Flexible gear, harmonic reducer and industrial robot

Abstract

The invention discloses a flexible gear, a harmonic reducer and an industrial robot, and relates to the field of harmonic reducers. The flexible gear comprises a barrel and a flange, the barrel comprises a barrel part and a partition part, the barrel part is provided with a first inner hole and an outer tooth part, the partition part is connected to the end, away from the outer tooth part, of the barrel, and the partition part surrounds the barrel part and is connected with the barrel part. A connecting part is arranged at the end, away from the cylinder part, of the partition part and connected with the flange. The flange and the cylinder body of the flexible gear are manufactured separately, so that the cylinder body can be quickly formed by adopting processes such as spinning and stamping when being manufactured, the processing steps of the cylinder body can be simplified, and the processing time can be shortened. When the flange is manufactured, the modes of casting, forging, powder metallurgy, machining and the like can be adopted. And in the assembling stage, the cylinder body is fixedly connected with the flange through the connecting part, so that a flexible gear finished product is assembled. Compared with a flexible gear integrally machined and formed in the prior art, the flexible gear is small in machining difficulty, low in manufacturing cost and high in production efficiency.

Description

Technical Field

[0001] The invention relates to the field of harmonic reducers, and in particular to a flexspline, a harmonic reducer and an industrial robot. Background Art

[0002] The harmonic reducer is a high-precision reducer that achieves deceleration and transmission through the mutual meshing of flexible wheels and rigid wheels that can flexibly deform. It has the characteristics of high transmission accuracy, compact structure, light weight, and small backlash. It is widely used in industrial robots, aerospace, medical equipment, precision processing equipment and other fields. The flexible wheel is the core component of the harmonic reducer and is made of elastic material. Due to the large difference in thickness of the outer teeth, partitions, flanges and other parts of the flexible wheel, it is usually processed and formed in one piece by cutting and other methods during manufacturing. However, the cutting method takes a long time to process the flexible wheel, the steps are complicated, and the efficiency is low. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a flexible wheel, wherein the flange and the cylinder of the flexible wheel are manufactured separately and then connected, so the processing time of the flexible wheel is short and the production efficiency is high.

[0004] The present invention also provides a harmonic reducer having the above-mentioned flexible wheel and an industrial robot using the harmonic reducer.

[0005] The flexible spline according to the first aspect of the present invention comprises:

[0006] The cylinder body comprises a cylinder part and a partition part, wherein the cylinder part is provided with a first inner hole and an outer tooth part, the partition part is connected to an end of the cylinder part away from the outer tooth part, the partition part is arranged around the cylinder part and connected to the cylinder part, and a connecting part is provided on a side of the partition part away from the cylinder part;

[0007] A flange has a second inner hole in the center thereof which is connected to the first inner hole, and the flange is fixedly connected to the connecting portion.

[0008] The flexible wheel according to the embodiment of the present invention has at least the following beneficial effects:

[0009] By manufacturing the flange and the cylinder of the flexible wheel separately, the distance required for the partition to bend can be reduced. Therefore, when manufacturing the cylinder, spinning, stamping and other processes can be used for rapid prototyping, which can simplify the processing steps of the cylinder and shorten the processing time. When manufacturing the flange, casting, forging, powder metallurgy, machining and other methods can be used. During the assembly stage, the cylinder is fixedly connected by the connecting part and the flange to assemble into a flexible wheel finished product. Compared with the flexible wheel formed by one-piece processing in the prior art, the flexible wheel of the embodiment of the present invention has low processing difficulty, low manufacturing cost and high production efficiency.

[0010] According to some embodiments of the present invention, a mounting groove is provided on the side wall of the flange, and a side of the mounting groove close to the axis of the second inner hole extends to the second inner hole, and the connecting portion is fixedly connected in the mounting groove.

[0011] According to some embodiments of the present invention, the mounting groove is provided on a side of the flange facing the outer tooth portion.

[0012] According to some embodiments of the present invention, along the radial direction of the flange, the width of the mounting groove is L, which satisfies: 2mm≤L≤3mm.

[0013] According to some embodiments of the present invention, the connecting portion is fixedly connected to a side of the flange facing the external tooth portion.

[0014] According to some embodiments of the present invention, the connection portion is fixed to the flange by welding; or, the connection portion is riveted to the flange.

[0015] According to some embodiments of the present invention, the partition further includes a thin-walled portion, and on a projection plane perpendicular to the axis of the flange, a projection of the thin-walled portion is located within a projection of the second inner hole.

[0016] According to some embodiments of the present invention, both the first inner hole and the second inner hole are circular holes, and the radius of the second inner hole is greater than the radius of the first inner hole.

[0017] According to some embodiments of the present invention, the barrel portion includes a bent portion, which is bent in a direction away from the first inner hole and connected to the partition portion.

[0018] According to some embodiments of the present invention, the barrel is made of alloy steel, and / or the flange is made of one of cast iron, stainless steel and alloy steel.

[0019] A harmonic reducer according to an embodiment of the second aspect of the present invention comprises the flexspline described in the above embodiment.

[0020] The harmonic reducer according to the embodiment of the present invention has at least the following beneficial effects:

[0021] By adopting the flexible wheel of the first aspect embodiment, the flange and the cylinder of the flexible wheel are manufactured separately, which can reduce the distance required for the partition to bend. When manufacturing the cylinder, spinning, stamping and other processes can be used for rapid prototyping, which can simplify the processing steps of the cylinder and shorten the processing time. When manufacturing the flange, casting, forging, powder metallurgy, machining and other methods can be used. During the assembly stage, the cylinder is fixedly connected by the connecting part and the flange, so as to be assembled into a flexible wheel finished product. Compared with the flexible wheel formed by one-piece processing in the prior art, the flexible wheel of the embodiment of the present invention has low processing difficulty, low manufacturing cost and high production efficiency.

[0022] An industrial robot according to an embodiment of the third aspect of the present invention comprises the harmonic reducer described in the embodiment of the second aspect.

[0023] The industrial robot according to the embodiment of the present invention has at least the following beneficial effects:

[0024] By adopting the harmonic reducer of the embodiment of the second aspect of the present invention, the harmonic reducer is arranged at the rotating joint of the industrial robot, and the input speed is reduced and transmitted to the output shaft, so as to realize the precise position and speed control of the joint of the industrial robot. The harmonic reducer can convert the high-speed and low-torque motor output into a low-speed and high-torque output to meet the movement requirements of the robot. The harmonic reducer has a compact structure and a small size, and can achieve high torque output while maintaining a small weight, so that the industrial robot can move smoothly, reduce the maintenance frequency of the industrial robot, reduce the use cost, and improve the reliability of the industrial robot.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 is a structural cross-sectional view of a flexible wheel according to an embodiment of the present invention;

[0028] Figure 2 is a cross-sectional view of a cylinder and a flange of a flexible wheel separated from each other in one embodiment of the present invention;

[0029] Figure 3 is a cross-sectional view of a barrel material of an embodiment of the present invention;

[0030] Figure 4 is a cross-sectional view of a cylinder after spinning according to an embodiment of the present invention;

[0031] Figure 5 It is a cross-sectional view of a cylinder body of an embodiment of the present invention after spinning and bending and stamping;

[0032] Figure 6 It is a structural schematic diagram of a flange according to an embodiment of the present invention;

[0033] Figure 7 It is a schematic structural diagram of a harmonic reducer according to an embodiment of the present invention.

[0034] Reference numerals:

[0035] Harmonic reducer 1000; flexible wheel 100; cylinder 110; external tooth portion 111; cylinder portion 112; bending portion 113; partition 114; connecting portion 1141; thin-walled portion 1142; first inner hole 115; flange 120; mounting groove 121; second inner hole 122; wave generator 200; cam 210; flexible bearing 220; rigid wheel 300;

[0036] Blank 400 ; prototype workpiece 410 ; first barrel section 411 ; second barrel section 412 ; third barrel section 413 . DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0039] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0041] A harmonic reducer is a reducer composed of a rigid wheel, a flexwheel, and a wave generator that causes the flexwheel to deform radially. The wave generator includes a cam and a flexible bearing, and the cam and the inner ring of the flexible bearing are interference fit; the flexwheel is sleeved on the outside of the flexible bearing, and the flexwheel and the flexible bearing are clearance fit. The outer teeth of the flexwheel match the inner teeth of the rigid wheel, and the number of teeth of the outer teeth of the flexwheel is less than the number of teeth of the inner teeth of the rigid wheel, and the difference is usually two. The wave generator drives the flexwheel to deform radially, and the outer teeth of the flexwheel mesh with different inner teeth of the rigid wheel, so that the flexwheel and the rigid wheel produce relative rotation to transmit power and motion. Due to the inherent characteristics of the harmonic reducer, the meshing area of ​​the flexwheel and the rigid wheel is large, so its load-bearing capacity is high. At the same time, the harmonic reducer has the advantages of small size and large transmission ratio. It is widely used in electronics, aerospace, industrial robots and other fields, so the demand for harmonic reducers is increasing day by day. As a structure that needs to be deformed repeatedly, the performance of the flexwheel is crucial to the influence of the harmonic reducer. In the related art, the flexible wheel is usually an integrally formed structure, and the thickness difference of the external teeth, partitions, flanges and other parts of the flexible wheel is too large, and the distance required for the partition to bend is large, the material is difficult to stretch, and it cannot be formed by stamping and other processes. Therefore, it is necessary to use cutting processing to form it as an integral part, resulting in long processing time, complicated steps and low efficiency of the flexible wheel.

[0042] Based on this, the present invention provides a flexible wheel 100 for a harmonic reducer, wherein the flexible wheel 100 is divided into a flange 120 and a cylinder 110, which are manufactured separately and then assembled, and the cylinder 110 can be quickly formed by processes such as spinning and stamping, and the flange 120 can be manufactured by casting, forging, powder metallurgy, machining, etc., which is flexible and diverse. Therefore, the processing time of the flexible wheel 100 is short, the production efficiency is high, and the production cost can be reduced.

[0043] Reference Figure 1 and Figure 2 As shown, a flexible wheel 100 of an embodiment of the present invention can be applied to a harmonic reducer 1000. The flexible wheel 100 includes a cylinder 110 and a flange 120, and the cylinder 110 includes a cylinder portion 112 and a partition 114. The cylinder portion 112 is cylindrical and easy to manufacture. The cylinder portion 112 is provided with a first inner hole 115 and an outer tooth portion 111, and the outer tooth portion 111 is provided on the outer wall surface of one end of the cylinder portion 112. The partition 114 is connected to one end of the cylinder 110 away from the outer tooth portion 111, and the partition 114 is arranged around the cylinder portion 112 and connected to the cylinder portion 112, for example, in an integrally formed manner, and a connecting portion 1141 is provided on the side of the partition 114 away from the cylinder portion 112. The flange 120 is annular, and a plurality of connecting holes are arranged at intervals along the circumference of the flange 120. A second inner hole 122 is provided at the center of the flange 120 . The second inner hole 122 is communicated with the first inner hole 115 . The flange 120 and the connecting portion 1141 are fixedly connected, thereby determining the relative positions of the flange 120 and the connecting portion 1141 .

[0044] By adopting the above scheme, the flexible wheel 100 is divided into the flange 120 and the cylinder 110 and then manufactured separately. For example, a method for manufacturing the flexible wheel is as follows: Figure 3 As shown, the blank 400 for manufacturing the cylinder 110 is in the shape of a round tube; Figure 4 As shown, after the middle section of the blank 400 is spun, a prototype workpiece 410 is processed, and a first barrel section 411, a second barrel section 412 and a third barrel section 413 are sequentially formed on the prototype workpiece 410; Figure 5 As shown, through the stamping process, one end of the third barrel section 413 is bent in a direction away from the first inner hole 115 to form the partition 114. The second barrel section 412 forms the barrel portion 112, and the outer tooth portion 111 can be processed at the first barrel section 411 by a gear shaping machine or a gear hobbing machine, and finally the connecting portion 1141 of the partition 114 is fixedly connected to the flange.

[0045] It is understandable that after separating the flange 120 from the cylinder 110, the distance required for the partition 114 to be bent can be reduced, so that the partition 114 can be processed by bending and stamping. The flange 120 can be made by casting, forging, powder metallurgy, machining and other methods, and the manufacturing methods are diverse, which is convenient for selection according to actual production conditions. When the flange 120 is produced separately, the position accuracy of the connecting hole of the flange 120 can be improved, thereby improving the installation accuracy of the flexible wheel 100. In summary, the cylinder 110 can be processed and formed by spinning, stamping and other processes, and the flange 120 can also be manufactured by a suitable solution, so the processing time of the flexible wheel 100 is short, the cost is low, and the production efficiency is high. At the same time, in the production stage, according to actual needs, the cylinder 112 and different types of flanges 120 can be assembled, or the flange 120 and different types of cylinders 112 can be assembled, thereby improving versatility.

[0046] Reference Figure 2 As shown, in the embodiment of the present invention, the side wall of the flange 120 is provided with a mounting groove 121, and the mounting groove 121 extends to the second inner hole 122 on one side close to the axis of the second inner hole 122, and the mounting groove 121 is annular and arranged around the second inner hole 122. The connecting portion 1141 is fixedly connected in the mounting groove 121 to determine the relative position of the flange 120 and the cylinder 110. The connecting portion 1141 and the mounting groove 121 can be connected by welding, for example, by laser welding. Since the heating area of ​​laser welding is small and the welding speed is fast, it has the advantages of small penetration, small deformation, and high weld quality, which can reduce the deformation when the connecting portion 1141 and the flange 120 are connected, improve the quality of the finished product of the flexible wheel 100, and ensure that the finished product of the flexible wheel 100 is qualified.

[0047] In addition to the connection portion 1141 being fixedly connected to the mounting groove 121 by welding, in another embodiment, the connection portion 1141 and the mounting groove 121 can also be fixedly connected by riveting. For example, corresponding through holes are set on the mounting groove 121 and the connection portion 1141, and then the rivet rod is inserted into the through hole so that the rivet head is close to the surface of the workpiece, and then one end of the rivet rod is upset to become a nail head. In order to improve the stability of the connection, multiple through holes can be set at intervals on the mounting groove 121 and the connection portion 1141, and the multiple through holes are set around the second inner hole 122, and the multiple through holes can be evenly spaced. Then rivets are set in multiple corresponding through holes, and then one end of the rivet rod is upset to become a nail head. In another embodiment, welding and riveting can be used together to fix the connection portion 1141 in the installation groove 121, so as to further improve the stability of the connection between the cylinder 110 and the flange 120, and ensure that the cylinder 110 and the flange 120 will not loosen or detach due to repeated alternating stress during operation. The appropriate connection method is selected according to the actual situation.

[0048] Continue to refer to Figure 2 As shown, in the embodiment of the present invention, the mounting groove 121 is provided on the side of the flange 120 facing the outer tooth portion 111. When the cylinder 110 and the flange 120 are installed, the connecting portion 1141 and the mounting groove 121 are aligned, and then welding, riveting, etc. are adopted, and the mounting groove 121 plays a positioning role, so that it is convenient to set the connecting portion 1141 in the mounting groove 121, improve the installation efficiency, and the structural design of the flexible wheel 100 is reasonable, and the connection is stable and reliable.

[0049] In another embodiment, in addition to setting the mounting groove 121 on the side of the flange 120 facing the outer tooth portion 111, the mounting groove 121 can also be set on the side of the flange 120 away from the outer tooth portion 111. When installing the barrel 110, first pass the barrel portion 112 and the tooth portion through the second inner hole 122, then align the connecting portion 1141 with the mounting groove 121, and then fix the connecting portion 1141 in the mounting groove 121 by welding or riveting. Compared with the scheme in which the mounting groove 121 is set on the side of the flange 120 facing the outer tooth portion 111, when the mounting groove 121 is set on the side of the flange 120 facing the outer tooth portion 111, there is no step of passing the barrel portion 112 and the tooth portion through the second inner hole 122, and the length of the barrel portion 112 needs to be designed to be shorter, thereby saving materials and reducing production costs.

[0050] In addition to fixing the cylinder 110 by designing the mounting groove 121, in another embodiment, the connection portion 1141 can be directly connected to the side of the flange 120 facing the outer tooth portion 111, or the connection portion 1141 can be directly connected to the side of the flange 120 away from the outer tooth portion 111, that is, the flange 120 is not designed with the mounting groove 121. The connection portion 1141 and the flange 120 can also be connected in the following manner: the connection portion 1141 is connected to the inner wall of the second inner hole 122, or is connected to the outer peripheral wall of the flange 120, and the connection method is welding or riveting, and the appropriate connection method is selected according to the actual situation.

[0051] Reference Figure 6 As shown, in the embodiment of the present invention, along the radial direction of the flange 120, the width of the mounting groove 121 is L, which satisfies: 2mm≤L≤3mm. For example, the width L of the mounting groove 121 can be set to 2.1mm, 2.3mm, 2.5mm, 2.7mm, 2.9mm. It can be understood that, assuming that L is less than 2mm, the width of the mounting groove 121 in the radial direction is small, which easily leads to unstable connection of the connection part 1141. Under the action of long-term alternating stress, the connection part 1141 and the mounting groove 121 are easy to loosen and separate, causing the harmonic reducer to fail. Assuming that L is greater than 3mm, the width of the mounting groove 121 in the radial direction is large. When welding is used, the welding difficulty will be increased, which is easy to cause the situation of cold welding, unstable connection, and increase the time used for welding, affecting work efficiency. To this end, the width of the mounting groove 121 is reasonably designed to facilitate the connection between the connection part 1141 and the mounting groove 121, improve the stability of the connection and the processing efficiency, and effectively improve the situation of loosening and falling off of the connection part 1141 and the mounting groove 121.

[0052] Reference Figure 1 As shown, in the embodiment of the present invention, the partition 114 also includes a thin-walled portion 1142. For example, the thin-walled portion 1142 is arranged around the first inner hole 115, and the connecting portion 1141 is arranged around the outer edge of the thin-walled portion 1142. On the projection plane perpendicular to the axis of the flange 120, the projection of the thin-walled portion 1142 is located within the projection of the second inner hole 122. It can be understood that the flexible wheel 100 needs to produce repeated deformation under the rotation of the wave generator during operation, so the flexible wheel 100 needs to have certain flexibility and toughness to enable it to withstand the influence of alternating stress. The thickness of the thin-walled portion 1142 is relatively thin, and the projection of the thin-walled portion 1142 is located within the projection of the second inner hole 122, so that the flexible wheel 100 has enough space to produce deformation, suppressing the flexible deformation of the connecting portion 1141 and the flange 120 at the connection, so as to meet the performance requirements of the flexible wheel 100 and improve the flexibility and toughness of the flexible wheel.

[0053] Continue to refer to Figure 1As shown, in the embodiment of the present invention, the first inner hole 115 and the second inner hole 122 are both circular holes, which facilitates the manufacture of the cylinder 110 and the flange 120 during the production process, simplifies the production steps, and improves the production efficiency. The radius of the second inner hole 122 is larger than the radius of the first inner hole 115, which can save the material required for manufacturing the flange 120, and makes the thin-walled portion 1142 exposed in the second inner hole 122 without being blocked by the flange 120. The thin-walled portion 1142 has enough space to deform, thereby improving the reliability of the flexible wheel 100 and the rationality of the design. In other embodiments, the first inner hole 115 and the second inner hole 122 can also be elliptical or other shapes, and the appropriate solution can be selected according to the actual situation.

[0054] Reference Figure 2 As shown, in the embodiment of the present invention, the barrel 112 further includes a bent portion 113, one end of which is bent in a direction away from the first inner hole 115, and the partition 114 is connected to the bent portion 113. That is, the partition 114 is located outside the first inner hole 115 and is arranged around the first inner hole 115, which facilitates the connection between the connecting portion 1141 and the flange 120, thereby improving assembly efficiency.

[0055] In an embodiment of the present invention, the cylinder 110 can be made of alloy steel, for example, SNCM439, which is an alloy structural steel with good heat treatment performance and mechanical properties, and is an important material widely used in the machinery manufacturing industry. It has the characteristics of high strength, high hardness, high wear resistance, etc., and is often used to manufacture high-quality bearings, gears, pins and other parts. At the same time, SNCM439 alloy structural steel also has excellent weldability and machinability, and is easy to be processed into parts of various shapes and sizes. Therefore, SNCM439 can be used to make the cylinder 112, which can meet the corresponding performance requirements while being easy to weld with the flange 120 to form the flexible wheel 100.

[0056] The flange 120 can be made of one of cast iron, stainless steel, and alloy steel. For example, when cast iron is used, cast iron has excellent mechanical properties, high strength and rigidity, and good wear resistance and heat resistance. The raw materials of cast iron are easy to obtain, the cost is relatively low, the manufacturing process is simple, and no complicated processing and manufacturing process is required. Cast iron also contains a certain proportion of chromium and nickel, which makes it have certain corrosion resistance and oxidation resistance. When stainless steel is used, stainless steel material has the advantages of corrosion resistance, high strength, high temperature resistance, wear resistance, etc., and is economical and cheap. When alloy steel is used, the alloy steel can be the same material as the cylinder 110, or it can be other materials that can meet the performance requirements of the flange 120. Select the appropriate material according to the actual situation. For example, when cast iron or stainless steel is selected, the cost required for the manufacture of the flange 120 can be reduced.

[0057] Reference Figure 7As shown, a harmonic reducer 1000 of an embodiment of the present invention includes the flexspline 100 of the above embodiment. The harmonic reducer 1000 also includes a wave generator 200 and a rigid wheel 300, and the wave generator 200 includes a cam 210 and a flexible bearing 220. The cam 210 and the inner ring of the flexible bearing 220 are interference fit, so that the flexible bearing 220 is deformed into an ellipse, and the outer ring of the flexible bearing 220 and the inner wall of the flexspline 100 are gap fit, and the outer tooth portion 111 of the flexspline 100 is meshed with the inner tooth portion of the rigid wheel 300. When the cam 210 rotates, the flexspline 100 can repeatedly deform so that the outer tooth portion 111 is meshed with different inner tooth portions, thereby driving the flexspline 100 and the rigid wheel 300 to move relative to each other.

[0058] The harmonic reducer 1000 of the embodiment of the present invention adopts the flexible wheel 100 of the above embodiment. By manufacturing the flange 120 and the cylinder 110 of the flexible wheel 100 separately, spinning, stamping and other processes can be used for rapid prototyping when manufacturing the cylinder 110, which can simplify the processing steps of the cylinder 110 and shorten the processing time. The flange 120 can be made by casting, forging, powder metallurgy, machining and other methods. The manufacturing methods are diverse and convenient to select according to actual production conditions. In the assembly stage, the connecting portion 1141 and the flange 120 are fixedly connected to assemble a complete flexible wheel 100. Therefore, the processing time of the flexible wheel 100 is short, the cost is low, and the production efficiency is high.

[0059] Since the harmonic reducer 1000 adopts all the technical solutions of the flexspline 100 of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0060] An industrial robot according to an embodiment of the present invention includes the harmonic reducer 1000 of the above embodiment. The industrial robot may be a handling robot, a welding robot, an assembly robot, a processing robot, a spraying robot, a cleaning robot, a collaborative robot, etc. The harmonic reducer 1000 is usually arranged at the rotating joint of the industrial robot. The harmonic reducer 1000 achieves precise position and speed control of the joint of the industrial robot by reducing the input speed and transmitting it to the output shaft. The harmonic reducer 1000 can convert the output of the motor with high speed and low torque into the output with low speed and high torque to meet the motion requirements of the robot. The harmonic reducer 1000 also has extremely high transmission accuracy and repeatability, and can generally achieve precise motion control. The positioning and motion accuracy of the industrial robot are very important, especially in applications requiring high precision, such as assembly, welding, precision machining, etc. Compared with other transmission devices, the harmonic reducer 1000 has a compact structure and a small size, and can achieve high torque output while maintaining a small weight. This is particularly important for industrial robots, allowing industrial robots to achieve highly flexible movement in a limited space.

[0061] The industrial robot of the embodiment of the present invention adopts the harmonic reducer 1000 of the above embodiment, and the flange 120 and the cylinder 110 of the flexwheel 100 of the harmonic reducer 1000 are manufactured separately. When manufacturing the cylinder 110, spinning, stamping and other processes can be used for rapid prototyping, which can simplify the processing steps of the cylinder 110 and shorten the processing time. The flange 120 can be made by casting, forging, powder metallurgy, machining and other methods. The manufacturing methods are diverse and convenient to select according to actual production conditions. In the assembly stage, the connecting part 1141 and the flange 120 are fixedly connected to assemble a complete flexwheel 100. Therefore, the processing time of the flexwheel 100 is short, the cost is low, and the production efficiency is high.

[0062] Since the industrial robot adopts all the technical solutions of the harmonic reducer 1000 of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here.

[0063] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Flexspline, characterized in that: include: The cylinder body comprises a cylinder part and a partition part, wherein the cylinder part is provided with a first inner hole and an outer tooth part, the partition part is connected to an end of the cylinder part away from the outer tooth part, the partition part is connected and arranged around the cylinder part, and a connecting part is provided on a side of the partition part away from the cylinder part; A flange has a second inner hole in the center thereof which is connected to the first inner hole, and the flange is fixedly connected to the connecting portion.

2. The flexible wheel according to claim 1, characterized in that: A mounting groove is provided on the side wall of the flange, and a side of the mounting groove close to the axis of the second inner hole extends to the second inner hole, and the connecting portion is fixedly connected in the mounting groove.

3. The flexible wheel according to claim 2, characterized in that: The mounting groove is arranged on a side of the flange facing the outer tooth portion.

4. The flexible wheel according to claim 2 or 3, characterized in that: Along the radial direction of the flange, the width of the mounting groove is L, satisfying: 2mm≤L≤3mm.

5. The flexible wheel according to claim 1, characterized in that: The connecting portion is fixedly connected to a side of the flange facing the outer tooth portion.

6. The flexible wheel according to claim 1, characterized in that: The connection portion is welded and fixed to the flange; or, the connection portion is riveted to the flange.

7. The flexible wheel according to claim 1, characterized in that: The partition further includes a thin-walled portion, and on a projection plane perpendicular to the axis of the flange, a projection of the thin-walled portion is located within a projection of the second inner hole.

8. The flexible wheel according to claim 1, characterized in that: The first inner hole and the second inner hole are both circular holes, and the radius of the second inner hole is greater than the radius of the first inner hole.

9. The flexible wheel according to claim 1, characterized in that: The barrel portion includes a bent portion, which is bent in a direction away from the first inner hole and connected to the partition portion.

10. The flexible wheel according to claim 1, characterized in that: The cylinder is made of alloy steel, and / or the flange is made of one of cast iron, stainless steel and alloy steel.

11. Harmonic reducer, characterized in that: The invention comprises the flexible wheel according to any one of claims 1 to 10.

12. An industrial robot, characterized in that Including the harmonic reducer as claimed in claim 11.

Images