invention also provides a method for processing a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above. The processing method of the harmonic reducer 100 includes:

[0068] S. providing a flexible wheel workpiece 30 and a helical gear shaping cutter 50, wherein the teeth of the helical gear shaping cutter 50 form an angle with its rotation axis;

[0069] S210, rotatably mounting the flexible wheel workpiece 30 on the processing table;

[0070] S220, driving the helical gear shaping cutter 50 to perform linear reciprocating motion and rotational motion along the outer peripheral wall of the flexible spline workpiece 30 at the same time, and driving the flexible spline workpiece 30 to rotate; wherein the rotation axis of the helical gear shaping cutter 50 and the rotation axis of the flexible spline workpiece 30 form an included angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter 50 is parallel to the rotation axis of the flexible spline workpiece 30.

[0071] In this embodiment, the teeth of the helical gear shaping cutter 50 form an angle with its rotation axis. The helical gear shaping cutter 50 can cut the first helical teeth on the outer peripheral wall of the flexible spline workpiece 30 by rotation and linear reciprocating motion. The flexible spline workpiece 30 then switches the contact position with the helical gear shaping cutter 50 by rotation, so that a circle of first helical teeth can be cut on the outer peripheral wall of the flexible spline workpiece 30.

[0072] For example, Figure 7 As shown, Figure 7 The present invention also provides a method for processing a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above. The processing method of the harmonic reducer 100 includes:

[0073] S300, providing a flexible wheel workpiece 30 and a hob 60;

[0074] S310, rotatably mounting the flexible wheel workpiece 30 on the processing table;

[0075] S320, drive the hob 60 to perform linear reciprocating motion and rotational motion along the outer peripheral wall of the flexible spline 10 at the same time, and drive the flexible spline workpiece 30 to rotate; wherein, the rotation axis of the hob 60 and the rotation axis of the flexible spline workpiece 30 form an angle of a preset angle, and the linear reciprocating motion direction of the hob 60 is parallel to the rotation axis of the flexible spline workpiece 30.

[0076] In this embodiment, the hob 60 is a gear processing tool with teeth arranged in a spiral line along a cylinder. When the hob 60 rotates one circle, the teeth rotate one tooth lead around the axis of the hob 60. The hob 60 can cut the first helical teeth on the outer peripheral wall of the flexspline workpiece 30 by rotating and linear reciprocating motion. The flexspline workpiece 30 then switches the contact position with the hob 60 by rotating, so that a circle of first helical teeth can be cut on the outer peripheral wall of the flexspline workpiece 30.

[0077] For example, Figure 8 As shown, Figure 8 The present invention also provides a method for processing a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above. The processing method of the harmonic reducer 100 includes:

[0078] S400, providing a rigid wheel workpiece 80;

[0079] S410, fixing the rigid wheel workpiece 80 on a processing table;

[0080] S420, using the cutting electrode 40 to cut tooth grooves on the inner peripheral wall of the rigid wheel workpiece 80, wherein the cutting electrode 40 forms an included angle of a preset angle with the axis of the rigid wheel 20;

[0081] The cutting electrode 40 is driven to move along a preset trajectory along the designed contour of the rigid wheel workpiece 80 to cut out another tooth groove, and the second bevel tooth is formed between two adjacent tooth grooves.

[0082] In this embodiment, the steel wheel workpiece 80 refers to the steel wheel workpiece 80 that has not been processed with gear teeth. The steel wheel workpiece 80 can be fixed on the processing table by clamping or pressing. The cutting electrode 40 is an electrode in the electric spark wire cutting technology. The cutting electrode 40 can cut a tooth groove on the inner circumference of the steel wheel workpiece 80. By cutting a plurality of tooth grooves on the inner circumference of the steel wheel workpiece 80, two adjacent tooth groove parts can form a second helical tooth. The angle between the cutting electrode 40 and the rotation axis of the steel wheel workpiece 80 is the angle between the second helical tooth and the axis of the steel wheel 20.

[0083] Specifically, the axis of the rigid wheel workpiece 80 can be at an angle to the height direction of the processing table, and the cutting electrode 40 can extend along the height direction of the processing table. In this way, it can not only meet the needs of processing the second bevel tooth, but also simplify the linear driving process of the cutting electrode 40, so as to reduce the processing difficulty of the rigid wheel workpiece 80 and improve the processing efficiency.

[0084] For example, Fig. 9 As shown, Fig. 9 2 is a schematic diagram of another embodiment of the processing method of the rigid wheel 20 in the present invention. The present invention also provides a processing method of a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above, and the processing method of the harmonic reducer 100 includes:

[0085] S500, providing a rigid wheel workpiece 80 and a gear shaping cutter 70;

[0086] S510, rotatably mounting the rigid wheel workpiece 80 on the processing table;

[0087] S520, drive the gear shaping cutter 70 to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece 80 at the same time, and drive the rigid wheel workpiece 80 to rotate; wherein, the linear reciprocating motion direction of the gear shaping cutter 70 is consistent with the extension direction of its rotation axis, and the rotation axis of the gear shaping cutter 70 and the axis of the rigid wheel workpiece 80 form an angle of a preset angle.

[0088] In this embodiment, the gear shaping cutter 70 is a straight-tooth gear shaping cutter 70, that is, the teeth of the gear shaping cutter 70 are parallel to its rotation axis. The gear shaping cutter 70 can cut second helical teeth on the inner circumferential wall of the rigid wheel workpiece 80 by rotation and linear reciprocating motion. The rigid wheel workpiece 80 then switches the contact position with the gear shaping cutter 70 by rotation, thereby cutting a circle of second helical teeth on the inner circumferential wall of the rigid wheel workpiece 80.

[0089] For example, Fig.10 As shown, Fig.10 The present invention also provides a method for processing a harmonic reducer 100, which is used to process the harmonic reducer 100 as described above. The processing method of the harmonic reducer 100 includes:

[0090] S600, providing a rigid wheel workpiece 80 and a helical gear shaping cutter 50, wherein the teeth of the helical gear shaping cutter 50 form an angle with its rotation axis;

[0091] S610, rotatably mounting the rigid wheel workpiece 80 on the processing table;

[0092] S620, drive the helical gear shaping cutter 50 to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece 80, and drive the rigid wheel workpiece 80 to rotate; wherein, the rotation axis of the helical gear shaping cutter 50 and the rotation axis of the rigid wheel workpiece 80 form an angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter 50 is parallel to the rotation axis of the rigid wheel workpiece 80.

[0093] In this embodiment, the teeth of the helical gear shaping cutter 50 form an angle with its rotation axis. The helical gear shaping cutter 50 can cut the second helical teeth on the inner circumferential wall of the rigid wheel workpiece 80 through rotation and linear reciprocating motion. The rigid wheel workpiece 80 then switches the contact position with the helical gear shaping cutter 50 by rotating, thereby cutting a circle of second helical teeth on the inner circumferential wall of the rigid wheel workpiece 80.

[0094] Exemplarily, the present invention also proposes a joint module, which includes a motor assembly and a harmonic reducer 100. The specific structure of the harmonic reducer 100 refers to the above embodiment. Since the joint module adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. Among them, the rotor of the motor assembly cooperates with the input shaft 91 of the harmonic reducer 100 to drive the input shaft 91 to rotate.

[0095] The present invention also proposes an articulated robot, which includes a joint module. The specific structure of the joint module refers to the above-mentioned embodiments. Since the articulated robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0096] In the technical solution of the harmonic reducer 100 of the present invention, the inner gear ring 21 of the rigid wheel 20 and the outer gear ring 11 of the flexible wheel 10 are set as helical teeth, so that the flexible wheel 10 and the rigid wheel 20 are meshed through the helical teeth, which can increase the meshing area of ​​the flexible wheel 10 and the rigid wheel 20, thereby increasing the force that the flexible wheel 10 and the rigid wheel 20 can transmit, so as to improve the transmission efficiency of the flexible wheel 10 and the rigid wheel 20. In addition, compared with straight teeth, after the flexible wheel 10 with the first helical teeth is meshed with the rigid wheel 20 with the second helical teeth, the load capacity and contact ratio are higher, the transmission process is smoother, and the noise generated is smaller, thereby improving the structural stability and noise reduction effect of the harmonic reducer 100.

[0097] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A harmonic reducer, characterized in that: The harmonic reducer includes an input shaft, a wave generator, a flexible spline and a rigid spline, wherein the wave generator is sleeved on the input shaft to rotate synchronously with the input shaft, the flexible spline is sleeved on the wave generator, and the rigid spline is rotatably sleeved on the flexible spline; an outer gear ring is provided on the outer peripheral wall of the flexible spline; an inner gear ring is provided on the inner peripheral wall of the rigid spline, and the inner gear ring is meshed with the outer gear ring; the outer gear ring includes a plurality of first helical teeth, which are inclined to the axis of the flexible spline, and the inner gear ring includes a plurality of second helical teeth, which are inclined to the axis of the rigid spline.

2. The harmonic reducer according to claim 1, characterized in that: The included angle between the first helical teeth and the axis of the flexible wheel is less than or equal to 30°; and / or the included angle between the second helical teeth and the axis of the rigid wheel is less than or equal to 30°.

3. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: Providing a flexible wheel workpiece; Fixing the flexible wheel workpiece on a processing table; Using a cutting electrode to cut tooth grooves on the outer peripheral wall of the flexible wheel workpiece, wherein the cutting electrode and the axis of the flexible wheel form an included angle of a preset angle; The cutting electrode is driven to move along a preset trajectory along the designed contour of the flexible wheel workpiece to cut another tooth groove, and the first bevel tooth is formed between two adjacent tooth grooves.

4. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: A flexible wheel workpiece and a helical gear shaping cutter are provided, wherein the teeth of the helical gear shaping cutter form an angle with its rotation axis; The flexible wheel workpiece is rotatably mounted on the processing table; The helical gear shaping cutter is driven to perform linear reciprocating motion and rotational motion simultaneously along the outer peripheral wall of the flexible wheel workpiece, and the flexible wheel workpiece is driven to rotate; wherein the rotation axis of the helical gear shaping cutter and the rotation axis of the flexible wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter is parallel to the rotation axis of the flexible wheel workpiece.

5. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: Providing a flexible wheel workpiece and a hob; The flexible wheel workpiece is rotatably mounted on the processing table; The hob is driven to perform linear reciprocating motion and rotational motion along the outer peripheral wall of the flexible wheel at the same time, and drives the flexible wheel workpiece to rotate; wherein the rotation axis of the hob and the rotation axis of the flexible wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the hob is parallel to the rotation axis of the flexible wheel workpiece.

6. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: Providing a rigid wheel workpiece; Fixing the rigid wheel workpiece on a processing table; Using a cutting electrode to cut tooth grooves on the inner peripheral wall of the rigid wheel workpiece, wherein the cutting electrode forms an included angle of a preset angle with the axis of the rigid wheel; The cutting electrode is driven to move along a preset trajectory along the designed contour of the rigid wheel workpiece to cut out another tooth groove, and the second bevel tooth is formed between two adjacent tooth grooves.

7. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: Providing a rigid wheel workpiece and a gear shaping cutter; The rigid wheel workpiece is rotatably mounted on the processing table; The gear shaping cutter is driven to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece at the same time, and the rigid wheel workpiece is driven to rotate; wherein the linear reciprocating motion direction of the gear shaping cutter is consistent with the extension direction of its rotation axis, and the rotation axis of the gear shaping cutter forms an included angle of a preset angle with the axis of the rigid wheel workpiece.

8. A method for processing a harmonic reducer, used for processing the harmonic reducer as claimed in claim 1 or 2, characterized in that: The processing method of the harmonic reducer comprises: A rigid wheel workpiece and a helical gear shaping cutter are provided, wherein the teeth of the helical gear shaping cutter form an angle with its rotation axis; The rigid wheel workpiece is rotatably mounted on the processing table; The helical gear shaping cutter is driven to perform linear reciprocating motion and rotational motion along the inner circumferential wall of the rigid wheel workpiece at the same time, and the rigid wheel workpiece is driven to rotate; wherein the rotation axis of the helical gear shaping cutter and the rotation axis of the rigid wheel workpiece form an included angle of a preset angle, and the linear reciprocating motion direction of the helical gear shaping cutter is parallel to the rotation axis of the rigid wheel workpiece.

9. A joint module, characterized in that: It comprises a motor assembly and the harmonic reducer as claimed in claim 1 or 2, wherein the rotor of the motor assembly cooperates with the input shaft of the harmonic reducer to drive the input shaft to rotate.

10. An articulated robot, characterized in that: Comprising the joint module as described in claim 9.

Images