A harmonic reducer and integrated joint

Abstract

The present invention relates to the field of robotics, and in particular to a harmonic reducer and an integrated joint, comprising: a first steel wheel and a second steel wheel having a top-hat-shaped outer profile and a stepped through hole inside, a first mounting hole being provided on the first portion of the steel wheel; a second mounting hole being provided on 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; the small hole of the stepped through hole of the first steel wheel having the same inner diameter as the small hole of the stepped through hole of the second steel wheel; and the outer diameter of the fourth portion of the steel wheel being adapted to the inner diameter of the large hole of the stepped through hole of the second steel wheel. 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 design of the stepped through holes of the first and second steel wheels and the combination of different outer diameters and axial lengths; the design of the first and second mounting holes on the first and second steel wheels, as well as the stepped through holes, reduces the volume and weight of the conventional first and second steel wheels.

Description

Technical Field

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

[0002] Harmonic reducers are a type of transmission device widely used in high-precision positioning and motion control. With the continuous advancement of technology, performance requirements for harmonic reducers are increasing in various fields. Especially in space-constrained environments, miniaturization has become a key 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 support structure, lubrication system, etc.

[0004] The wave generator is one of the core components of a harmonic reducer. Through its specific shape and movement, it causes the flexible gear it matches to produce controllable elastic deformation. The flexible gear is a thin-walled gear capable of producing large elastic deformation, with an inner diameter slightly smaller than the long axis of the wave generator. The rigid gear is a gear with an inner ring gear, and its number of teeth is slightly larger than that of the flexible gear. The rigid gear typically serves as a fixed component in a harmonic reducer, meshing 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 spline 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] (1) 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] (2) Technical solution

[0010] In order to solve the above problems, the present invention provides a harmonic reducer, which includes: 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, with a top hat-shaped outer profile and a stepped through hole inside, and the first steel wheel is rotatably connected to 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, wherein the outer diameter of the first steel wheel portion is larger than the outer diameter of the second steel wheel portion; and the axial length of the first steel wheel portion is smaller 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 and the small holes of the stepped through holes of the second steel wheel have the same inner diameter;

[0021] The outer diameter of the fourth portion of the steel wheel is adapted to 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 portion of the steel wheel is provided with a first V-shaped annular groove;

[0026] The second portion of the steel wheel is provided with a ring-shaped extending boss;

[0027] The inner diameter of the boss is larger than the inner diameter of the second portion of the steel wheel, and the inner diameter of the boss is adapted to the outer diameter of the fourth portion 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 ring groove cooperates with the first V-shaped ring groove to form a rectangular ring 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 that mesh with the flexible wheel transmission teeth;

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

[0035] When the number of teeth of the flexible wheel transmission 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 can be used as the input steel wheel or the output steel wheel, and correspondingly, the second steel wheel can be 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 assemblies;

[0037] A pair of 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 first rollers are distributed on the periphery of the cam through the flexible connection portion, the number of the first rollers in two adjacent rows is 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 includes 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 as a ring;

[0044] The 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 flexible pulley through holes are provided on the flexible pulley grooves, and the flexible pulley through holes are 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] (3) 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 and the combination of different outer diameters and axial lengths of the first steel wheel and the second steel wheel; 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 1 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: Second Steel Wheel, 2-1: Third Steel Wheel Part, 2-2: Fourth Steel Wheel Part,

[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] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be 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 merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0064] The accompanying drawings illustrate schematic diagrams of structures according to embodiments of the present invention. These figures are not drawn to scale; for clarity, some details are exaggerated and some details may be omitted. The shapes of the various regions and layers shown in the figures, as well as their relative sizes and positions, are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions as needed.

[0065] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 should not 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, identical 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] Example 1

[0070] A harmonic reducer, Figure 1 FIG. 1 shows a cross-sectional view of the overall structure of a harmonic reducer according to an embodiment of the present invention; FIG. 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 with a top hat-shaped outer profile and a stepped through hole inside, and the first steel wheel 1 is rotatably connected to the second steel wheel 2; the first steel wheel 1 and the second steel wheel 2 have the same inner diameter, and after the first steel wheel 1 and the second steel wheel 2 are connected, an annular receiving cavity is formed inside, 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 flexspline 3;

[0072] The first steel wheel 1 includes 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 larger than the outer diameter of the second steel wheel portion 1-2. The axial length of the first steel wheel portion 1-1 is smaller than the axial length of the second steel wheel portion 1-2.

[0073] The second steel wheel 2 includes a third steel wheel portion 2-1 and a fourth steel wheel portion 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 portion 1-1 of the steel wheel is provided with a first mounting hole; the first mounting hole is used for mounting or fixing 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 that of the stepped through hole of the second steel wheel; the outer diameter of the fourth part 2-2 of the steel wheel matches the inner diameter of the large hole of the stepped through hole of the second steel wheel.

[0079] In the assembled state, this portion of the second steel wheel extends beyond the second steel wheel portion 1-2, leaving the steel wheel portion with the mounting holes suspended in the air. The first mounting holes and the second mounting holes may be positioned symmetrically or asymmetrically relative to the radial centerline. The first mounting holes and the second mounting holes eliminate the need for additional flanges when connecting the harmonic reducer to an external device, thereby reducing the overall size and weight.

[0080] Furthermore, in this embodiment, a second roller 5 is included, and the first steel wheel 1 and the second steel wheel 2 are rollingly connected through the second roller 5; the outer peripheral wall of the fourth part 2-2 of the steel wheel is provided with a first V-shaped ring groove; the second part 1-2 of the steel wheel is provided with a ring-shaped boss 1-2-1; the position of the boss 1-2-1 is 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 adapted to the outer diameter of the fourth part 2-2 of the steel wheel; the inner peripheral wall of the boss 1-2-1 is provided with a second V-shaped ring groove; the second V-shaped ring groove cooperates with the first V-shaped ring groove to form a rectangular ring groove; the second roller 5 is arranged in the rectangular ring groove. When connected, the end face of the fourth portion 2-1 of the steel wheel abuts the end face of the portion of the second portion 1-2 of the steel wheel that is not provided with the boss 1-2-1, and the end face of the boss 1-2-1 abuts the position of the third portion 2-1 of the steel wheel near the fourth portion of the steel wheel. Optionally, the second roller 5 is a cylindrical structure processed from a metal material and cross-mounted within the 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. After the second roller 5 is installed, the roller stopper is placed at the entry and exit position of the second roller 5 and is fixedly connected to the first steel wheel 1. Here, the connection can be made using mounting screws.

[0081] Furthermore, in this embodiment, Figure 5 FIG. 1 shows a schematic diagram of the overall structure of a flexible pulley 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 to the second steel wheel transmission teeth, the first steel wheel 1 can be used as the input steel wheel or the output steel wheel, and correspondingly, the second steel wheel 2 can be 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, they can be located at one end of the inner circumferential wall of the first steel wheel 1 or 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 set at one end of the inner circumferential wall of the second steel wheel 2, or it can be set at the center of the inner circumferential wall of the second steel wheel 2. When the number of teeth of the flexible pulley 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 can be the same as the number of teeth of the flexible pulley 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 can be the same as the number of teeth of the flexible pulley transmission teeth 3-1. When the inner teeth portion having the same number of teeth as the flexible pulley transmission teeth 3-1 can fix the flexible pulley to prevent the flexible pulley 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 circular arc gears; further, optionally, the flexible wheel transmission teeth 3-1 can 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 one embodiment of the present invention is shown; Figure 4 FIG. 1 shows a front view of the overall structure of a wave generator according to an embodiment of the present invention; FIG. Figure 2 、 Figure 3 and Figure 4As shown, the wave generator 4 includes a cam 4-1 and a pair of flexible connection assemblies 4-2. Conventional wave generators include a cam and a flexible bearing. The cam is a key component of the wave generator and adopts a shape with a long and short axis structure, such as a standard elliptical cam or a cosine cam. The cam can force the flexible wheel to produce periodic elastic deformation waves during rotation. The flexible bearing is a bearing device. In the wave generator, the flexible bearing is assembled on the outer periphery of the cam and mates with the cam's long and short axes. Because the cam's long axis diameter is larger than the flexible bearing's inner diameter, while the short axis diameter is smaller than the flexible bearing's inner diameter, the flexible bearing elastically deforms as the cam rotates, adapting to the changing cam profile.

[0085] The cam 4-1 of the wave generator 4 in this embodiment adopts a shape having a major axis and a minor axis structure, such as a standard elliptical cam or a cosine cam. A pair of flexible connection assemblies 4-2 are each sleeved on the outer peripheral wall of the cam 4-1 and cooperate with the major axis and minor axis of the cam 4-1. The flexible connection assemblies 4-2 have elastic deformation capabilities, capable of generating stable elastic deformation during cam rotation and adapting to changes in the cam profile. Furthermore, the flexible connection assembly 4-2 includes a flexible connection portion 4-2-1 and a first roller 4-2-2. The elastic deformation capability of the flexible connection assembly 4-2 is achieved through the flexible connection portion 4-2-1. The flexible connection portion 4-2-1 is a key component of the flexible connection assembly 4-2, having a certain degree of elasticity and flexibility, capable of withstanding the deformation force generated by the cam rotation.

[0086] Several first rollers 4-2-2 are distributed around the periphery of cam 4-1 via flexible connectors 4-2-1. Adjacent rows of first rollers 4-2-2 have different numbers of first rollers 4-2-2. These first rollers 4-2-2 roll in contact with the periphery of cam 4-1. As cam 4-1 rotates, the changes in its major and minor axes force the flexible connectors 4-2 to elastically deform. Supported by the flexible connectors 4-2-1, the first rollers 4-2-2 roll along the cam's contour, maintaining close contact with the cam's periphery. While these first rollers 4-2-2 are in contact with the periphery of cam 4-1, they also contact the inner circumference of the flexspline 3, which is mounted on the periphery of the wave generator 4. As cam 4-1 rotates, the first rollers 4-2-2 not only roll along the cam's contour but also transmit power to the flexspline 3 through the elastic deformation of the flexible connectors 4-2. This transmission mechanism enables the flexspline 3 to generate periodic elastic deformation waves, thereby fulfilling 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, radial dimensions, and weight of conventional wave generators using flexible bearings. By using flexible connections to connect the first roller to the outer periphery of the cam and the inner circumference of the flexspline, respectively, the wave generator's transmission function is achieved while reducing sliding friction, improving transmission efficiency, and extending the service life of the wave generator and flexspline.

[0088] Furthermore, in this embodiment, the flexible connection portion 4-2-1 includes a roller through-hole 4-2-3. The first roller 4-2-2 is disposed within the roller through-hole 4-2-3. The first roller 4-2-2 is in rolling connection with 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 the portion of the flexible connection portion 4-2-1 that accommodates the first roller 4-2-2. The shape and size of the roller through-hole 4-2-3 match those of the first roller 4-2-2 to ensure that the first roller 4-2-2 can roll freely within 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 rotational 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] Furthermore, in this embodiment, the flexible connection portion 4-2-1 is configured in an annular shape; the axial dimension relationship between the flexible connection portion 4-2-1 and the cam 4-1 is not limited here, and the axial dimension of the flexible connection portion 4-2-1 can be smaller than the axial dimension of the cam 4-1. The radial dimension relationship between the flexible connection portion 4-2-1 and the cam 4-1 is also not limited. The diameter difference between the inner and outer diameters of the flexible connection portion 4-2-1 is smaller than the diameter of the first roller 4-2-2; that is, the thickness of the flexible connection portion 4-2-1 is smaller than the diameter of the first roller 4-2-2.

[0090] The first roller 4-2-2 protrudes from both end surfaces of the roller through-hole 4-2-3, allowing it to contact both the outer circumferential wall of the cam 4-1 and the inner circumferential wall of the flexspline 3, thereby improving transmission stability and efficiency. Furthermore, because the roller protrudes from both ends, it can better bear and distribute load during transmission, extending the service life of the entire mechanism. The positional relationship between the centerline of the thickness of the flexible connection 4-2-1 and the center of the first roller 4-2-2 is not limited here; the center of the first roller 4-2-2 can be on the centerline of the thickness of the flexible connection 4-2-1, or the two can be offset. The rollers 4-2-2 are configured as cylindrical rollers or balls. The first rollers 4-2-2 are symmetrically arranged on either side of the annular centerline of the flexible connection 4-2-1. Because the first rollers 4-2-2 are symmetrically arranged on either side of the annular centerline of the flexible connection 4-2-1, they evenly share the load during transmission, avoiding unilateral overload and thus improving transmission stability. Symmetrical roller placement helps reduce vibration and noise during transmission because they maintain a better balance when applied, reducing vibration caused by imbalance. Symmetrical roller placement ensures precision and consistency during transmission because they maintain stable contact when applied, reducing errors caused by deformation or wear. Because the load is evenly distributed across multiple rollers, each roller experiences relatively little wear, extending the service life of the entire transmission system. Symmetrical roller placement reduces fatigue damage caused by uneven loads, improving the transmission system's fatigue resistance.

[0091] Further, if Figure 5 As shown, a circle of flexible pulley grooves 3-2 are provided at the center of the side wall of the flexible pulley 3. Flexible pulley through-holes 3-3 are provided on the flexible pulley grooves 3-2. The flexible pulley through-holes 3-3 are used to inject oil into the flexible connection assembly 4-2. The flexible pulley through-holes 3-3 are located on the flexible pulley grooves 3-2, and together they form an oil injection channel for injecting lubricating oil into the flexible connection assembly 4-2. Furthermore, the inner and outer peripheral walls of the flexible connection portion 4-2-1 are provided with oil-absorbing material. The oil-absorbing material can store some lubricating oil. During the movement of the cam 4-1, the lubricating oil in the oil-absorbing material is squeezed out through extrusion, providing transmission lubrication between the cam 4-2, the flexible connection assembly 4-2, and the flexible pulley 3. Furthermore, the flexible connection portion 4-2-1 can be provided with a groove for accommodating the oil-absorbing material to prevent the oil-absorbing material from moving.

[0092] Example 2

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

[0094] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations 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 within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

[0095] While the above description does not provide detailed technical details regarding patterning and etching of each layer, those skilled in the art will appreciate that various conventional methods can be used to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure.

[0096] The present invention has been described above with reference to the embodiments thereof. 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. Those skilled in the art may make various substitutions and modifications without departing from the scope of the present invention, and such substitutions and modifications are intended to 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 clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A harmonic reducer, characterized in that: The harmonic speed 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, with an outer profile in the shape of a top hat and a stepped through hole 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 flexible wheel (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) being larger than the outer diameter of the second steel wheel portion (1-2); and the axial length of the first steel wheel portion (1-1) being smaller than the axial length of the second steel wheel portion (1-2); The second steel wheel (2) comprises a steel wheel third part (2-1) and a steel wheel fourth part (2-2), 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; 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 in 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 and the small holes of the stepped through holes of the second steel wheel have the same inner diameter; 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 first steel wheel; The wave generator (4) comprises a cam (4-1) and a pair of flexible connection components (4-2); A pair of 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) via the flexible connection portion (4-2-1), the number of the first rollers (4-2-2) in two adjacent rows being different, and the first rollers (4-2-2) are in rolling contact with the periphery of the cam (4-1).

2. The harmonic reducer according to claim 1, characterized in that: It also includes 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 larger 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 adapted to 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 ring groove cooperates with the first V-shaped ring groove to form a rectangular ring 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 flexspline (3) is provided with flexspline 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 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).

6. The harmonic reducer according to claim 5, characterized in that: The flexible connection portion (4-2-1) is configured 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).

7. The harmonic reducer according to claim 1, characterized in that: The first roller (4-2-2) is a ball.

8. The harmonic reducer according to claim 1, characterized in that: A circle of flexible wheel grooves (3-2) is 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).

9. An integrated joint, characterized in that: The integrated joint includes at least one harmonic reducer according to any one of claims 1-8.

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