Harmonic reducer and integrated joint

Abstract

The invention relates to the technical field of robots, in particular to a harmonic reducer and integrated joint which comprises a first steel wheel and a second steel wheel, the outlines of the first steel wheel and the second steel wheel are hat-shaped, stepped through holes are formed in the first steel wheel and the second steel wheel, and a first mounting hole is formed in a first part of the steel wheel; a second mounting hole is formed in the part, larger than the outer diameter of the second steel wheel part, of the third steel wheel part; the inner diameter of the small hole of the stepped through hole of the first steel wheel is the same as that of the small hole of the stepped through hole of the second steel wheel; and the outer diameter of the fourth part of the steel wheel is matched with the inner diameter of the large hole of the stepped through hole of the second steel wheel. Through the design of the stepped through holes of the first steel wheel and the second steel wheel and the combination of different outer diameters and axial lengths, the overall structural strength is optimized, the bearing capacity of the harmonic reducer is improved, and the service life of the harmonic reducer is prolonged; due to the design of the first mounting hole and the second mounting hole in the first steel wheel and the second steel wheel and the stepped through hole, the size and the weight of the traditional first steel wheel and the second steel wheel are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a harmonic reducer and an integrated joint. Background Art

[0002] Harmonic reducer is a transmission device widely used in high-precision positioning and motion control. With the continuous advancement of science and technology, the performance requirements of harmonic reducers in various fields are increasing day by day, especially in space-constrained environments, miniaturization has become an important trend in the development of harmonic reducers.

[0003] The main components of the harmonic reducer include wave generator, flexible wheel, rigid wheel and flexible bearing, as well as auxiliary components such as housing and supporting structure, lubrication system, etc.

[0004] The wave generator is one of the core components of the harmonic reducer. Through its specific shape and movement, it enables the flexible gear that matches it to produce controllable elastic deformation. The flexible gear is a thin-walled gear that can produce large elastic deformation, and its inner hole diameter is slightly smaller than the long axis of the wave generator. The rigid gear is a gear with an inner ring, and its number of teeth is slightly larger than the number of teeth of the flexible gear. The rigid gear is usually used as a fixed component in the harmonic reducer to mesh with the teeth of the flexible gear to transmit motion and power. The flexible bearing supports and positions the wave generator in the harmonic reducer, ensuring that the wave generator can accurately and stably drive the deformation of the flexible gear.

[0005] As important components of the harmonic reducer, the wave generator, flexspline, rigid wheel and flexible bearing can be miniaturized to not only improve the portability and flexibility of the harmonic reducer, but also better adapt to various complex environments.

[0006] Therefore, how to reduce the volume of each component of the harmonic reducer and the volume and weight of the harmonic reducer without reducing the overall performance is a current research direction. Summary of the invention

[0007] (I) Purpose of the invention

[0008] The object of the present invention is to provide a harmonic reducer and an integrated joint which can reduce the volume and weight without reducing the performance of the harmonic reducer.

[0009] (II) Technical solution

[0010] In order to solve the above problems, the present invention provides a harmonic reducer, which comprises: a wave generator, a first steel wheel, a second steel wheel and a flexible wheel;

[0011] The first steel wheel and the second steel wheel are annular structures, the outer contour is in the shape of a top hat, and there are stepped through holes inside, and the first steel wheel is rotatably connected with the second steel wheel;

[0012] The flexible wheel is arranged in the annular receiving cavity of the first steel wheel and the second steel wheel;

[0013] The wave generator is arranged in the accommodating cavity of the flexible wheel;

[0014] The first steel wheel comprises a first steel wheel portion and a second steel wheel portion, the outer diameter of the first steel wheel portion is greater than the outer diameter of the second steel wheel portion; the axial length of the first steel wheel portion is less than the axial length of the second steel wheel portion;

[0015] The second steel wheel comprises a third steel wheel portion and a fourth steel wheel portion,

[0016] The outer diameter of the third portion of the steel wheel is greater than the outer diameter of the fourth portion of the steel wheel; the axial length of the third portion of the steel wheel is less than the axial length of the fourth portion of the steel wheel;

[0017] The outer diameter of the third portion of the steel wheel is greater than the outer diameter of the second portion of the steel wheel;

[0018] The first portion of the steel wheel is provided with a first mounting hole;

[0019] A second mounting hole is provided at a portion of the third portion of the steel wheel having a diameter greater than the outer diameter of the second portion of the steel wheel;

[0020] The small holes of the stepped through holes of the first steel wheel have the same inner diameter as the small holes of the stepped through holes of the second steel wheel;

[0021] The outer diameter of the fourth portion of the steel wheel is matched with the inner diameter of the large hole of the stepped through hole of the second steel wheel.

[0022] In another aspect of the present invention, preferably,

[0023] It also includes a second roller, and the first steel wheel and the second steel wheel are rollingly connected through the second roller.

[0024] In another aspect of the present invention, preferably,

[0025] The outer peripheral wall of the fourth part of the steel wheel is provided with a first V-shaped annular groove;

[0026] The second part of the steel wheel is provided with a boss extending in an annular shape;

[0027] The inner diameter of the boss is larger than the inner diameter of the second part of the steel wheel, and the inner diameter of the boss is matched with the outer diameter of the fourth part of the steel wheel;

[0028] The inner peripheral wall of the boss is provided with a second V-shaped annular groove;

[0029] The second V-shaped annular groove cooperates with the first V-shaped annular groove to form a rectangular annular groove;

[0030] The second roller is arranged in the rectangular annular groove.

[0031] In another aspect of the present invention, preferably,

[0032] The outer peripheral wall of the flexible wheel is provided with flexible wheel transmission teeth;

[0033] The inner peripheral wall of the first steel wheel is provided with first steel wheel transmission teeth meshing with the flexible wheel transmission teeth;

[0034] The inner peripheral wall of the second steel wheel is provided with second steel wheel transmission teeth meshing with the flexible wheel transmission teeth;

[0035] When the number of teeth of the flexible wheel transmission teeth is fixed, by changing the tooth ratio of the first steel wheel transmission teeth and the second steel wheel transmission teeth, the first steel wheel is used as the input steel wheel or the output steel wheel, and correspondingly, the second steel wheel is used as the output steel wheel or the input steel wheel.

[0036] In another aspect of the present invention, preferably, the wave generator comprises a cam and a pair of flexible connection components;

[0037] A pair of the flexible connection components are both sleeved on the outer peripheral wall of the cam;

[0038] The flexible connection assembly includes a flexible connection portion and a first roller;

[0039] A plurality of the first rollers are distributed on the periphery of the cam through the flexible connection portion, the numbers of the first rollers in two adjacent rows are different, and the first rollers are in rolling contact with the periphery of the cam.

[0040] In another aspect of the present invention, preferably,

[0041] The flexible connection portion comprises a roller through hole, the first roller is arranged in the roller through hole, and the first roller is rollingly connected to the outer peripheral wall of the cam through the roller through hole.

[0042] In another aspect of the present invention, preferably,

[0043] The flexible connection portion is configured in a ring shape;

[0044] The diameter difference between the inner and outer diameters of the flexible connection portion is smaller than the diameter of the first roller;

[0045] The first roller comprises two end surfaces of the roller through hole.

[0046] In another aspect of the present invention, preferably, the first roller

[0047] In another aspect of the present invention, preferably, a circle of flexible pulley grooves is provided at the center of the side wall of the flexible pulley, and a flexible pulley through hole is provided on the flexible pulley groove, and the flexible pulley through hole is used to inject oil into the flexible connection assembly.

[0048] In another aspect of the present invention, preferably, an integrated joint comprises at least one harmonic reducer as described above.

[0049] (III) Beneficial effects

[0050] The above technical solution of the present invention has the following beneficial technical effects:

[0051] The present invention helps to optimize the overall structural strength and improve the load-bearing capacity and service life of the harmonic reducer through the stepped through hole design of the first steel wheel and the second steel wheel and the combination of different outer diameters and axial lengths; the first mounting holes and the second mounting holes on the first steel wheel and the second steel wheel, as well as the design of the stepped through holes, reduce the volume and weight of the traditional first steel wheel and the second steel wheel, and facilitate the installation and positioning of other components, and also facilitate subsequent maintenance and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a cross-sectional view of the overall structure of a harmonic reducer according to an embodiment of the present invention;

[0053] Figure 2 is a top view of the overall structure of a wave generator according to an embodiment of the present invention;

[0054] Figure 3 is a side view of the overall structure of a wave generator according to an embodiment of the present invention;

[0055] Figure 4 is a front view of the overall structure of a wave generator according to an embodiment of the present invention;

[0056] Figure 5 is a schematic diagram of the overall structure of a flexible pulley according to an embodiment of the present invention;

[0057] Reference numerals:

[0058] 1: First steel wheel, 1-1: First part of steel wheel, 1-2: Second part of steel wheel, 1-2-1: Boss,

[0059] 2: The second steel wheel, 2-1: The third part of the steel wheel, 2-2: The fourth part of the steel wheel,

[0060] 3: Flexspline, 3-1: Flexspline transmission teeth, 3-2: Flexspline groove, 3-3: Flexspline through hole,

[0061] 4: wave generator, 4-1: cam, 4-2: flexible connection component, 4-2-1: flexible connection part, 4-2-2: first roller, 4-2-3: roller through hole,

[0062] 5: Second roller. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0064] The accompanying drawings show schematic diagrams of structures according to embodiments of the present invention. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clarity. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0065] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the description of the present invention, it should be noted that the terms “first” and “second” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0068] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0069] Embodiment 1

[0070] A harmonic reducer, Figure 1 FIG. 2 shows a cross-sectional view of the overall structure of a harmonic reducer according to an embodiment of the present invention; Figure 1 As shown, the harmonic reducer includes: a wave generator 4, a first steel wheel 1, a second steel wheel 2 and a flexible wheel 3; the first steel wheel 1 and the second steel wheel 2 are annular structures, the outer contour is a top hat shape, and there are stepped through holes inside, and the first steel wheel 1 is rotatably connected with the second steel wheel 2; the inner diameter of the first steel wheel 1 and the second steel wheel 2 is the same, and an annular receiving cavity is formed inside the first steel wheel 1 and the second steel wheel 2 after being connected, and the flexible wheel 3 is arranged in the annular receiving cavity of the first steel wheel 1 and the second steel wheel 2;

[0071] The wave generator 4 is disposed in the accommodating cavity of the flexible wheel 3;

[0072] The first steel wheel 1 comprises a first steel wheel portion 1-1 and a second steel wheel portion 1-2, wherein the outer diameter of the first steel wheel portion 1-1 is greater than the outer diameter of the second steel wheel portion 1-2; and the axial length of the first steel wheel portion 1-1 is less than the axial length of the second steel wheel portion 1-2.

[0073] The second steel wheel 2 includes a steel wheel third part 2-1 and a steel wheel fourth part 2-2.

[0074] The outer diameter of the third portion 2-1 of the steel wheel is greater than the outer diameter of the fourth portion 2-2 of the steel wheel; the axial length of the third portion 2-1 of the steel wheel is less than the axial length of the fourth portion 2-2 of the steel wheel;

[0075] The outer diameter of the third portion 2-1 of the steel wheel is greater than the outer diameter of the second portion 1-2 of the steel wheel;

[0076] The first part 1-1 of the steel wheel is provided with a first mounting hole; the first mounting hole is used to mount or fix other components;

[0077] A second mounting hole is provided at a portion of the third portion 2-1 of the steel wheel having a diameter greater than the outer diameter of the second portion 1-2 of the steel wheel;

[0078] The small hole of the stepped through hole of the first steel wheel has the same inner diameter as the small hole of the stepped through hole of the second steel wheel; the outer diameter of the fourth part 2-2 of the steel wheel is matched with the inner diameter of the large hole of the stepped through hole of the second steel wheel.

[0079] In the assembled state, this part of the second steel wheel will extend out of the second steel wheel part 1-2, and the position of the steel wheel provided with the mounting hole is suspended, and the positions of the first mounting hole and the second mounting hole can be symmetrical or asymmetrical relative to the radial center line. The first mounting hole and the second mounting hole enable the harmonic reducer to be connected to the outside without using an additional connecting flange, thereby reducing the overall volume and weight.

[0080] Furthermore, in the present embodiment, a second roller 5 is also included, and the first steel wheel 1 and the second steel wheel 2 are rollingly connected via the second roller 5; a first V-shaped annular groove is provided on the outer peripheral wall of the fourth part 2-2 of the steel wheel; a ring-shaped boss 1-2-1 is provided on the second part 1-2 of the steel wheel; the boss 1-2-1 is located in the part of the second part 1-2 of the steel wheel close to the first part 1-1 of the steel wheel; the inner diameter of the boss 1-2-1 is larger than the inner diameter of the second part 1-2 of the steel wheel, and the inner diameter of the boss 1-2-1 is matched with the outer diameter of the fourth part 2-2 of the steel wheel; a second V-shaped annular groove is provided on the inner peripheral wall of the boss 1-2-1; the second V-shaped annular groove cooperates with the first V-shaped annular groove to form a rectangular annular groove; the second roller 5 is arranged in the rectangular annular groove. In the connected state, the end face of the fourth part 2-1 of the steel wheel abuts against the end face of the part of the second part 1-2 of the steel wheel where the boss 1-2-1 is not provided, and the end face of the boss 1-2-1 abuts against the position of the third part 2-1 of the steel wheel close to the fourth part of the steel wheel. Optionally, the second roller 5 is a cylindrical structure processed from a metal material, cross-mounted in a rectangular annular groove formed by the first steel wheel 1 and the second steel wheel 2; Optionally, in this embodiment, the first steel wheel 1 is provided with an entry and exit position for the second roller 5, and a roller stopper is provided. After the second roller 5 is installed, the roller stopper is placed at the entry and exit position of the second roller 5 and fixedly connected to the first steel wheel 1, and the connection here can be made by using mounting screws.

[0081] Further, in this embodiment, Figure 5 FIG. 1 shows a schematic diagram of the overall structure of a flexible wheel according to an embodiment of the present invention. Figure 5 As shown, the outer peripheral wall of the flexible wheel 3 is provided with a flexible wheel transmission tooth 3-1; the inner peripheral wall of the first steel wheel 1 is provided with a first steel wheel transmission tooth meshing with the flexible wheel transmission tooth 3-1; the inner peripheral wall of the second steel wheel 2 is provided with a second steel wheel transmission tooth meshing with the flexible wheel transmission tooth 3-1;

[0082] When the number of teeth of the flexible wheel transmission teeth 3-1 is fixed, by changing the tooth ratio of the first steel wheel transmission teeth and the second steel wheel transmission teeth, the first steel wheel 1 is used as the input steel wheel or the output steel wheel, and correspondingly, the second steel wheel 2 is used as the output steel wheel or the input steel wheel. The relationship between the first steel wheel 1 and the first steel wheel transmission teeth is not limited here. Optionally, the length of the first steel wheel transmission teeth is the same as the axial length of the inner circumferential wall of the first steel wheel 1, or it can be less than the axial length of the inner circumferential wall of the first steel wheel 1. When the length of the first steel wheel transmission teeth is less than the axial length of the inner circumferential wall of the first steel wheel 1, it can be set at one end of the inner circumferential wall of the first steel wheel 1, or it can be set at the center of the inner circumferential wall of the first steel wheel 1. The relationship between the second steel wheel 2 and the second steel wheel transmission teeth is not limited here. Optionally, the length of the second steel wheel transmission teeth is the same as the axial length of the inner circumferential wall of the second steel wheel 2, or it can be less than the axial length of the inner circumferential wall of the second steel wheel 2. When the length of the second steel wheel transmission teeth is less than the axial length of the inner circumferential wall of the second steel wheel 2, it can be arranged at one end of the inner circumferential wall of the second steel wheel 2, or it can be arranged at the center of the inner circumferential wall of the second steel wheel 2. When the number of teeth of the flexible wheel transmission teeth 3-1 is fixed, optionally, the number of teeth of the first steel wheel transmission teeth can be greater than the number of teeth of the second steel wheel transmission teeth, and the number of teeth of the second steel wheel transmission teeth is the same as the number of teeth of the flexible wheel transmission teeth 3-1. Alternatively, the number of teeth of the first steel wheel transmission teeth can be less than the number of teeth of the second steel wheel transmission teeth, and the number of teeth of the first steel wheel transmission teeth is the same as the number of teeth of the flexible wheel transmission teeth 3-1. When the inner tooth portion having the same number of teeth as the flexible wheel transmission teeth 3-1 can fix the flexible wheel to prevent the flexible wheel from moving during movement.

[0083] The specific structures of the flexible wheel transmission teeth 3-1, the first steel wheel transmission teeth and the second steel wheel transmission teeth are not limited here. Optionally, they can all be involute gears or arc gears; further, optionally, the flexible wheel transmission teeth 3-1 have the same contact height with the first steel wheel transmission teeth and the second steel wheel transmission teeth.

[0084] Figure 2 A top view of the overall structure of a wave generator according to an embodiment of the present invention is shown; Figure 3 A side view showing the overall structure of a wave generator according to an embodiment of the present invention is shown; Figure 4 FIG. 2 shows a front view of the overall structure of a wave generator according to an embodiment of the present invention; Figure 2 , Figure 3 and Figure 4As shown, the wave generator 4 includes a cam 4-1 and a pair of flexible connection components 4-2; the traditional wave generator includes a cam and a flexible bearing. The cam is a key component of the wave generator, and adopts a shape with a long axis and a short axis structure such as a standard elliptical cam or a cosine cam; the cam can force the flexible wheel to generate a periodic elastic deformation wave during the rotation process, and the flexible bearing is a bearing device. In the wave generator, the flexible bearing is assembled on the outer periphery of the cam and matches the long axis and the short axis of the cam. Since the long axis diameter of the cam is larger than the inner diameter of the flexible bearing, and the short axis diameter is smaller than the inner diameter of the flexible bearing, when the cam rotates, the flexible bearing will produce elastic deformation, thereby adapting to the profile change of the cam.

[0085] The cam 4-1 of the wave generator 4 in this embodiment adopts a shape having a long axis and a short axis structure such as a standard elliptical cam or a cosine cam. A pair of flexible connection components 4-2 are both sleeved on the outer peripheral wall of the cam 4-1 and matched with the long axis and the short axis of the cam 4-1; the flexible connection component 4-2 has elastic deformation ability, can produce stable elastic deformation when the cam rotates, and adapt to the profile change of the cam. Further, the flexible connection component 4-2 includes a flexible connection part 4-2-1 and a first roller 4-2-2; the elastic deformation ability of the flexible connection component 4-2 is realized by the flexible connection part 4-2-1, and the flexible connection part 4-2-1 is an important part of the flexible connection component 4-2, which has a certain elasticity and flexibility and can withstand the deformation force generated when the cam rotates.

[0086] A plurality of first rollers 4-2-2 are dispersedly arranged on the periphery of the cam 4-1 through a flexible connection part 4-2-1. The number of first rollers 4-2-2 in two adjacent rows is different. The first rollers 4-2-2 are in rolling contact with the periphery of the cam 4-1. When the cam 4-1 rotates, the changes in its major axis and minor axis force the flexible connection component 4-2 to produce elastic deformation. The first rollers 4-2-2 roll along the contour of the cam under the support of the flexible connection part 4-2-1 and maintain close contact with the periphery of the cam. While a plurality of first rollers 4-2-2 are in contact with the periphery of the cam 4-1, they are in contact with the inner peripheral wall of the flexible wheel 3 sleeved on the periphery of the wave generator 4. When the cam 4-1 rotates, the first rollers 4-2-2 not only roll along the contour of the cam, but also transmit power to the flexible wheel 3 through the elastic deformation of the flexible connection component 4-2. This transmission mode enables the flexible wheel 3 to generate periodic elastic deformation waves, thereby realizing the transmission function of the wave generator. The rolling motion reduces sliding friction, improves transmission efficiency, and extends the service life of the wave generator and flexspline.

[0087] This embodiment reduces the volume of the conventional wave generator using a flexible bearing, reduces the radial dimension of the wave generator, and reduces the weight of the wave generator. The first roller is respectively in contact with the outer periphery of the cam and the inner peripheral wall of the flexible wheel through the flexible connection part, thereby realizing the transmission function of the wave generator while reducing sliding friction, improving transmission efficiency, and extending the service life of the wave generator and the flexible wheel.

[0088] Further, in this embodiment, the flexible connection part 4-2-1 includes a roller through hole 4-2-3, and the first roller 4-2-2 is disposed in the roller through hole 4-2-3, and the first roller 4-2-2 is rollingly connected to the outer peripheral wall of the cam 4-1 through the roller through hole 4-2-3. The roller through hole 4-2-3 is a part of the flexible connection part 4-2-1 for accommodating the first roller 4-2-2. The shape and size of the roller through hole 4-2-3 match the first roller 4-2-2 to ensure that the first roller 4-2-2 can roll freely in the roller through hole 4-2-3. The axis of the roller through hole 4-2-3 maintains a certain angle or parallel relationship with the rotation axis of the cam 4-1 to ensure that the first roller 4-2-2 can roll along the profile of the cam. The specific number and arrangement rules of the roller through holes 4-2-3 are not limited here. They can be evenly distributed on the side wall of the flexible connection part 4-2-1, or unevenly distributed on the side wall of the flexible connection part 4-2-1. The number of roller through holes 4-2-3 can be greater than or equal to the number of first rollers 4-2-2.

[0089] Further, in this embodiment, the flexible connection part 4-2-1 is set to be annular; the axial dimension relationship between the flexible connection part 4-2-1 and the cam 4-1 is not limited here, the axial dimension of the flexible connection part 4-2-1 can be smaller than the axial dimension of the cam 4-1, and the radial dimension relationship between the flexible connection part 4-2-1 and the cam 4-1 is not limited. The diameter difference between the inner and outer diameters of the flexible connection part 4-2-1 is smaller than the diameter of the first roller 4-2-2; that is, the thickness of the flexible connection part 4-2-1 is smaller than the diameter of the first roller 4-2-2,

[0090] The first roller 4-2-2 protrudes from the two end faces of the roller through hole 4-2-3, so that the first roller 4-2-2 is in contact with the outer peripheral wall of the cam 4-1 and the inner peripheral wall of the flexible wheel 3 at the same time, thereby improving the stability and efficiency of the transmission. Secondly, since the roller protrudes from both ends, it can better bear and disperse the load during the transmission process, extending the service life of the overall mechanism. The positional relationship between the center line of the thickness of the flexible connection part 4-2-1 and the center of the circle of the first roller 4-2-2 is not limited here. The center of the circle of the first roller 4-2-2 can be on the center line of the thickness of the flexible connection part 4-2-1, and the two can also be in a deviated relationship. The roller 4-2-2 is set as a cylindrical roller or a ball. The first roller 4-2-2 is symmetrically arranged on both sides of the annular center line of the flexible connection part 4-2-1. Since the first roller 4-2-2 is symmetrically arranged on both sides of the annular center line of the flexible connection part 4-2-1, they can evenly share the load during the transmission process, avoiding the situation of unilateral overload, thereby improving the stability of the transmission. Symmetrically arranged rollers help reduce vibration and noise during transmission because they maintain a better balance when subjected to force, reducing vibration caused by imbalance. Symmetrically arranged rollers ensure accuracy and consistency during transmission because they maintain a stable contact state when subjected to force, reducing errors caused by deformation or wear. Since the load is evenly distributed on multiple rollers, the amount of wear on each roller is relatively small, thereby extending the service life of the entire transmission system. Symmetrically arranged rollers can reduce fatigue damage caused by uneven force and improve the fatigue resistance of the transmission system.

[0091] Further, if Figure 5 As shown, a circle of flexible wheel grooves 3-2 are provided at the center of the side wall of the flexible wheel 3, and a flexible wheel through hole 3-3 is provided on the flexible wheel groove 3-2. The flexible wheel through hole 3-3 is used to inject oil into the flexible connection component 4-2. The flexible wheel through hole 3-3 is located on the flexible wheel groove 3-2, and together constitutes an oil injection channel for injecting lubricating oil into the flexible connection component 4-2. Further, the inner and outer peripheral walls of the flexible connection part 4-2-1 are provided with oil absorbing materials, and the oil absorbing materials can store part of the lubricating oil. During the movement of the cam 4-1, the lubricating oil in the oil absorbing materials is squeezed out by extrusion, so as to provide transmission lubrication between the cam 4-2, the flexible connection component 4-2 and the flexible wheel 3. Further, a groove for placing the oil absorbing material can be provided on the flexible connection part 4-2-1 to prevent the oil absorbing material from moving in series.

[0092] Embodiment 2

[0093] An integrated joint comprises at least one harmonic reducer as described above.

[0094] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

[0095] In the above description, the technical details of patterning and etching of each layer are not described in detail. However, those skilled in the art should understand that various means in the prior art can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above.

[0096] The present invention has been described above with reference to the embodiments of the present invention. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, a person skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

[0097] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0098] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A harmonic reducer, characterized in that: The harmonic reducer comprises: a wave generator (4), a first steel wheel (1), a second steel wheel (2) and a flexible wheel (3); The first steel wheel (1) and the second steel wheel (2) are annular structures, the outer contour is in the shape of a top hat, and there are stepped through holes inside, and the first steel wheel (1) is rotatably connected to the second steel wheel (2); The flexible wheel (3) is arranged in the annular receiving cavity of the first steel wheel (1) and the second steel wheel (2); The wave generator (4) is arranged in the accommodating cavity of the flexspline (3); The first steel wheel (1) comprises a first steel wheel portion (1-1) and a second steel wheel portion (1-2); the outer diameter of the first steel wheel portion (1-1) is greater than the outer diameter of the second steel wheel portion (1-2); the axial length of the first steel wheel portion (1-1) is less than the axial length of the second steel wheel portion (1-2); The second steel wheel (2) comprises a steel wheel third portion (2-1) and a steel wheel fourth portion (2-2), the outer diameter of the steel wheel third portion (2-1) being greater than the outer diameter of the steel wheel fourth portion (2-2); the axial length of the steel wheel third portion (2-1) being less than the axial length of the steel wheel fourth portion (2-2); The outer diameter of the third portion (2-1) of the steel wheel is greater than the outer diameter of the second portion (1-2) of the steel wheel; The first part (1-1) of the steel wheel is provided with a first mounting hole; A second mounting hole is provided at a portion of the third portion (2-1) of the steel wheel having a diameter greater than the outer diameter of the second portion (1-2) of the steel wheel; The small holes of the stepped through holes of the first steel wheel have the same inner diameter as the small holes of the stepped through holes of the second steel wheel; The outer diameter of the fourth portion (2-2) of the steel wheel is adapted to the inner diameter of the large hole of the stepped through hole of the second steel wheel.

2. The harmonic reducer according to claim 1, characterized in that: It also comprises a second roller (5), and the first steel wheel (1) and the second steel wheel (2) are rollingly connected via the second roller (5).

3. The harmonic reducer according to claim 2, characterized in that: The outer peripheral wall of the fourth part (2-2) of the steel wheel is provided with a first V-shaped annular groove; The second part (1-2) of the steel wheel is provided with a ring-shaped extending boss (1-2-1); The inner diameter of the boss (1-2-1) is greater than the inner diameter of the second portion (1-2) of the steel wheel, and the inner diameter of the boss (1-2-1) is matched with the outer diameter of the fourth portion (2-2) of the steel wheel; The inner peripheral wall of the boss (1-2-1) is provided with a second V-shaped annular groove; The second V-shaped annular groove cooperates with the first V-shaped annular groove to form a rectangular annular groove; The second roller (5) is arranged in the rectangular annular groove.

4. The harmonic reducer according to claim 1, characterized in that: The outer peripheral wall of the flexible wheel (3) is provided with flexible wheel transmission teeth (3-1); The inner peripheral wall of the first steel wheel (1) is provided with first steel wheel transmission teeth meshing with the flexible wheel transmission teeth (3-1); The inner peripheral wall of the second steel wheel (2) is provided with second steel wheel transmission teeth meshing with the flexible wheel transmission teeth (3-1); When the number of teeth of the flexible wheel transmission teeth (3-1) is fixed, by changing the tooth ratio of the first steel wheel transmission teeth and the second steel wheel transmission teeth, the first steel wheel (1) is used as an input steel wheel or an output steel wheel, and correspondingly, the second steel wheel (2) is used as an output steel wheel or an input steel wheel.

5. The harmonic reducer according to claim 1, characterized in that: The wave generator (4) comprises a cam (4-1) and a pair of flexible connection components (4-2); A pair of the flexible connection components (4-2) are both sleeved on the outer peripheral wall of the cam (4-1); The flexible connection assembly (4-2) comprises a flexible connection portion (4-2-1) and a first roller (4-2-2); A plurality of the first rollers (4-2-2) are dispersedly arranged on the periphery of the cam (4-1) through the flexible connection portion (4-2-1), the number of the first rollers (4-2-2) in two adjacent rows is different, and the first rollers (4-2-2) are in rolling contact with the periphery of the cam (4-1).

6. The harmonic reducer according to claim 5, characterized in that: The flexible connection portion (4-2-1) comprises a roller through hole (4-2-3), the first roller (4-2-2) is arranged in the roller through hole (4-2-3), and the first roller (4-2-2) is rollingly connected to the outer peripheral wall of the cam (4-1) through the roller through hole (4-2-3).

7. The harmonic reducer according to claim 5, characterized in that: The flexible connection part (4-2-1) is arranged in a ring shape; The diameter difference between the inner and outer diameters of the flexible connecting portion (4-2-1) is smaller than the diameter of the first roller (4-2-2); The first roller (4-2-2) protrudes from two end surfaces of the roller through hole (4-2-3).

8. The harmonic reducer according to claim 5, characterized in that: The first roller (4-2-2) is a ball.

9. The harmonic reducer according to claim 5, characterized in that: A circle of flexible wheel grooves (3-2) is arranged at the center of the side wall of the flexible wheel (3), and a flexible wheel through hole (3-3) is arranged on the flexible wheel groove (3-2). The flexible wheel through hole (3-3) is used to inject oil into the flexible connection component (4-2).

10. An integrated joint, characterized in that: The integrated joint comprises at least one harmonic reducer as described in any one of claims 1-9.

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