Harmonic reducer and robot

Abstract

The present disclosure provides a harmonic reducer and a robot, which relate to the field of robot technology, and specifically to the field of reducer technology. The harmonic reducer includes a rigid wheel, a flexible wheel and a wave generator. The flexible wheel includes a main body, a first support part and a second support part. The main body is sleeved on the outside of the wave generator. One end of the first support part is connected to one end of the main body, and the other end of the first support part is connected to one end of the second support part. A recessed area is formed on the upper surface of the first support part, and the rigid wheel is matched with the recessed area. The harmonic reducer disclosed in the present disclosure reduces the invalid space inside the harmonic reducer and optimizes the space utilization by optimizing the matching design of the flexible wheel and the rigid wheel, thereby effectively shortening the axial length of the harmonic reducer, thereby improving the compactness and installation flexibility of the harmonic reducer.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, specifically to the field of reducer technology, and especially to a harmonic reducer and a robot. Background Art

[0002] The harmonic reducer is composed of three key components: a steel wheel (also called a "rigid wheel"), a flexible wheel and a wave generator. The steel wheel is characterized by its precise fixed inner teeth on the inside, and the flexible wheel is cleverly embedded between the steel wheel and the wave generator with its elastic thin-walled cup structure. The wave generator, with its elliptical structure, gives the flexible wheel the ability to deform radially. The transmission mechanism of this reducer relies on the elastic deformation of the flexible wheel to cause relative misalignment with the steel wheel teeth, thereby efficiently transmitting power and motion. It is essentially different from traditional gear transmission, especially in terms of meshing theory, set calculation and structural design. Harmonic reducers are known for their high precision and high load-bearing capacity. Compared with ordinary reducers, their material usage is reduced by about 50%, and their volume and weight are also reduced by at least one-third. These advantages make them an ideal choice for applications with strict requirements on precision and weight, such as robot joint drives.

[0003] The problem of excessive axial length of traditional harmonic reducers stems from the complex layout and connection method of its internal components. On the one hand, the structural design of the existing steel wheel and flexible wheel increases the axial size of the reducer. In addition, in order to fix the reducer as a whole to the motor housing, multiple screws are required to pass through the through holes of the housing and the flexible wheel, which further increases the axial length. The increase in axial length not only limits the application of the reducer in space-constrained environments, but may also affect its performance in applications that require fast dynamic response. Therefore, this design limitation of traditional harmonic reducers has stimulated the demand for more compact and efficient transmission solutions to adapt to the development trend of modern industrial automation and precision machinery. Summary of the invention

[0004] The present disclosure provides a harmonic reducer and a robot.

[0005] According to one aspect of the present disclosure, a harmonic reducer is provided, comprising a wave generator, a flexible pulley and a rigid pulley, the flexible pulley comprising a main body, a first support portion and a second support portion, the main body being sleeved on the outside of the wave generator, one end of the first support portion being connected to one end of the main body, the other end of the first support portion being connected to one end of the second support portion, a recessed area being formed on the upper surface of the first support portion, and the rigid pulley being arranged in cooperation with the recessed area.

[0006] Optionally, the rigid wheel is an integrated structure.

[0007] Optionally, the harmonic reducer further includes a first shell and a second shell, the first shell and the second shell are cooperatively arranged, the first shell covers the outer side of the meshing end of the rigid wheel and the flexible wheel, and the second shell covers the outer side of the other end of the rigid wheel.

[0008] Optionally, the first housing includes a first body and a first extension portion, the first body and the first extension portion are vertically arranged, the first body covers the meshing end where the rigid wheel and the main body of the flexible wheel are meshed, and the first extension portion extends in a direction away from the first body;

[0009] The second housing includes a second body and a second extension portion, the second body is vertically arranged with the second extension portion, the second body is matched with the first extension portion, and the second extension portion extends in a direction away from the second body and matches with the first body.

[0010] Optionally, there are multiple first extension parts, there are multiple second extension parts, and the number of the first extension parts is the same as the number of the second extension parts.

[0011] Optionally, a plurality of the first extension portions are arranged at equal intervals, and a plurality of the second extension portions are arranged at equal intervals.

[0012] Optionally, the first shell and the second shell are made of different materials.

[0013] Optionally, the first shell is made of polyetheretherketone material, and the second shell is made of metal material.

[0014] Optionally, the second extending portion is provided with a first threaded hole, the second supporting portion is provided with a first through hole, and the first threaded hole and the first through hole are coaxially arranged.

[0015] Optionally, the first body is provided with a second through hole, the second extending portion is provided with a third through hole, the second supporting portion is provided with a fourth through hole, and the second through hole, the third through hole and the fourth through hole are on the same axis.

[0016] Optionally, the harmonic reducer further includes a first bearing, and the first bearing is arranged between the rigid wheel and the second extension portion.

[0017] Optionally, the first bearing includes a base and a protrusion, the protrusion protrudes from the outer surface of the base, and the top end of the protrusion is an arc surface.

[0018] Optionally, the first bearing includes a first sub-bearing and the second sub-bearing, and the first sub-bearing and the second sub-bearing are coaxially arranged.

[0019] Optionally, the harmonic reducer further includes an annular component, and the annular component is arranged between the rigid wheel and the second extension portion.

[0020] Optionally, the harmonic reducer further comprises a pin, wherein the pin is embedded in a first threaded hole provided in the second extension portion, and the pin cooperates with a spring in the annular component.

[0021] Optionally, a first recessed area is provided between two adjacent first threaded holes, a first height difference exists between the upper surface of the first threaded hole and the upper surface of the first shell, and the area formed by the first height difference is a second recessed area.

[0022] Optionally, a second threaded hole is arranged in the circumference of the wave generator, a third recessed area is arranged between two adjacent second threaded holes, a second height difference exists between the upper surface of the second threaded hole and the upper surface of the wave generator, and the area formed by the second height difference is a fourth recessed area.

[0023] Optionally, a third threaded hole is arranged on the circumference of the rigid wheel, a fifth recessed area is arranged between two adjacent third threaded holes, and an outer surface of the third threaded hole protrudes from an outer surface of the fifth recessed area.

[0024] According to another aspect of the present disclosure, a robot is provided, comprising the harmonic reducer as described above.

[0025] The present disclosure provides a harmonic reducer and a robot, which introduces a combination of a main body, a first support part and a second support part in the design of the flexible wheel of the harmonic reducer, and carefully arranges a recessed area on the upper surface of the first support part, and the recessed area is installed in cooperation with the bottom of the rigid wheel. In this way, the overall structural height of the cooperation between the rigid wheel and the flexible wheel can be reduced while keeping the original height of the rigid wheel unchanged. This design cleverly reduces the ineffective space inside the harmonic reducer and optimizes the space utilization, thereby effectively shortening the axial length of the harmonic reducer, thereby improving the compactness and installation flexibility of the harmonic reducer.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0028] Figure 1 is a schematic structural diagram of an exemplary harmonic reducer in the prior art;

[0029] Figure 2 yes Figure 1 a corresponding first cross-sectional schematic diagram;

[0030] Figure 3 yes Figure 1 a corresponding second cross-sectional schematic diagram;

[0031] Figure 4 is a schematic structural diagram of a harmonic reducer in an embodiment of the present disclosure;

[0032] Figure 5 In the present disclosure embodiment Figure 4 a corresponding first cross-sectional schematic diagram;

[0033] Figure 6 In the present disclosure embodiment Figure 4 a corresponding second cross-sectional schematic diagram;

[0034] Figure 7 is a schematic diagram of adding an oil seal structure in an embodiment of the present disclosure;

[0035] Figure 8 is a cross-sectional view of the structure of a joint actuator to which a harmonic reducer is applied in an embodiment of the present disclosure;

[0036] Fig. 9 is a schematic structural diagram of a first bearing in an embodiment of the present disclosure;

[0037] Fig.10 is a schematic structural diagram of a ring-shaped component in an embodiment of the present disclosure;

[0038] Fig.11 is a schematic diagram of a three-dimensional structure of a pin installation in an embodiment of the present disclosure;

[0039] Fig.12 In the present disclosure embodiment Fig.11 The corresponding cross-section diagram;

[0040] Fig.13 It is a schematic structural diagram of a harmonic reducer in another embodiment of the present disclosure.

[0041] Among them, 1-rigid wheel; 11-first rigid wheel; 111-rigid wheel through hole; 12-second rigid wheel; 121-threaded hole; 2-flexible wheel; 21-flexible wheel through hole; 3-wave generator; 4-housing; 41-housing through hole; 5-screw; 6-bearing; 22-main body; 23-first support part; 24-second support part; 241-first through hole; 242-fourth through hole; 42-first housing; 421-first main body; 422-first extension part; 423-second through hole; 43-second housing; 431 -second body; 432-second extension; 433-first threaded hole; 434-third through hole; 61-first bearing; 611-first sub-bearing; 612-second sub-bearing; 613-base; 614-protrusion; 7-annular component; 8-pin; 91-first recessed area; 92-second recessed area; 93-third recessed area; 94-fourth recessed area; 95-fifth recessed area; 96-second threaded hole; 97-third threaded hole; 98-oil seal structure; 99-engaging end. DETAILED DESCRIPTION

[0042] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0043] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used 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 as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] It should be noted that the block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities.

[0045] In the prior art solution, see Figures 1 to 3 , Figure 1 is a schematic structural diagram of an exemplary harmonic reducer; Figure 2 yes Figure 1 a corresponding first cross-sectional schematic diagram; Figure 3 yes Figure 1 The corresponding second cross-sectional schematic diagram. In the design of the traditional harmonic reducer, the harmonic reducer includes a rigid wheel 1, a flexible wheel 2 and a wave generator 3. The rigid wheel 1 is composed of two independent components, namely a first rigid wheel 11 and a second rigid wheel 12. Several rigid wheel through holes 111 are arranged circumferentially on the first rigid wheel 11, and the second rigid wheel 12 is provided with corresponding threaded holes 121. The output end of the reducer is stably installed by passing the screws through the rigid wheel through holes 111 and screwing into the threaded holes 121. In order to ensure the effective fixation of the output end of the reducer, the assembly accuracy of the first rigid wheel 11 and the second rigid wheel 12 must be very high. In addition, the reducer can be fixedly installed on the motor housing as a whole by passing the screws through several housing through holes 41 on the housing 4 and several flexible wheel through holes 21 on the flexible wheel 2. The fixed connection between the flexible wheel 2 and the housing 4 is achieved by several screws 5. The function of the oil seal is to ensure that the grease in the cavity where the bearing 6 is located is effectively sealed and prevent external dust from entering. However, this traditional design leads to some defects of the harmonic reducer, such as long axial length, heavy weight and complex structure, which limit its performance and applicability in certain applications.

[0046] In order to solve the above technical problems, the present invention provides a new harmonic reducer, see Figures 4 to 6 As shown, Figure 4 is a schematic diagram of the structure of the harmonic reducer in the embodiment of the present disclosure, Figure 5 In the present disclosure embodiment Figure 4 The corresponding first cross-sectional diagram, Figure 6 In the present disclosure embodiment Figure 4 The corresponding second cross-sectional schematic diagram. The harmonic reducer comprises: a wave generator 3, a flexible pulley 2 and a rigid pulley 1, the flexible pulley 2 comprises a main body 22, a first support portion 23 and a second support portion 24, the main body 22 is sleeved on the outside of the wave generator 3, one end of the first support portion 23 is connected to one end of the main body 22, the other end of the first support portion 23 is connected to one end of the second support portion 24, a recessed area is formed on the upper surface of the first support portion 23, and the rigid pulley 1 is arranged in cooperation with the recessed area.

[0047] Specifically, the harmonic reducer disclosed in the present invention is a precision transmission device, which includes three main components: a wave generator 3, a flexible wheel 2 and a rigid wheel 1. The wave generator 3 is the power source of the reducer, and generates a driving force to stimulate the elastic deformation of the flexible wheel 2 by connecting to an external driving source. The flexible wheel 2 is an elastic component in the reducer, which is composed of a main body 22, a first support part 23 and a second support part 24, wherein the main body 22 surrounds the outside of the wave generator 3, one end of the first support part 23 is connected to the main body 22, and the other end is connected to the second support part 24. Such a design helps the flexible wheel 2 to produce necessary radial deformation under the action of the wave generator 3. The rigid wheel 1, also known as the steel wheel, is a rigid component, and its internal teeth are meshed with the external teeth of the main body 22 of the flexible wheel 2 to achieve power transmission. The combination of the rigid wheel 1 and the recessed area of ​​the first support part of the flexible wheel ensures the correct positioning and close contact between the rigid wheel 1 and the flexible wheel 2. Through this design, the harmonic reducer can achieve compact axial dimensions while maintaining high transmission efficiency, and is suitable for applications with limited space.

[0048] In this way, by introducing the combination of the main body, the first support part and the second support part in the design of the flexible wheel of the harmonic reducer, and carefully setting a recessed area on the upper surface of the first support part, this recessed area is installed in cooperation with the bottom of the rigid wheel. In this way, it is possible to reduce the overall structural height of the rigid wheel and the flexible wheel while keeping the original height of the rigid wheel unchanged. This design cleverly reduces the ineffective space inside the harmonic reducer and optimizes the space utilization, thereby effectively shortening the axial length of the harmonic reducer, thereby improving the compactness and installation flexibility of the harmonic reducer.

[0049] In some optional embodiments, the rigid wheel 1 is an integrated structure.

[0050] Specifically, the traditional harmonic reducer includes two rigid wheels 1, which need to be matched during installation. The two rigid wheels 1 usually need to have a high assembly accuracy to ensure the effective fixed installation of the output end of the reducer, so the assembly complexity is high. The disclosed embodiment combines the two rigid wheels 1 in the traditional harmonic reducer into an integral structure, simplifies the mechanical structure, reduces the number of components, and helps to reduce the manufacturing cost and assembly complexity. That is, the rigid wheel 1 with an integrated structure design reduces the relative position adjustment between multiple components, so that the meshing of the rigid wheel 1 and the flexible wheel 2 is more accurate, which is conducive to improving the installation accuracy, thereby improving the efficiency and reliability of the transmission. In addition, the rigid wheel 1 with an integrated structure can improve its overall load-bearing capacity by optimizing the design and material selection, so that it can withstand a larger load and extend the service life of the reducer. In addition, by combining the rigid wheel 1 into one component, it is also helpful to shorten the axial length of the harmonic reducer, making the reducer more compact. This design method is suitable for applications with limited space. Moreover, the rigid wheel 1 with an integrated structure is more convenient for maintenance and repair, because the reduction in the number of components means fewer connection points and potential failure points, which is convenient for inspection and replacement.

[0051] In this way, the one-piece structural design of the rigid wheel reduces the number of parts, reduces the complexity of manufacturing and assembly, helps to achieve the miniaturization and lightweight of the reducer, and improves the transmission efficiency and reliability. Secondly, the one-piece rigid wheel helps to achieve a more compact axial length, making it more suitable for applications with limited space. In addition, this design may also improve the overall strength and durability of the reducer, reduce potential failure points, facilitate maintenance and overhaul, and thus extend the service life of the reducer.

[0052] In some optional embodiments, the harmonic reducer also includes a first shell 42 and a second shell 43, which are arranged in cooperation with each other, the first shell 42 covers the outer side of the meshing end of the rigid wheel 1 and the flexible wheel 2, and the second shell 43 covers the outer side of the other end of the rigid wheel 1.

[0053] Specifically, the protection and support of the internal components are achieved through the coordination of the first shell 42 and the second shell 43. The first shell 42 covers the outside of the meshing end of the rigid wheel 1 and the flexible wheel 2, which means that it is located in the area where the rigid wheel 1 and the flexible wheel 2 mesh with each other, that is, the key part of power transmission, to protect these components from the influence of the external environment. In addition, it should be noted that for the meshing end, the rigid wheel has a toothed structure inside for meshing with the teeth of the flexible wheel. The flexible wheel also has a toothed structure on its outer surface, which can mesh with the teeth of the rigid wheel. During the operation of the harmonic reducer, see Figure 5The meshing end refers to the area where the teeth of the rigid wheel and the flexwheel contact each other and mesh transmission. When the wave generator generates rotational motion, it forces the flexwheel to deform radially, so that the teeth of the flexwheel and the teeth of the rigid wheel are relatively staggered at the meshing end, thereby transmitting power and torque. This meshing mechanism is the basis for the harmonic reducer to achieve high reduction ratio and high torque output. Therefore, the meshing end of the rigid wheel and the flexwheel is the core part for power transmission in the harmonic reducer, and its design and manufacturing accuracy directly affects the transmission efficiency, accuracy and reliability of the reducer. During the design, it is necessary to ensure that the tooth shape of the meshing end is accurately matched, as well as good lubrication and sealing, to ensure the long-term stable operation of the reducer.

[0054] As for the second housing, the second housing 43 covers the outside of the other end of the rigid wheel 1, which is the part where the rigid wheel 1 is connected to the input shaft. The function of the second housing 43 is to fix and protect the wave generator 3 and the connection with the input shaft. Through this design, the harmonic reducer can ensure the stability and durability of the internal components while ensuring the transmission efficiency, and it is also easy to achieve the sealing and lubrication of the reducer. That is, the setting method of this housing helps to improve the overall performance of the reducer, so that it can operate stably in various application environments.

[0055] In this way, by covering the outside of the meshing end of the rigid wheel and the flexible wheel with the first shell, and covering the outside of the other end of the rigid wheel with the second shell, this design not only enhances the structural integrity of the reducer and provides comprehensive protection for the internal precision components, but also helps to achieve better sealing performance to prevent lubricating oil leakage and the intrusion of external pollutants. In addition, the setting of the first shell and the second shell helps to fix the internal components and ensure the precise alignment between the rigid wheel, the flexible wheel and the wave generator, thereby improving the transmission efficiency and stability. At the same time, this structural design also facilitates the modular production and maintenance of the reducer, making it easier to replace or overhaul components when necessary, thereby improving the reliability and service life of the reducer.

[0056] In some optional embodiments, the first shell 42 includes a first body 421 and a first extension portion 422, the first body 421 and the first extension portion 422 are vertically arranged, the first body 421 covers the meshing end where the rigid wheel 1 and the main body 22 of the flexible wheel 2 are meshed, and the first extension portion 422 extends in a direction away from the first body 421; the second shell 43 includes a second body 431 and a second extension portion 432, the second body 431 and the second extension portion 432 are vertically arranged, the second body 431 and the first extension portion 422 are matched, and the second extension portion 432 extends in a direction away from the second body 431 and matches with the first body 421.

[0057] Specifically, the first housing 42 is composed of a first body 421 and a first extension 422, which are arranged vertically, wherein the first body 421 directly covers the meshing end of the rigid wheel 1 and the main body 22 of the flexible wheel 2, providing protection and support for the meshing end, while the first extension 422 extends in a direction away from the first body 421, and may be used to connect or fix other components. The second housing 43 is also composed of a second body 431 and a second extension 432, which are also arranged vertically, the second body 431 cooperates with the first extension 422 to ensure that the other end of the reducer is properly covered and protected, and the second extension 432 extends in a direction away from the second body 431, and cooperates with the first body 421 to form a complete housing structure of the reducer. This design achieves comprehensive protection of the internal components of the harmonic reducer through the vertical and coordinated arrangement of the main body and the extension of the two housings, while maintaining the compactness and functionality of the structure, which helps to improve the overall performance and durability of the reducer.

[0058] In this way, the combination of the first housing and the second housing provides enhanced structural integrity and protection for the harmonic reducer. The first body of the first housing directly covers the meshing end of the rigid wheel and the flexible wheel body, ensuring the stability of the transmission components and preventing external interference, while the extension of the first extension may be used for fixing or connecting with other components. The second body of the second housing cooperates with the first extension to ensure the protection and support of the other end of the reducer, and the extension of the second extension further enhances the overall structural stability. This design not only improves the durability and reliability of the reducer, but also helps to achieve a more compact layout, while facilitating the installation and maintenance of components. Overall, this housing design brings higher performance and adaptability to the harmonic reducer through the strategic layout of vertical and extended parts.

[0059] In some optional embodiments, there are multiple first extension portions 422 , and there are multiple second extension portions 432 , and the number of the first extension portions 422 is consistent with the number of the second extension portions 432 .

[0060] Specifically, the first extension 422 and the second extension 432 are both part of the housing design, which are used to enhance structural stability and provide additional assembly or connection points. There are multiple first extensions 422, which means that multiple extensions are designed on the first housing 42, and these extensions extend in a direction away from the first body 421, which may be used for fixing or connecting with other mechanical components. Similarly, there are multiple second extensions 432 on the second housing 43, and their number is consistent with the number of first extensions 422, ensuring that the two housings can be precisely matched in structure to achieve balanced support and fixation of the reducer. This design allows the reducer to be connected to external structures or components at multiple points, improves the flexibility and stability of the reducer installation, and also facilitates the realization of modular design, so that the harmonic reducer can adapt to different application requirements. In this way, the design of the harmonic reducer not only ensures the protection of internal components, but also provides the convenience of external connection, and enhances the overall mechanical performance and adaptability.

[0061] In this way, in the design of the harmonic reducer, the number of the first extension and the second extension are consistent and there are multiple of each. The multiple extensions provide more fixing points and connection options, so that the reducer can be installed more firmly in various application environments, and it is also convenient to achieve precise docking with other mechanical components. This design also helps to disperse the load and reduce the stress concentration at a single connection point, thereby improving the durability and reliability of the reducer. In addition, the consistent number of extensions ensures the symmetry and coordination of the first shell and the second shell during assembly, which helps to achieve a more compact design while simplifying the manufacturing and maintenance process. In general, this design optimizes the installation and operation performance of the harmonic reducer by providing multiple connection points that are evenly distributed.

[0062] In some optional embodiments, the plurality of first extension portions 422 are arranged at equal intervals, and the plurality of second extension portions 432 are arranged at equal intervals.

[0063] Specifically, "multiple first extensions 422 are arranged at equal intervals" means that the extensions on the first housing 42 are evenly distributed around it, forming an evenly spaced layout. These extensions may be used for fixing or connecting with other components to ensure the stability of the reducer and facilitate assembly. Similarly, "multiple second extensions 432 are arranged at equal intervals" means that the extensions of the second housing 43 are also evenly distributed in the same way, matching the number and intervals of the first extensions 422. This evenly spaced arrangement helps to achieve the balance and symmetry of the reducer, ensuring that the housing can be evenly stressed during installation and reducing deformation or damage caused by improper installation. In addition, evenly spaced extensions also facilitate modular design, allowing the harmonic reducer to quickly adapt to different installation requirements, improving design flexibility and production efficiency. In this way, the design of the harmonic reducer not only improves the stability of the structure, but also enhances its applicability in a variety of application scenarios.

[0064] In this way, by arranging a plurality of first extensions and second extensions at equal intervals on the first shell and the second shell of the harmonic reducer, the evenly distributed extensions can more effectively disperse and withstand external loads and reduce local stress concentration. Therefore, this equally spaced layout ensures the balance and stability of the reducer during installation and operation. In addition, the equally spaced arrangement also helps to achieve standardized and modular production, simplify the assembly process, and improve production efficiency. In addition, this design also enhances the adaptability of the reducer, making it easier to integrate with different mechanical systems or frames to meet diverse application requirements. In general, this equally spaced extension design improves the overall performance and application flexibility of the harmonic reducer.

[0065] In some optional embodiments, the first shell 42 and the second shell 43 are made of different materials.

[0066] Specifically, "the first shell 42 and the second shell 43 are made of different materials" means that the two main components constituting the external structure of the harmonic reducer are made of different materials. Optionally, the first shell 42 may be made of a lightweight material with good chemical resistance, such as peek (polyetheretherketone), which helps to reduce the overall weight of the reducer, and can make the mounting surface have a certain flexibility and shock absorption effect, more uniform force, and can maintain sufficient strength and wear resistance. In addition, since the peek material itself has excellent chemical resistance, wear resistance and self-lubricating properties. These properties mean that the contact surface between the first shell and the steel wheel can reduce friction and wear, thereby reducing the dependence on external oil seals. Therefore, by using the first shell 42 made of polyetheretherketone material, the "oil seal" structure in the traditional harmonic reducer can be omitted. As for the second shell, the second shell 43 may use metal materials, such as steel or aluminum alloy, to provide higher structural strength and rigidity to ensure the stability of the reducer under high load conditions. This difference in materials allows the first shell 42 to achieve lightweight while the second shell 43 focuses on providing the necessary mechanical support and durability. Through this differentiated selection of materials, the harmonic reducer can achieve structural optimization while ensuring performance, meeting the different requirements of weight and strength for specific application scenarios.

[0067] In this way, the design of the first shell and the second shell with different materials, this material differentiation strategy enables the harmonic reducer to maintain compactness and lightness while ensuring sufficient load-bearing capacity and durability, thereby improving the performance and adaptability of the reducer. In addition, this design may also help to achieve better thermal management, because the thermal expansion coefficients of different materials may be different, which helps to control temperature changes during operation. In general, this diversity of material selection provides flexibility in the design of harmonic reducers, enabling them to better meet the needs of specific applications.

[0068] In some optional embodiments, the first shell 42 is made of polyetheretherketone material, and the second shell 43 is made of metal material.

[0069] Specifically, the first shell is made of polyetheretheretherketone (PEEK), a high-performance engineering plastic. Due to its chemical resistance, heat resistance, wear resistance and self-lubrication, these properties enable the first shell to withstand harsh working environments in harmonic reducers while reducing overall weight and improving energy efficiency. The second shell uses metal materials such as steel or aluminum alloy, which provide higher mechanical strength and rigidity, ensuring that the shell can withstand high loads and maintain structural stability and durability. This differentiated selection of materials enables the harmonic reducer to achieve lightweight and improved corrosion resistance while maintaining high performance, thereby broadening its applicability in various industrial applications.

[0070] In this way, the polyetheretherketone material of the first shell helps to reduce the overall weight of the reducer due to its light weight, high strength and excellent chemical resistance, and improves corrosion and wear resistance, thereby extending the service life of the equipment. At the same time, the self-lubricating properties of this material help to reduce internal friction and improve transmission efficiency. The metal material of the second shell provides the necessary structural strength and rigidity to ensure the stability and reliability of the reducer under high load conditions. This material combination not only optimizes the mechanical performance of the reducer, but also may reduce maintenance costs because the frequency of repairs due to wear or corrosion is reduced.

[0071] In some optional embodiments, see Figure 7 , Figure 7 Schematic diagram of adding an oil seal structure in the embodiment of the present disclosure. In the embodiment of the present disclosure, the structure of the harmonic reducer can remove the first housing and add an oil seal structure 98 to achieve the functions of lubrication and sealing, that is, the original first housing is removed from the structure of the reducer, and the enhanced oil seal structure 98 is used to achieve the functions of lubrication and sealing. The first housing is used to provide external protection and support, but in this improved solution, it is decided to remove it in order to pursue a more compact design or reduce weight. The oil seal structure 98 is specially strengthened or redesigned to ensure that the bearings and gears inside the reducer are still properly lubricated without the first housing, while preventing external contaminants from invading. To achieve this solution, the size and shape of the oil seal need to be accurately calculated to ensure that it can effectively seal during high-speed rotation, and it is necessary to select a suitable material to resist chemical erosion and physical wear in the working environment. In addition, after removing the first housing, it may be necessary to structurally strengthen or redesign other components of the reducer to ensure the overall mechanical stability and durability, and those skilled in the art can set it according to actual needs. This design strategy aims to improve the performance of the reducer while reducing its volume and weight, making it more suitable for applications with specific requirements for space and weight.

[0072] Thus, removing the first housing reduces the weight and volume of the reducer, making the reducer more compact and suitable for space-constrained applications. At the same time, the added oil seal structure 98 not only improves the grease retention capacity and ensures efficient lubrication of the bearings and gears, but also enhances the sealing performance and effectively prevents the intrusion of dust and impurities, thereby reducing maintenance requirements and extending the service life of the reducer.

[0073] In some optional embodiments, the second extending portion 432 is provided with a first threaded hole 433 , the second supporting portion 24 is provided with a first through hole 241 , and the first threaded hole 433 and the first through hole 241 are coaxially arranged.

[0074] Specifically, the feature "the second extension portion 432 is provided with a first threaded hole 433, the second support portion 24 is provided with a first through hole 241, and the first threaded hole 433 and the first through hole 241 are coaxially arranged" means that the extension portion of the second housing 43 is designed with threaded holes, which are used to receive bolts or other fasteners to fix the components of the reducer together or to other structures. The second support portion 24, as a part of the flexible wheel 2, is provided with through holes, which are coaxially arranged with the threaded holes on the second extension portion 432, meaning that they share the same axis. Such a design allows bolts to pass through the through holes and then screw into the threaded holes to achieve a fixed connection between the flexible wheel 2 and the housing. This coaxial arrangement ensures precise alignment during assembly and helps to improve the structural stability and transmission accuracy of the reducer.

[0075] In this way, this coaxial setting ensures that the bolt or screw can accurately pass through the through hole and screw into the threaded hole, thereby achieving a firm fixation between the flexible wheel and the housing. This precise alignment reduces errors in the assembly process, improves assembly efficiency, and helps to maintain the precise positioning of the internal components of the reducer, thereby ensuring the smoothness and accuracy of the transmission. In addition, the coaxial threaded hole and through hole design also help to disperse the load, reduce stress concentration at a single connection point, and enhance the structural stability and durability of the reducer. In general, this design optimizes the assembly process of the harmonic reducer and improves its performance and reliability.

[0076] In some optional embodiments, the first body 421 is provided with a second through hole 423, the second extension portion 432 is provided with a third through hole 434, the second support portion 24 is provided with a fourth through hole 242, and the second through hole 423, the third through hole 434 and the fourth through hole 242 are on the same axis.

[0077] Specifically, "the first body 421 is provided with a second through hole 423, the second extension 432 is provided with a third through hole 434, the second support 24 is provided with a fourth through hole 242, and the second through hole 423, the third through hole 434 and the fourth through hole 242 are on the same axis" means that these through holes are designed in a precise alignment to ensure the assembly accuracy and structural stability of the reducer. The first body 421 is the main part of the first shell 42, which covers the outer side of the meshing end of the rigid wheel 1 and the flexible wheel 2. The second through hole 423 is used to pass bolts or other fasteners to fix or connect the components. The second extension 432 is an extension of the second shell 43, and the third through hole 434 is also used for fixing or connecting during the assembly process. The third support is a part of the flexible wheel 2, and the fourth through hole 242 is used to cooperate with the bolt to achieve a fixed connection between the flexible wheel 2 and the shell. The arrangement of these through holes on the same axis ensures that the various components can be accurately aligned during the assembly process, thereby improving the overall stability and transmission efficiency of the reducer. This design also facilitates modular production, simplifies assembly and maintenance processes, and ensures the reliability and durability of the reducer during operation.

[0078] In this way, by designing the second through hole of the first body, the third through hole of the second extension, and the fourth through hole of the third support portion to be on the same axis, this precise coaxial setting ensures the alignment accuracy of the reducer during assembly, thereby improving the overall structural stability and transmission efficiency. The coaxial through-hole design also helps to achieve a simpler assembly process, because bolts or other fasteners can pass through these through holes in a straight line, ensuring a tight fit between components. In addition, this design also helps to disperse the load, reduce stress concentration at a single connection point, and enhance the durability and reliability of the reducer. In general, this coaxial through-hole design optimizes the assembly and performance of the harmonic reducer, and improves its adaptability and efficiency in various applications.

[0079] In some optional embodiments, the harmonic reducer further includes a first bearing 61, and the first bearing 61 is disposed between the rigid wheel 1 and the second extension portion 432. Figure 8 , Figure 8 This is a cross-sectional view of the joint actuator structure using the harmonic reducer in the embodiment of the present disclosure, in which the structure of the first bearing is shown.

[0080] Specifically, in the design of the harmonic reducer, the feature of "the first bearing 61 is arranged between the rigid wheel 1 and the second extension portion 432" means that inside the reducer, the first bearing 61 is placed between the rigid wheel 1 and the extension portion of the second housing 43. The main function of the first bearing 61 is to support the rigid wheel 1 to ensure its stability and accuracy during rotation. As a part of the second housing 43, the second extension portion 432 provides a structural platform so that the first bearing 61 can be securely installed in the appropriate position. This layout allows the rigid wheel 1 to rotate smoothly with the support of the first bearing 61, while the second extension portion 432 provides the necessary fixation and protection for the first bearing 61. Through this design, the harmonic reducer can achieve efficient power transmission and deceleration effects while maintaining the compactness and reliability of the structure.

[0081] In this way, the first bearing is arranged between the rigid wheel and the second extension. This layout ensures the stable support and precise positioning of the rigid wheel inside the reducer. The presence of the first bearing significantly reduces the friction and wear of the rigid wheel during rotation, thereby improving the transmission efficiency and overall performance. At the same time, this design helps to evenly distribute the load, reduce the pressure on individual components, and extend the service life of the reducer. In addition, the setting of the first bearing also helps to reduce vibration and noise, making the reducer more stable and quiet during operation. Through this carefully designed bearing layout, the harmonic reducer not only ensures transmission accuracy, but also achieves high reliability and durability, meeting the needs of precision mechanical transmission systems.

[0082] In some optional embodiments, the first bearing 61 includes a base 613 and a protrusion 614 , the protrusion 614 protrudes from the outer surface of the base 613 , and the top end of the protrusion 614 is an arc surface.

[0083] Specifically, the first bearing 61 is composed of two parts: a base 613 and a protrusion 614. The base 613 is the main supporting structure of the first bearing, providing a stable base for installation at a specific position of the harmonic reducer to ensure the fixing and supporting functions of the first bearing. The protrusion 614 is a portion extending from the outer surface of the base 613. This design is used to provide additional support points or connection points to enhance the structural stability of the first bearing. By designing the top of the protrusion 614 to be arc-shaped, this helps to reduce stress concentration, improve the durability of the first bearing, and may form a smooth transition with other components in the reducer (such as a housing or a wave generator) to facilitate assembly and maintenance.

[0084] Optionally, the protrusion can be arranged in an arc shape. When the protrusion is connected to the base, the arc-shaped protrusion can be directly arranged on the top surface of the base and extend in a direction away from the base. Alternatively, the bottom end of the protrusion is connected to a partial area of ​​the side surface of the base. Alternatively, the protrusion and the base can be arranged at the same height and connected through a curved surface. Those skilled in the art can make settings according to actual needs, which are not limited here.

[0085] In this way, the protrusion extending from the outer surface of the base enhances the structural stability and load-bearing capacity of the bearing. At the same time, the arc surface at the top of the protrusion helps to reduce stress concentration when in contact with adjacent components, reduce wear, and improve the durability of the bearing. In addition, this design may also help optimize the lubrication and sealing performance of the bearing, because the protrusion can facilitate the retention of grease and the installation of sealing components, thereby improving the operating efficiency and reliability of the reducer. In general, this bearing design has a positive impact on the overall performance and life of the harmonic reducer by improving structural strength, durability and maintenance convenience.

[0086] In some optional embodiments, see Fig. 9 , Fig. 9 Schematic diagram of the structure of the first bearing in the embodiment of the present disclosure. Specifically, the first bearing 61 includes a first sub-bearing 611 and a second sub-bearing 612, and the first sub-bearing 611 and the second sub-bearing 612 are coaxially arranged.

[0087] Specifically, in the design of the harmonic reducer, the feature that "the first bearing 61 includes a first sub-bearing 611 and a second sub-bearing 612, and the first sub-bearing 611 and the second sub-bearing 612 are coaxially arranged" means that the first bearing 61 is composed of two sub-bearings, which are arranged along the same axis. This design allows the first bearing 61 to provide a more uniform load distribution and a more stable performance when supporting rotating parts. The coaxial arrangement of the first sub-bearing 611 and the second sub-bearing 612 means that they share a common rotation center line, which helps to ensure the alignment and balance of the internal components of the reducer. Through this design, the harmonic reducer can achieve more efficient power transmission, reduce additional friction and heat generation caused by uneven wear or misalignment of the bearings, thereby improving the reliability and life of the reducer. In addition, by setting the first sub-bearing and the second sub-bearing, that is, using two small bearings to replace the single large bearing in the traditional solution, the diameter and volume of the reducer can be further reduced while ensuring the output torque.

[0088] In this way, by setting two sub-bearings on the same axis, the bearing system's load capacity and stability are improved. The two sub-bearings share the load, reducing the stress concentration of a single bearing, thereby reducing wear and extending the service life of the bearing. In addition, the coaxial setting ensures the precise alignment of the bearing system, which helps to improve the smoothness of the transmission and the overall efficiency of the reducer. This design may also help to better disperse heat and improve the performance of the reducer under high load or high-speed operating conditions. In general, this strategy of using two bearings instead of one bearing significantly improves the reliability and durability of the harmonic reducer by enhancing the support structure and improving the operating accuracy.

[0089] In some optional embodiments, the harmonic reducer further includes an annular component 7, which is disposed between the rigid wheel 1 and the second extension portion 432. Fig.10 , Fig.10 It is a schematic diagram of the structure of the annular component in the embodiment of the present disclosure.

[0090] Specifically, the "annular component" refers to a ring-shaped component that is disposed between the rigid wheel 1 and the second extension portion 432. This annular component 7 may have multiple functions, such as serving as an additional support structure to help fix the position of the rigid wheel 1, or serving as a grease retainer to ensure that the lubricant is effectively distributed inside the reducer, and its material may be peek. The second extension portion 432 is a portion of the second housing 43 that extends out to provide an additional connection point or support. Placing the annular component 7 between the rigid wheel 1 and the second extension portion 432 can achieve a more stable assembly, ensure the precise positioning of the rigid wheel 1 during the transmission process, and may also help improve the load-bearing capacity and durability of the reducer.

[0091] In this way, the annular component acts as an additional supporting structure, enhancing the stability of the rigid wheel and ensuring precise positioning during the transmission process. Secondly, it may help to disperse and reduce the load transmitted by the rigid wheel, thereby reducing the stress concentration of a single component and extending its service life. In addition, the design of the annular component may also involve the optimization of lubrication and sealing. By forming a sealed space between the rigid wheel and the second extension, it helps to maintain a uniform distribution of internal grease and reduce friction and wear. This design may also improve the assembly efficiency of the reducer because it provides a clear assembly interface and simplifies the manufacturing and maintenance process. In general, the introduction of the annular component significantly improves the performance and reliability of the harmonic reducer by improving structural stability, enhancing load-bearing capacity, and optimizing lubrication and sealing.

[0092] In some optional embodiments, the harmonic reducer further includes a pin 8, which is embedded in the first threaded hole provided in the second extension portion 432, and the pin 8 cooperates with the spring in the annular component 7. Fig.11 and Fig.12 , Fig.11 is a schematic diagram of a three-dimensional structure of a pin installation in an embodiment of the present disclosure; Fig.12 In the present disclosure embodiment Fig.11 The corresponding cross-section diagram.

[0093] Specifically, in the design of the harmonic reducer, the feature of "the pin 8 is embedded in the threaded hole provided in the second extension part 432, and the pin 8 cooperates with the spring in the annular component 7" refers to a specific assembly and adjustment mechanism. The pin 8 is a cylindrical metal part, which is designed to be embedded in the threaded hole on the second extension part 432, and these threaded holes allow the pin 8 to be fixed or adjusted in the hole. The annular component 7 is used to replace the bearing, and the spring provides the necessary elastic force, so that the pin 8 can move or fine-tune in the annular component 7.

[0094] The implementation of this structure includes the following processes: a threaded hole is machined on the second extension to facilitate the embedding and fixing of the pin. A suitable spring is selected to ensure that its elastic force can meet the needs of the pin's activity. The pin is embedded in the threaded hole, and it is ensured that the pin and the spring are properly matched to make necessary adjustments or compensations in the annular component. The benefit of this design is that it provides a flexible adjustment mechanism that allows fine-tuning of the gap or pressure between components during assembly to optimize transmission performance and reduce wear. The coordinated activity of the pin and the spring helps to absorb minor changes due to manufacturing tolerances or during operation, thereby improving the stability and durability of the reducer. In addition, this design may also contribute to easier maintenance and overhaul, because the combination of the pin and the spring allows for quick adjustment or replacement.

[0095] Thus, in the design of the harmonic reducer, a matching mechanism of a pin and a spring is introduced, wherein the pin is embedded in the threaded hole of the second extension and moves together with the spring in the annular component. This design allows the pin to be fine-tuned under the action of the spring to adapt to different assembly requirements and operating conditions, thereby improving the assembly flexibility and operating accuracy of the reducer. The presence of the spring enables the pin to maintain appropriate pressure in the annular component, which helps to reduce the gap between components and improve transmission efficiency, while absorbing vibration and shock and extending the service life of the reducer. In addition, this adjustable design also helps to simplify the maintenance and overhaul process, because the combination of the pin and the spring allows for quick adjustment or replacement to cope with wear or performance changes. In general, this matching mechanism of the pin and the spring significantly improves the overall performance and reliability of the harmonic reducer by enhancing the adaptability and stability of the reducer.

[0096] In some optional embodiments, see Fig.13 , Fig.13Schematic diagram of the structure of the harmonic reducer in another embodiment of the present disclosure. A first recessed area 91 is provided between two adjacent first threaded holes 433, and a first height difference exists between the upper surface of the first threaded hole 433 and the upper surface of the first housing. The area formed by the first height difference is a second recessed area 92.

[0097] Specifically, the first threaded holes 433 are used to receive bolts or other fasteners to fix the components of the reducer together or to other structures, and they are evenly distributed on the first housing. The first recessed area 91 is designed in the space between these first threaded holes 433 to reduce the weight of the housing, and can also serve as a storage space for grease, which helps to improve lubrication efficiency and reduce friction between components. The first height difference refers to the vertical distance between the upper surface of the first threaded hole 433 and the upper surface of the first housing. This height difference is used in the housing design to form the second recessed area 92. Such a design can increase the rigidity of the housing while reducing material usage and reducing overall weight. The formation of the second recessed area 92 can provide additional support points or connection points, or to improve the thermal expansion characteristics of the housing, allowing sufficient space for expansion and contraction when the temperature changes, reducing thermal stress.

[0098] In this way, by setting the first recessed area between the adjacent first threaded holes and creating the first height difference between the upper surface of the first threaded hole and the upper surface of the first shell, the second recessed area is formed, which effectively reduces the use of materials, thereby reducing the weight of the reducer. This weight-reducing design directly improves energy efficiency, and the operation of the reducer is more energy-efficient due to the reduced energy consumption caused by the lighter components. At the same time, the recessed area increases the surface area of ​​the shell, which helps to improve the heat dissipation performance, especially under high load or high-speed operation conditions, which helps to maintain performance. In addition, this design can also reduce costs by reducing the use of materials, while maintaining or even enhancing the strength and durability of the structure. The design of the recessed area can also be used as a reference point for assembly and alignment, which improves the assembly accuracy and ensures the precise fit between components. In general, this design brings an overall improvement in performance to the harmonic reducer by reducing weight, improving heat dissipation efficiency, reducing costs and improving assembly accuracy, and is particularly suitable for applications with strict requirements on weight and energy efficiency.

[0099] In some optional embodiments, a second threaded hole 96 is provided in the circumference of the wave generator, a third recessed area 93 is provided between two adjacent second threaded holes 96, a second height difference exists between the upper surface of the second threaded hole 96 and the upper surface of the wave generator, and the area formed by the second height difference is the fourth recessed area 94.

[0100] Specifically, in the design of the harmonic reducer, the wave generator is provided with second threaded holes 96 in the circumference thereof, and these second threaded holes 96 are used to fix the wave generator or connect with other components. A third recessed area 93 is provided between two adjacent second threaded holes 96, and these recessed areas are designed to reduce the weight of the wave generator and are used to accommodate grease or reduce friction between components. There is a second height difference between the upper surface of the second threaded hole 96 and the upper surface of the wave generator, and the area formed by this height difference is the fourth recessed area 94, which helps to optimize the thermal expansion characteristics of the wave generator, allowing appropriate expansion and contraction space when the temperature changes, and reducing thermal stress.

[0101] In this way, the setting of the second threaded hole enhances the fixing ability of the wave generator and ensures its stability when transmitting power. Secondly, the introduction of the third recessed area reduces the use of materials, directly reduces the weight of the wave generator, and helps to improve the energy efficiency and dynamic response speed of the reducer. In addition, the design of the fourth recessed area helps to improve the thermal management of the wave generator, allowing appropriate expansion space when the temperature changes, reducing thermal stress, and thus extending the service life of the components. These design features achieve a comprehensive improvement in the harmonic reducer in terms of weight reduction, performance improvement, and durability through precise control of material distribution and structural optimization.

[0102] In some optional embodiments, a third threaded hole 97 is provided in the circumference of the rigid wheel, a fifth recessed area 95 is provided between two adjacent third threaded holes 97 , and an outer surface of the third threaded hole 97 protrudes from an outer surface of the fifth recessed area 95 .

[0103] Specifically, the third threaded hole 97 is used to fix the rigid wheel at the corresponding position of the reducer to ensure its stability and accuracy when transmitting torque. The fifth recessed area 95 is set between adjacent third threaded holes 97 to reduce the weight of the rigid wheel and help form a storage space for grease, thereby improving lubrication efficiency and reducing friction. The outer surface of the third threaded hole 97 protrudes from the outer surface of the fifth recessed area 95. This design helps to enhance the structural strength of the rigid wheel and provide a reference point or auxiliary positioning feature during assembly.

[0104] In this way, the setting of the third threaded hole enhances the fixing ability of the rigid wheel and ensures its stability and accuracy when transmitting torque. Secondly, the design of the fifth recessed area reduces the weight of the rigid wheel, which helps to improve the energy efficiency and dynamic response speed of the reducer. At the same time, it is used to form a storage space for grease, improve lubrication efficiency and reduce friction. This design achieves a comprehensive improvement in harmonic reducer in terms of weight reduction, performance improvement and durability through precise control of material distribution and structural optimization.

[0105] In some optional embodiments, in the design of the harmonic reducer, a weight reduction design strategy is adopted, so that the outer shell, steel wheel, and wave generator present an irregular shape in the circumference. The irregular shape design increases the contact area and friction between the outer shell, steel wheel, wave generator and the matching structural parts, which can increase the force of the harmonic reducer in the rotation direction, thereby improving the fixing stability between the matching parts and reducing the possibility of relative sliding. This design is particularly suitable for application scenarios that require high stability and low sliding risk.

[0106] Secondly, the irregular shapes of the housing, steel wheel and wave generator allow for more complex stress distribution, which helps to disperse and resist deformation under high load conditions, enhancing the structural strength and durability of the reducer. Furthermore, the irregular shape design can provide greater design flexibility for the harmonic reducer, enabling it to better adapt to different installation environments and matching requirements. For example, the shape of the structural parts can be customized according to specific application requirements to ensure the best fit and function.

[0107] In summary, through the irregular shape achieved by weight reduction design, the harmonic reducer has achieved significant performance improvements in stability, structural strength, etc. These improvements are based on a deep understanding and precise analysis of the functions and working environment of each component of the reducer.

[0108] According to an embodiment of the present disclosure, the present disclosure also provides a robot including: the harmonic reducer as described above.

[0109] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0110] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0111] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A harmonic reducer, comprising a rigid wheel (1), a flexible wheel (2) and a wave generator (3), characterized in that: The flexible wheel (2) comprises a main body (22), a first supporting portion (23) and a second supporting portion (24); the main body (22) is sleeved on the outside of the wave generator (3); one end of the first supporting portion (23) is connected to one end of the main body (22); the other end of the first supporting portion (23) is connected to one end of the second supporting portion (24); a recessed area is formed on the upper surface of the first supporting portion (23); and the rigid wheel (1) is arranged in cooperation with the recessed area.

2. The harmonic reducer according to claim 1, characterized in that: The rigid wheel (1) is an integrated structure.

3. The harmonic reducer according to claim 1, characterized in that: The harmonic reducer further comprises a first housing (42) and a second housing (43), wherein the first housing (42) and the second housing (43) are arranged in cooperation with each other, wherein the first housing (42) covers the outer side of the meshing end of the rigid wheel (1) and the flexible wheel (2), and the second housing (43) covers the outer side of the other end of the rigid wheel (1).

4. The harmonic reducer according to claim 3, characterized in that: The first housing (42) comprises a first body (421) and a first extension portion (422), the first body (421) and the first extension portion (422) being arranged vertically, the first body (421) covering the meshing end where the rigid wheel (1) and the main body (22) of the flexible wheel (2) are meshed, and the first extension portion (422) extends in a direction away from the first body (421); The second shell (43) includes a second body (431) and a second extension portion (432), the second body (431) and the second extension portion (432) are vertically arranged, the second body (431) and the first extension portion (422) are matched, and the second extension portion (432) extends in a direction away from the second body (431) and matches with the first body (421).

5. The harmonic reducer according to claim 4, characterized in that: There are multiple first extension parts (422), there are multiple second extension parts (432), and the number of the first extension parts (422) is consistent with the number of the second extension parts (432).

6. The harmonic reducer according to claim 5, characterized in that: A plurality of the first extension portions (422) are arranged at equal intervals, and a plurality of the second extension portions (432) are arranged at equal intervals.

7. The harmonic reducer according to claim 3, characterized in that: The first shell (42) and the second shell (43) are made of different materials.

8. The harmonic reducer according to claim 7, characterized in that: The first shell (42) is made of polyetheretherketone material, and the second shell (43) is made of metal material.

9. The harmonic reducer according to claim 4, characterized in that: The second extending portion (432) is provided with a first threaded hole (433), and the second supporting portion (24) is provided with a first through hole (241), and the first threaded hole (433) and the first through hole (241) are coaxially arranged.

10. The harmonic reducer according to claim 4, characterized in that: The first body (421) is provided with a second through hole (423), the second extension portion (432) is provided with a third through hole (434), the second support portion (24) is provided with a fourth through hole (242), and the second through hole (423), the third through hole (434) and the fourth through hole (242) are on the same axis.

11. The harmonic reducer according to claim 4, characterized in that: The harmonic reducer further comprises a first bearing (61), wherein the first bearing (61) is arranged between the rigid wheel (1) and the second extension portion (432).

12. The harmonic reducer according to claim 11, characterized in that: The first bearing (61) comprises a base (613) and a protruding portion (614), wherein the protruding portion (614) protrudes from the outer surface of the base (613), and the top end of the protruding portion (614) is an arc surface.

13. The harmonic reducer according to claim 11, characterized in that: The first bearing (61) comprises a first sub-bearing (611) and the second sub-bearing (612), and the first sub-bearing (611) and the second sub-bearing (612) are coaxially arranged.

14. The harmonic reducer according to claim 4, characterized in that: The harmonic reducer further comprises an annular component (7), wherein the annular component (7) is arranged between the rigid wheel (1) and the second extension portion (432).

15. The harmonic reducer according to claim 14, characterized in that: The harmonic reducer also includes a pin (8), which is embedded in a first threaded hole (433) provided in the second extension portion (432), and the pin (8) cooperates with a spring in the annular component (7) for movement.

16. The harmonic reducer according to claim 9, characterized in that: A first recessed area (91) is provided between two adjacent first threaded holes (433), and a first height difference exists between the upper surface of the first threaded hole (433) and the upper surface of the first housing (42), and the area formed by the first height difference is a second recessed area (92).

17. The harmonic reducer according to claim 1, characterized in that: The wave generator (3) is provided with a second threaded hole (96) in the circumferential direction, a third recessed area (93) is provided between two adjacent second threaded holes (96), a second height difference exists between the upper surface of the second threaded hole (96) and the upper surface of the wave generator (3), and the area formed by the second height difference is a fourth recessed area (94).

18. The harmonic reducer according to claim 1, characterized in that: The rigid wheel (1) is provided with a third threaded hole (97) in the circumferential direction, a fifth recessed area (95) is provided between two adjacent third threaded holes (97), and the outer surface of the third threaded hole (97) protrudes from the outer surface of the fifth recessed area (95).

19. A robot, characterized in that: include: A harmonic reducer as claimed in any one of claims 1 to 18.

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