Flexible gear, harmonic reducer, mechanical arm and cleaning equipment

Abstract

The invention provides a flexible gear, a harmonic reducer, a mechanical arm and cleaning equipment, the flexible gear is manufactured through injection molding, the flexible gear comprises a power input part, a waist part and a power output part, the waist part is connected with the power input part and the power output part, and the minimum wall thickness of the waist part is 0.2 mm-3 mm. The flexible gear is manufactured through the injection molding process, the manufacturing process is simple and efficient, and the flexible gear can be rapidly produced in a large-batch mode. And the number of machining procedures is reduced, and meanwhile, the number of used machining equipment is reduced, so that the manufacturing cost is reduced, and the production efficiency is improved. Materials used during injection molding are generally light in weight, and therefore the overall weight of the flexible gear is reduced. When the flexible gear is applied to the harmonic reducer, the light weight of the harmonic reducer can be achieved easily due to the light weight of the flexible gear. The minimum wall thickness of the waist part is set between 0.2 mm and 3mm, so that the weight of the flexible gear is effectively reduced while the structural strength of the flexible gear is ensured.

Description

Technical Field

[0001] The present application belongs to the technical field of transmission equipment, and specifically relates to a flexible wheel, a harmonic reducer, a robotic arm and a cleaning device. Background Art

[0002] The harmonic reducer mainly includes a wave generator, a flexible wheel and a rigid wheel. The harmonic reducer transmits motion and power through the controllable elastic deformation of the flexible wheel, thereby achieving the deceleration function.

[0003] When the wave generator is installed inside the flexspline, the flexspline undergoes elastic deformation, forming an approximately elliptical structure. The number of teeth on the flexspline is less than that on the rigid wheel. The flexspline teeth near both ends of the elliptical major axis are fully meshed with the rigid wheel teeth, while the flexspline teeth near both ends of the minor axis are completely disengaged from the rigid wheel teeth. As the wave generator rotates, the deformed part of the flexspline also rotates, causing the meshing and disengagement states between the flexspline and the rigid wheel to continuously change, thereby achieving a slow rotation of the flexspline relative to the rigid wheel, achieving a deceleration effect.

[0004] In the prior art, 40Cr alloy steel is usually used as the material for making flexible wheels, specifically including 40CrMoNiA, 40CrA, 30CrMoNiA, 38Cr2Mo2VA, etc. However, 40Cr alloy steel is difficult to process and is also heavy, making it difficult to meet the lightweight requirements of harmonic reducers. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present application is to provide a flexible spline, a harmonic reducer, a robotic arm and a cleaning device, which can reduce the difficulty of manufacturing the flexible spline and reduce the weight of the flexible spline.

[0006] In order to solve the above problems, the first aspect of the present application provides a flexible wheel, which is made of injection molding, and includes a power input part, a waist and a power output part. The waist is respectively connected to the power input part and the power output part, and the minimum wall thickness of the waist is 0.2mm to 3mm.

[0007] Optionally, the inner diameter of the power input part of the flexible wheel is 12 mm to 80 mm.

[0008] Optionally, the inner diameter of the power input part of the flexible wheel is 18 mm to 35 mm.

[0009] Optionally, transmission teeth are provided on the outer peripheral wall of the power input part, the transmission teeth are arranged along the circumference of the flexible wheel, and the diameter of the tooth top circle of the transmission teeth is 13 mm to 85 mm.

[0010] Optionally, transmission teeth are provided on the outer peripheral wall of the power input part, the transmission teeth are arranged along the circumference of the flexible wheel, and the diameter of the tooth top circle of the transmission teeth is 20 mm to 38 mm.

[0011] Optionally, a boss is formed on the side of the power output part away from the power input part, the boss protrudes from the waist along the axial direction of the flexible wheel, and a first stop is formed on the table surface of the boss, the first stop protrudes from the table surface in a direction away from the power input part.

[0012] Optionally, in the axial direction of the flexible wheel, an axial distance between the table and an end of the power input part away from the power output part is 6 mm to 30 mm.

[0013] Optionally, in the axial direction of the flexible wheel, an axial distance between the table and an end of the power input part away from the power output part is 6 mm to 20 mm.

[0014] Optionally, the ratio of the axial distance to the diameter of the tooth top circle is 0.2 to 1.

[0015] Optionally, the ratio of the axial distance to the diameter of the tooth top circle is 0.25 to 0.6.

[0016] Optionally, the length of the power input portion in the axial direction of the flexible wheel is 2 mm to 15 mm.

[0017] Optionally, the length of the power input portion in the axial direction of the flexible wheel is 3 mm to 8 mm.

[0018] Optionally, the power input part and the waist are arranged along the axial direction of the flexible wheel, one end of the waist is connected to the power input part, the power output part and the waist are arranged along the radial direction of the flexible wheel, and the power output part is connected to one end of the waist away from the power input and output part.

[0019] Optionally, the waist includes a first section, a second section and a third section, and the first section, the second section and the third section are connected in sequence along the direction from the power input section to the power output section; in the direction from the power input section to the power output section, the wall thickness of the first section decreases, the wall thickness of the second section is the same, and the wall thickness of the third section increases.

[0020] Optionally, the wall thickness of the second section is 0.2 mm to 3 mm.

[0021] Optionally, a connecting structure is provided on the power output part, and the connecting structure protrudes from the surface of the power output part.

[0022] Optionally, the connecting structure includes a plurality of connecting columns, and the plurality of connecting columns are arranged on the inner surface and / or outer surface of the power output part; the power output part is provided with an assembly hole, and the plurality of connecting columns are evenly arranged along the circumference of the assembly hole.

[0023] Optionally, a transmission tooth is provided on the outer peripheral wall of the power input part, and the tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, the first arc surface segment and the second arc surface segment are arranged along the direction from the tooth root to the tooth top, and the bending direction of the first arc surface segment is different from that of the second arc surface segment; the first arc surface segment is concave, and the second arc surface segment is convex.

[0024] Optionally, the material used to prepare the flexible wheel includes injection-molded engineering plastics.

[0025] In a second aspect of the present application, a harmonic reducer is provided, comprising a flexible wheel, a rigid wheel and a wave generator as described above, wherein the rigid wheel and the wave generator cooperate with the power input part respectively.

[0026] Optionally, transmission teeth are provided on the outer peripheral wall of the power input part, and the transmission teeth are arranged along the circumference of the flexible wheel, and the flexible wheel is meshed with the rigid wheel teeth through the transmission teeth; the power input part includes an opening on the side opposite to the power output part and an inner hole connected to the opening, and the wave generator is embedded in the inner hole through the opening and connected to the inner wall of the inner hole.

[0027] Optionally, the torque output carrier of the harmonic reducer includes an output part. When the flexible wheel is provided with a first stopper, the output part is provided with a second stopper, and the first stopper is plugged into the second stopper.

[0028] Optionally, the output part includes a limit member and a power output member, a limit hole is formed on the limit member, the connecting structure is used to pass through the limit hole, and the power output member is connected to the limit member; the connecting structure is arranged on the inner surface of the power output part, and the limit member and the power output member are respectively located on both sides of the power output part; an assembly hole is arranged on the power output part, and at least part of the power output member is located in the assembly hole; the harmonic reducer includes a fastener, and the fastener passes through the limit member and is connected to the power output member.

[0029] In a third aspect of the present application, a robotic arm is provided, comprising a flexible wheel as described above or a harmonic reducer as described above; the robotic arm comprises a moving arm, and when the robotic arm comprises the harmonic reducer, the harmonic reducer is connected to the moving arm.

[0030] In a fourth aspect of the present application, a cleaning device is provided, comprising a flexible wheel as described above, a harmonic reducer as described above, or a robotic arm as described above; when the cleaning device comprises the harmonic reducer, the harmonic reducer is arranged on the traveling part and / or the cleaning part of the cleaning device.

[0031] Beneficial Effects

[0032] A flexible wheel, a harmonic reducer, a robotic arm and a cleaning device (such as a cleaning robot, a sweeping robot, etc.) provided in an embodiment of the present invention manufacture the flexible wheel by adopting an injection molding process. The manufacturing process is simple and efficient, and the flexible wheel can be produced quickly and in large quantities. While reducing the processing steps, the processing equipment used is also reduced, thereby reducing the manufacturing cost and improving production efficiency. The weight of the material used during injection molding is usually lighter, thereby reducing the overall weight of the flexible wheel. When the flexible wheel is applied to a harmonic reducer, the lighter weight of the flexible wheel helps to achieve the lightweight of the harmonic reducer. For example, when the harmonic reducer is applied to a robotic arm, the lighter weight of the flexible wheel can reduce the inertia of the robotic arm and improve the movement speed and response accuracy. By setting the minimum wall thickness of the waist between 0.2 mm and 3 mm, the weight of the flexible wheel is effectively reduced while ensuring the structural strength of the flexible wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of a first three-dimensional structure of a flexible wheel according to an embodiment of the present application;

[0034] Figure 2 A second three-dimensional structural schematic diagram of the flexible wheel according to an embodiment of the present application;

[0035] Figure 3 is a cross-sectional view of a flexible wheel according to an embodiment of the present application;

[0036] Figure 4 This is a front view of the flexible wheel according to an embodiment of the present application;

[0037] Figure 5 A top view of a flexible wheel according to an embodiment of the present application;

[0038] Figure 6 for Figure 5 The enlarged view of point A in the middle;

[0039] Figure 7 It is a schematic diagram of the three-dimensional structure of the flexible wheel in the harmonic reducer of the embodiment of the present application;

[0040] Figure 8 This is a cross-sectional view of a harmonic reducer according to an embodiment of the present application.

[0041] The reference numerals are:

[0042] 1. Flexspline; 11. Power input part; 111. First arc surface segment; 112. Second arc surface segment; 12. Waist; 121. First segment; 122. Second segment; 123. Third segment; 13. Power output part; 131. Boss; 132. First stop; 133. Connecting column; 134. Assembly hole; 2. Fastener; 3. Limiting part; 31. Limiting hole; 4. Power output part. DETAILED DESCRIPTION

[0043] In the description of the present application, 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. 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 invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] See also Figures 1 to 5As shown, according to the first aspect of the embodiment of the present application, a flexible wheel is provided, the flexible wheel 1 is made of injection molding, the flexible wheel 1 includes a power input part 11, a waist 12 and a power output part 13, the power input part 11 is used to connect with the rigid wheel, the power output part 13 is used to connect with the power output part 4, the waist 12 is respectively connected to the power input part 11 and the power output part 13, and the minimum wall thickness of the waist 12 is 0.2mm to 3mm.

[0048] The flexible wheel 1 is manufactured by adopting the injection molding process. The injection molding process can realize automated production, with a short molding process cycle, high production efficiency, simple and efficient manufacturing process, and can quickly mass-produce the flexible wheel 1; in addition, injection molding can ensure that the shape of the flexible wheel 1 can be diversified, the size is accurate, the quality is stable, and the surface of the inner wall and other surfaces is smooth and scratch-free; at the same time, no waste is generated in the production process. While reducing the processing procedures, the processing equipment used is also reduced, thereby reducing the manufacturing cost and improving production efficiency. The weight of the material used in injection molding is usually lighter, thereby reducing the overall weight of the flexible wheel 1. When the flexible wheel 1 is used in a harmonic reducer, the lighter weight of the flexible wheel 1 helps to achieve the lightweight of the harmonic reducer. For example, when the harmonic reducer is used in a mechanical arm, the lighter weight of the flexible wheel 1 can reduce the mechanical arm's motion inertia, improve the motion speed and response accuracy.

[0049] Among them, the material for preparing the flexible wheel 1 includes injection molding engineering plastics. The materials used to prepare the flexible wheel 1 include but are not limited to injection molding engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS) and other pure materials and related materials filled with glass fiber and / or carbon fiber for reinforcement.

[0050] Specifically, the power input part 11, the waist part 12 and the power output part 13 are integrally formed during injection molding. That is, the power input part 11, the waist part 12 and the power output part 13 constituting the flexible wheel 1 are integrally formed at one time through the injection molding process, rather than using subsequent splicing, assembly and other methods to form a complete flexible wheel 1. In terms of structural integrity, the connection interface between the power input part 11, the waist part 12 and the power output part 13 can be eliminated, the overall structural strength and stability of the flexible wheel 1 are enhanced, and it is more reliable when bearing heavy loads and complex alternating stresses, ensuring that the harmonic reducer has good stability.

[0051] Transmission teeth are arranged on the outer peripheral wall of the power input part 11, and the transmission teeth are arranged along the circumference of the flexible wheel 1. The flexible wheel 1 is meshed with the rigid wheel teeth through the transmission teeth. The power input part 11 includes an opening on the side opposite to the power output part 13 and an inner hole connected to the opening. The wave generator is embedded in the inner hole through the opening and connected to the inner wall of the inner hole. The power input part 11 and the waist 12 are flexible. When working, the power input part 11 and the power output part 13 move under the action of the wave generator and the rigid wheel, and the waist 12 transmits the harmonic motion to the power output part 13, and the power output part 13 is rigid.

[0052] It is worth noting that the dimensional tests mentioned in the embodiments of the present application are all measured under normal temperature and pressure.

[0053] Among them, Figure 3 As shown, the minimum wall thickness in the waist 12 is δ, and δ is 0.2 mm to 3 mm.

[0054] Specifically, by setting the minimum wall thickness of the waist 12 between 0.2 mm and 3 mm, on the one hand, the wall thickness of the waist 12 is greater than or equal to 0.2 mm, which can ensure the torsional stiffness and service life of the waist 12. On the other hand, the wall thickness of the waist 12 is less than or equal to 3 mm, which avoids excessive stiffness of the waist 12 and fails to achieve harmonic transmission. While ensuring the structural strength of the flexible wheel 1, the weight of the flexible wheel 1 is effectively reduced.

[0055] The power input part 11 and the waist 12 are arranged along the axial direction of the flexible wheel 1, and one end of the waist 12 is connected to the power input part 11. The power output part 13 and the waist 12 are arranged along the radial direction of the flexible wheel 1, and the power output part 13 is connected to one end of the waist 12 away from the power input and output part 11.

[0056] The power input part 11 is a part of the flexible wheel 1 that meshes with the rigid wheel. The power output part 13 is a part of the flexible wheel 1 that is connected to the power output member 4. The waist part 12 is a part between the power input part 11 and the power output part 13, that is, the power input part 11, the waist part 12 and the power output part 13 are connected in sequence.

[0057] Specifically, the flexible wheel 1 is roughly a cup-shaped structure, the power input part 11 is the mouth of the cup-shaped structure formed by the flexible wheel 1, the power output part 13 is the bottom of the cup-shaped structure, and the waist 12 is the part of the bowl wall of the cup-shaped structure close to the bottom of the bowl, that is, the lower half of the bowl wall.

[0058] The axial direction of the flexible wheel 1 is also the extending direction of the central axis of the formed cup-shaped structure, and the radial direction of the flexible wheel 1 is also the extending direction of the diameter of the formed cup-shaped structure.

[0059] The waist portion 12 includes a first section 121, a second section 122 and a third section 123, which are connected in sequence along a direction from the power input portion 11 to the power output portion 13; in the direction from the power input portion 11 to the power output portion 13, the wall thickness of the first section 121 decreases, the wall thickness of the second section 122 is the same, and the wall thickness of the third section 123 increases.

[0060] By setting the first section 121, the second section 122 and the third section 123, and making the wall thickness of the first section 121 decrease, the wall thickness of the second section 122 constant, and the wall thickness of the third section 123 increase, the waist 12 of the flexible wheel 1 is more in line with the force characteristics in the transmission. Specifically, the force at the junction of the first section 121 and the power input part 11 is more concentrated, and the wall thickness here is set to be gradually reduced, which can buffer the stress. The wall thickness of the second section 122 is the same, which can maintain stable support. The wall thickness of the third section 123 is set to increase, which can strengthen the connection strength with the power output part 13. By setting the wall thickness of the first section 121, the second section 122 and the third section 123, the overall strength and stability of the flexible wheel 1 can be improved, the alternating stress can be effectively resisted, the service life can be extended, the reliable transmission of the harmonic reducer can be ensured under long-term complex working conditions, and the precise control of the robot arm is guaranteed.

[0061] The first section 121 is a section of the waist portion 12 close to the power input portion 11 where the wall thickness decreases. The third section 123 is a section of the waist portion 12 close to the power output portion 13 where the wall thickness increases. The second section 122 is a section between the first section 121 and the third section 123 where the wall thickness remains unchanged, and the wall thickness of the second section 122 is the same as the minimum wall thickness of the first section 121 and the minimum wall thickness of the third section 123. It should be noted that the above-mentioned increase and decrease are both in the direction from the power input portion 11 to the power output portion 13.

[0062] The wall thickness of the second section 122 is 0.2 mm to 3 mm.

[0063] In the direction from the power input part 11 to the power output part 13 , the third section 123 is bent toward the central axis of the flexspline 1 .

[0064] By setting the third section 123 as a curved structure, the stress can be guided to diffuse evenly, thereby reducing the local stress peak, avoiding hidden dangers such as material fatigue and cracks caused by excessive stress accumulation, enhancing the fatigue resistance of the flexible wheel 1, extending the service life, ensuring the long-term stable operation of the harmonic reducer, reducing the equipment maintenance and replacement costs, and improving the overall reliability and durability of the equipment.

[0065] The second section 122 extends along the axial direction of the flexible spline 1 , and the portion of the third section 123 away from the second section 122 is bent to be perpendicular to the axis of the flexible spline 1 , that is, the third section 123 is bent at 90 degrees.

[0066] The third section 123 is bent in a curved shape.

[0067] Specifically, one end of the third section 123 is connected to the second section 122 , and the other end is connected to the power output unit 13 , and the middle portion forms a smooth arc transition.

[0068] As a feasible embodiment, Figure 3 As shown, the inner diameter of the power input part 11 of the flexible wheel 1 is D1, and D1 is 12 mm to 80 mm.

[0069] Among them, the inner wall of the power input part 11 of the flexible wheel 1 can be a smooth circumferential surface. The power input part 11 is sleeved on the outer peripheral side of the wave generator. The inner wall of the power input part 11 is tightly fitted and fixed to the outer peripheral wall of the wave generator, so that the wave generator can drive the flexible wheel 1 to rotate, and during the rotation process, the power input part 11 is meshed with the rigid wheel for transmission.

[0070] As a feasible embodiment, the inner diameter of the power input part 11 of the flexible wheel 1 is 18 mm to 35 mm.

[0071] As a feasible embodiment, Figure 3 As shown, transmission teeth are arranged on the outer peripheral wall of the power input part 11 , and the transmission teeth are arranged along the circumference of the flexible wheel 1 . The diameter of the tooth top circle of the transmission teeth is D2 , and D2 is 13 mm to 85 mm.

[0072] By setting the diameter of the tooth top circle of the transmission tooth to 13mm to 85mm, it is possible to ensure that the flexible wheel 1 has good transmission performance. When the flexible wheel 1 is applied to the joint of a robot arm, the transmission tooth with a smaller tooth top circle diameter can reduce the meshing inertia and friction loss, achieve agile response, precise transmission, and improve energy utilization efficiency.

[0073] There are multiple transmission teeth, which extend along the axial direction of the flexible wheel 1. Multiple transmission teeth are evenly arranged on the outer peripheral wall of the power input part 11 along the circumferential direction of the flexible wheel 1. During operation, when the wave generator is installed in the flexible wheel 1, the flexible wheel 1 is forced to produce elastic deformation and become an ellipse. The transmission teeth near the two ends of the long axis of the ellipse are fully engaged with the meshing teeth on the steel wheel, while the transmission teeth near the two ends of the short axis are completely disengaged from the meshing teeth of the steel wheel. As the wave generator rotates, the deformed part of the flexible wheel 1 also rotates, so that the meshing and disengagement state between the flexible wheel 1 and the steel wheel changes continuously, thereby realizing the slow rotation of the flexible wheel 1 relative to the steel wheel, achieving the effect of deceleration.

[0074] As a feasible embodiment, the diameter of the tooth top circle of the transmission tooth is 20 mm to 38 mm, which can also ensure that the flexible wheel 1 has good transmission performance.

[0075] As a feasible embodiment, Figure 3As shown, the length of the power input portion 11 in the axial direction of the flexible wheel 1 is L1, and L1 is 2 mm to 15 mm.

[0076] By setting the axial length of the power input part 11 of the flexible wheel 1 to 2 mm to 15 mm, the stability of the meshing between the flexible wheel 1 and the rigid wheel is ensured. While ensuring good meshing stability, the overall weight and moment of inertia of the flexible wheel 1 can be reduced by reasonably setting the length of the power input part 11, thereby improving the response speed.

[0077] The power input part 11 is a substantially straight cylindrical structure, and the length of the power input part 11 in the axial direction of the flexible wheel 1 can also be regarded as the generatrix length of the power input part 11 .

[0078] As a feasible embodiment, the length of the power input part 11 in the axial direction of the flexspline 1 is 3 mm to 8 mm, which can also ensure that the flexspline 1 has good meshing stability with the rigid wheel, and also ensure that the flexspline 1 has a light weight and good response speed.

[0079] like Figure 3 As shown, a boss 131 is formed on the side of the power output part 13 away from the power input part 11, and the boss 131 protrudes from the waist 12 along the axial direction of the flexible wheel 1. A first stop 132 is formed on the table surface of the boss 131, and the first stop 132 protrudes from the table surface in a direction away from the power input part 11.

[0080] By providing the boss 131, the boss 131 can be abutted or plugged with the carrier during assembly, thereby ensuring good connection stability. By providing the first stop 132, the flexible wheel 1 can be matched with the carrier during assembly, thereby improving assembly accuracy, eliminating axial and radial assembly deviations, ensuring that the flexible wheel 1 has good assembly coaxiality, and ensuring good rotation accuracy.

[0081] The boss 131 extends along the axial direction of the flexible wheel 1 toward a side away from the power input portion 11 , and extends and protrudes from an outer wall of the waist portion 12 at a side away from the power input portion 11 .

[0082] The boss 131 is substantially in a circular ring structure, and the central axis of the boss 131 is colinear with the central axis of the flexible wheel 1 .

[0083] The first stop 132 is formed on the outer wall of the boss 131 away from the power input part 11, that is, on the table surface of the boss 131. The table surface of the boss 131 is a plane, and the extension direction of the table surface is perpendicular to the extension direction of the central axis of the flexible wheel 1.

[0084] Specifically, the first stop 132 is also a circular ring structure, formed at the inner circle of the circular ring structure formed by the boss 131 , and extends parallel to the central axis of the flexible wheel 1 toward a side away from the power input part 11 .

[0085] As a feasible embodiment, Figure 3 As shown, in the axial direction of the flexible wheel 1, the axial distance between the table and the end of the power input part 11 away from the power output part 13 is L2, and L2 is 6 mm to 30 mm.

[0086] By setting the axial distance between the table and the power input part 11 to 6mm to 30mm, the flexible wheel 1 can have a good supporting effect. During the operation of the harmonic reducer, the stress can be effectively dispersed to prevent the deformation and damage of the flexible wheel 1 caused by local overload due to improper length, thereby ensuring that the overall structure of the flexible wheel 1 has good stability, ensuring the reliable operation of the transmission system, reducing the risk of equipment failure, and extending the service life of the equipment.

[0087] The axial distance refers to the distance in the direction of the axis extension. Specifically, the axial distance between the table and the end of the power input part 11 away from the power output part 13, that is, the vertical distance between the plane where the power input part 11 opens and the plane where the table is located. The plane where the power input part 11 opens and the plane where the table are located are both perpendicular to the central axis of the flexible wheel 1.

[0088] As a feasible embodiment, in the axial direction of the flexible spline 1 , the axial distance between the table and the end of the power input part 11 away from the power output part 13 is 6 mm to 20 mm, which can also make the flexible spline 1 have a good supporting effect.

[0089] As a feasible embodiment, the ratio of the axial distance to the diameter of the tooth tip circle is 0.2 to 1.

[0090] By setting the ratio of the axial distance to the diameter of the tooth top circle to 0.2 to 1, the force on the flexible wheel 1 is ensured to be more balanced and coordinated, and the stress generated by the meshing transmission is effectively dispersed. During power transmission, local fatigue damage caused by stress concentration is suppressed, the deformation risk of the flexible wheel 1 is reduced, the structural reliability and stability are enhanced, the durability of the harmonic reducer is improved, the maintenance cost is reduced, and the long-term stable operation of the equipment is guaranteed.

[0091] The axial distance refers to the axial distance between the above-mentioned table surface and the end of the power input part 11 away from the power output part 13 .

[0092] As a feasible embodiment, the ratio of the axial distance to the diameter of the tooth top circle is 0.25 to 0.6, which can make the force of the flexible wheel 1 more balanced and coordinated.

[0093] like Figure 1 As shown, a connection structure is provided on the power output part 13 , and the connection structure protrudes from the surface of the power output part 13 .

[0094] By providing a connection structure protruding from the surface of the power output part 13, it is possible to avoid providing a slot hole on the power output part 13 for connecting with the output carrier, thereby avoiding the shrinkage problem caused during injection molding, thereby improving the transmission accuracy of the flexible wheel 1, ensuring that the flexible wheel 1 can stably and accurately transmit power during the transmission process, and also making it easier for the flexible wheel 1 to be integrally formed using the injection molding process, thereby improving the yield rate.

[0095] The power output part 13 and the connection structure are an integrated structure, that is, the connection structure is integrally formed when the flexible wheel 1 is injection molded. Specifically, the power output part 13 and the connection structure are integrally formed by injection molding.

[0096] The surface of the power output part 13 includes an inner surface and an outer surface.

[0097] Specifically, the flexible wheel 1 is roughly a cup-shaped structure, and a receiving space is formed inside the flexible wheel 1, and the receiving space is used to receive the wave generator. The inner wall of the cup-shaped structure formed by the flexible wheel 1 is the inner surface, and the outer wall is the outer surface. The inner surface of the power output part 13 is also the inner surface of the cup bottom of the cup-shaped structure, and the outer surface of the power output part 13 is also the inner and outer surfaces of the cup bottom of the cup-shaped structure.

[0098] Among them, the position of the power output part 13 in the flexible wheel 1 can be called the bottom of the flexible wheel 1. The connection structure is arranged on the power output part 13 at the bottom of the flexible wheel 1, so that the flexible wheel 1 is connected to the torque output carrier through the bottom, and then the power is output from the bottom of the flexible wheel 1, so that the torque is more evenly distributed, which is conducive to optimizing the force distribution and improving the stability and reliability of the flexible wheel 1 during operation. Moreover, the connection stability between the flexible wheel 1 and the torque output carrier is also improved, thereby enhancing the stability of the transmission and reducing the energy loss and transmission error caused by unstable connection. Setting the connection structure at the bottom of the flexible wheel 1 can also make the structure of the flexible wheel 1 more compact and the overall layout more reasonable.

[0099] like Figure 1 and Figure 5 As shown, the connection structure includes a plurality of connection columns 133 , and the plurality of connection columns 133 are disposed on the inner surface and / or the outer surface of the power output part 13 .

[0100] By providing a plurality of connection columns 133 , the force can be dispersed, so that the connection between the flexible wheel 1 and the torque output carrier is more stable and reliable.

[0101] As a feasible embodiment, the connecting column 133 is only arranged on the inner surface of the power output part 13. Based on this, some components of the torque output carrier can be arranged on the connecting column 133 on the inner surface of the flexible wheel 1, and other components of the torque output carrier can be arranged on the outer surface side of the flexible wheel 1. In addition to being connected to the flexible wheel 1, the torque output carrier can also clamp the flexible wheel 1, which can further ensure the transmission accuracy.

[0102] As a feasible embodiment, the connecting column 133 is only arranged on the outer surface of the power output part 13. Such arrangement facilitates the alignment of the torque output carrier and the connecting column 133, and can improve the assembly efficiency.

[0103] As a feasible embodiment, part of the connecting columns 133 can be distributed on the inner surface of the power output part 13, and another part of the connecting columns 133 can be distributed on the outer surface of the power output part 13. In other words, the connecting columns 133 can be distributed on both the inner and outer surfaces of the power output part 13, which can make the contact between the connecting columns 133 and the torque output carrier more complete and further ensure the transmission accuracy.

[0104] like Figure 5 As shown, the power output part 13 is provided with an assembly hole 134 , and a plurality of connecting columns 133 are evenly arranged along the circumference of the assembly hole 134 .

[0105] By providing the assembly hole 134, at least a portion of the torque output carrier can enter the accommodating space of the flexible wheel 1 through the assembly hole 134, and then connect with the connecting column 133 on the inner surface of the power output part 13, so as to clamp the power output part 13, which can further ensure the transmission accuracy. The size and shape of the assembly hole 134 need to be designed according to the structure and assembly requirements of the torque output carrier. For example, the diameter of the assembly hole 134 should be slightly larger than the size of the corresponding component of the torque output carrier to facilitate its smooth passage. At the same time, the edge of the assembly hole 134 can be chamfered to avoid scratches on the components during the assembly process.

[0106] Among them, by evenly arranging multiple connecting columns 133 along the circumference of the assembly hole 134, the force shared by each connecting column 133 can be made more uniform when the flexible wheel 1 is subjected to torque, avoiding the situation of excessive local force, thereby improving the overall stability and service life of the flexible wheel 1, and reducing the risk of loosening or failure of the connection structure. It also makes the structure of the flexible wheel 1 more balanced, reduces deformation or vibration caused by uneven force, and further improves the working performance and reliability of the flexible wheel 1. The evenly arranged connecting columns 133 make it easier to accurately align with the corresponding components during the assembly process, ensuring the accuracy of assembly and reducing the impact of assembly errors on the performance of the flexible wheel 1.

[0107] The assembly hole 134 may be a circular hole, which is provided on the power output part 13 and passes through the power output part 13 along the axial direction of the flexible wheel 1 . The axis of the assembly hole 134 coincides with the central axis of the power output part 13 and the central axis of the flexible wheel 1 .

[0108] The connecting column 133 is a cylindrical structure, a prism structure or a conical structure.

[0109] As a feasible embodiment, Figure 1 and Figure 5 As shown, the connecting column 133 is a cylinder. On the one hand, it is convenient to produce and process the connecting column 133. On the other hand, it is convenient for the connecting column 133 to cooperate with the torque output carrier and to insert the connecting column 133 into some parts of the torque output carrier.

[0110] Among them, a guide surface is provided on the outer edge of a section of the connecting column 133 away from the power output part 13, which makes it easier for the connecting column 133 to be inserted into some parts of the torque output carrier. The guide surface can be an inclined surface or an arc surface, and its angle and size need to be optimized according to the actual assembly requirements. The guide surface can play a guiding role in the assembly process, so that the connecting column 133 can be smoothly inserted into the corresponding component, reduce assembly resistance, improve assembly efficiency, and also avoid damage to the connecting column 133 and other components during the assembly process.

[0111] As a feasible embodiment, the connecting column 133 is a prismatic structure, specifically a regular prismatic structure, such as a diamond column, a square column, etc., which can also facilitate production and processing and facilitate cooperation with a torque output carrier.

[0112] As a feasible embodiment, the connecting column 133 is a conical structure, which can also facilitate production and processing and facilitate cooperation with the torque output carrier.

[0113] Among them, multiple connecting columns 133 are arranged in parallel, which is more convenient for disassembly and assembly, and also makes the connection between the flexible wheel 1 and the torque output carrier more stable and reliable. The connecting columns 133 arranged in parallel can ensure that each connecting column 133 is evenly stressed during the assembly process, thereby improving the stability and reliability of the connection. At the same time, when designing a mold, the connecting columns 133 arranged in parallel are also easier to implement, which can reduce the difficulty and cost of manufacturing the mold.

[0114] As a feasible embodiment, the maximum width of the cross section of each connecting pillar 133 is the same, and the height of each connecting pillar 133 is the same.

[0115] In this embodiment, the structure and style of the connecting column 133 can be the same. The same diameter and height make the connecting column 133 have better consistency during the assembly process, facilitate the rapid alignment of the torque output carrier with multiple connecting columns 133, and also improve the load-bearing capacity and service life of the connecting column 133.

[0116] The cross section of the connecting column 133 refers to the cross section of the connecting column 133 perpendicular to its own central axis. When the connecting column 133 is a cylindrical structure or a conical structure, the maximum width of the cross section is the diameter of the circle formed by the cross section. When the connecting column 133 is a prismatic structure, the maximum width is the diagonal lines in the cross section.

[0117] As a feasible embodiment, multiple connecting columns 133 are divided into at least a first connecting group and a second connecting group, the maximum width of the cross section of the connecting columns 133 of the first connecting group is different from the maximum width of the cross section of the connecting columns 133 of the second connecting group, the connecting columns 133 of the first connecting group are arranged opposite to each other along the radial direction of the power output part 13, and the connecting columns 133 of the second connecting group are arranged opposite to each other along the radial direction of the power output part 13; the height of the connecting columns 133 of the first connecting group is the same as the height of the connecting columns 133 of the second connecting group.

[0118] By setting the diameters of the connecting columns 133 in different groups to be different, based on this, when the torque output carrier is assembled with the connection structure, the design of different diameters can achieve the effect of fool-proof assembly, and the torque output carrier can be accurately assembled with the flexible wheel 1. At the same time, when the flexible wheel 1 is applied to a harmonic reducer, the torque is output through connecting columns 133 of different diameters during the operation of the harmonic reducer, which can make the transmission of the torque output carrier more reliable. In practical applications, it is necessary to determine the diameter difference and layout of different connection groups according to the specific assembly process and transmission requirements. For example, the optimal diameter combination and radial relative position can be determined through experiments and simulation analysis to achieve the optimal assembly effect and transmission performance.

[0119] The first connection group includes at least two connection pillars 133. The second connection group includes at least two connection pillars 133. Such a design can ensure that each connection group can effectively share the force, thereby improving the stability and reliability of the connection.

[0120] The connecting columns 133 in the same group have the same diameter, which ensures the consistency of the connecting columns 133 in the same group during force and transmission, and reduces stress concentration and transmission errors caused by diameter differences.

[0121] Specifically, the diameter of the connecting pillars 133 of the first connecting group is greater than the diameter of the connecting pillars 133 of the second connecting group.

[0122] More specifically, the first connection group includes six connection columns 133, the second connection group includes two connection columns 133, and the two connection columns 133 in the second connection group are arranged oppositely along the radial direction of the power output part 13. The six connection columns 133 in the first connection group are arranged oppositely along the radial direction of the power output part 13. Such a layout can make full use of the space where the power output part 13 in the flexible wheel 1 is located while ensuring the stability of the connection, and realize a reasonable force distribution. At the same time, the connection columns 133 arranged oppositely in the radial direction can better resist torque and radial force, and improve the overall performance of the flexible wheel 1.

[0123] The central axes of all the connecting columns 133 are evenly arranged along the circumference of the central axis of the flexible spline 1. The even arrangement enables the flexible spline 1 to bear torque with more even forces shared by the connecting columns 133, further improving the stability and reliability of the flexible spline 1.

[0124] like Figure 6 As shown, the tooth surface of the transmission tooth includes a first arc surface segment 111 and a second arc surface segment 112, which are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment 111 and the second arc surface segment 112 have different bending directions.

[0125] Among them, by setting a plurality of transmission teeth, during the working process, when the wave generator is installed in the flexible wheel 1, the flexible wheel 1 is forced to produce elastic deformation and become an ellipse, and the transmission teeth near the two ends of the long axis of the ellipse are fully meshed with the meshing teeth on the steel wheel, while the transmission teeth near the two ends of the short axis are completely disengaged from the meshing teeth of the steel wheel. As the wave generator rotates, the deformed part of the flexible wheel 1 also rotates, so that the meshing and disengagement state between the flexible wheel 1 and the steel wheel is constantly changing, thereby realizing the slow rotation of the flexible wheel 1 relative to the steel wheel, achieving the effect of deceleration.

[0126] Among them, by providing the first arc surface segment 111 and the second arc surface segment 112, when the transmission teeth on the flexible wheel 1 are meshed with the meshing teeth on the steel wheel, the transmission teeth and the meshing teeth can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects. At the same time, the arc surface segments with different bending directions can better adapt to the force changes and motion trajectories during the meshing process, thereby improving the stability and accuracy of the meshing.

[0127] As a feasible embodiment, the first arc surface segment 111 is concave, and the second arc surface segment 112 is convex.

[0128] Specifically, the first arc segment 111 is a segment close to the tooth root, and the second arc segment 112 is a segment close to the tooth top. The first arc segment 111 is concave, and the second arc segment 112 is convex, so that the transmission tooth can achieve a closer and more precise contact when meshing with the meshing tooth. In the early stage of meshing, the concave first arc segment 111 can guide the matching part to enter the meshing position smoothly, play a good guiding role, reduce the impact and dislocation during meshing, and the concave shape can provide a gradually guided path during contact, so that the matching part can enter the meshing state more smoothly, avoiding damage and instability that may be caused by sudden collision. As the meshing proceeds, the convex second arc segment 112 can form a more stable contact with the meshing tooth, increase the contact area, and improve the reliability and stability of the transmission. The convex shape makes the contact area gradually increase when the meshing depth increases, thereby dispersing the load, reducing the pressure per unit area, and reducing the risk of wear and deformation. The arc segments with different bending directions cooperate with each other, making the meshing process smoother and reducing the vibration and noise caused by the mismatch of the tooth surface.

[0129] The material for preparing the flexible wheel 1 includes injection-molded engineering plastics.

[0130] The flexible wheel 1 and the connecting structure can be made of the same material. The materials used to prepare the flexible wheel 1 and the connecting structure include but are not limited to injection molding engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS) and other pure materials and related materials filled with glass fiber and / or carbon fiber for reinforcement.

[0131] In a second aspect of this embodiment, a harmonic reducer is provided, comprising the above-mentioned flexible wheel 1, a rigid wheel and a wave generator, wherein the rigid wheel and the wave generator are respectively matched with the power input part 11. The transmission teeth of the power input part 11 are meshed with the teeth of the rigid wheel. The wave generator is embedded in the inner hole of the power input part 11 through the opening of the power input part 11 and connected to the inner wall of the inner hole.

[0132] The torque output carrier of the harmonic reducer includes an output portion. When the flexible wheel 1 is provided with a first stopper 132, the output portion is provided with a second stopper, and the first stopper 132 is plugged with the second stopper.

[0133] By providing the first stop 132 and the second stop that are plugged in, a clear positioning reference is provided for the flexible wheel 1 and the output part. During the assembly process, the cooperation of the stop can ensure the accurate positional relationship between the flexible wheel 1 and the output part in the axial and radial directions, so that the two can be quickly and accurately aligned and installed, greatly reducing the adjustment time and error during the assembly process, improving the assembly accuracy, ensuring the accuracy and stability of power transmission, and reducing the transmission error and vibration caused by assembly deviation.

[0134] The first stop 132 is arranged on the power output part 13 and is located on the outer peripheral side of the assembly hole 134. The first stop 132 is coaxially arranged with the assembly hole 134, so that the force transmission of the flexible wheel 1 is more uniform when connected to the output part, and the influence of the eccentric load on the transmission is reduced.

[0135] The first stop 132 and the second stop are plugged in along the axial direction of the flexible wheel 1. When assembling, align the first stop 132 on the flexible wheel 1 with the second stop on the output part, and then insert them into each other along the axial direction. During the insertion process, it is necessary to ensure the smoothness and accuracy of the insertion. A guide structure, such as a chamfer or a slope, can be designed on the edge of the stop to guide the smooth insertion of the two during assembly.

[0136] like Figure 7 and Figure 8 As shown, the output part includes a limit member 3 and a power output member 4 . A limit hole 31 is formed on the limit member 3 . The connecting structure is used to pass through the limit hole 31 . The power output member 4 is connected to the limit member 3 .

[0137] Among them, when the output part is connected to the flexible wheel 1, the limit member 3 can be set on the flexible wheel 1, the connecting structure passes through the limit hole 31, and a limit is formed between the limit member 3 and the connecting structure. Then, the output part is connected to the limit member 3, so that the power output member 4 and the flexible wheel 1 have a connection relationship. During the operation of the harmonic reducer, the torque will be transmitted to the connecting structure through the flexible wheel 1, and the connecting structure will first be transmitted to the limit member 3, and then to the power output member 4, which can be transmitted more accurately.

[0138] Specifically, the limiter 3 can be plate-shaped or gasket-shaped. When the connection structure includes a plurality of connection columns 133, the number of the limiter holes 31 is adapted to the number of the connection columns 133. By selecting a plate-shaped or gasket-shaped limiter 3, the thickness of the limiter 3 can be reduced while ensuring the limiting effect, so that the limiter 3 is conveniently connected to the power output member 4, and the layout of the harmonic reducer can be made more compact. The plate-shaped limiter 3 can provide a larger contact area and increase the stability of the limiter. The gasket-shaped limiter 3 can better adapt to the structural requirements when space is limited.

[0139] The connection structure is arranged on the inner surface of the power output part 13 , and the limiting member 3 and the power output member 4 are respectively located on both sides of the power output part 13 .

[0140] Among them, the connecting structure is arranged on the inner surface of the power output part 13, that is, the connecting structure is located inside the flexible wheel 1, and the limit member 3 is also arranged inside the flexible wheel 1, and the power output member 4 is arranged outside the flexible wheel 1. Based on this, the connecting structure extends into the limit hole 31 of the limit member 3. When the limit member 3 is connected to the power output member 4, the limit member 3 and the power output member 4 can play a role in clamping the power output part 13, which can make the connection between the output part and the flexible wheel 1 more reliable.

[0141] An assembly hole 134 is provided on the power output portion 13 , and at least a portion of the power output member 4 is located in the assembly hole 134 .

[0142] The power output member 4 can be inserted into the assembly hole 134 on the power output part 13 , which can make the coaxiality between the movement of the flexible wheel 1 and the movement of the power output member 4 higher, and can further ensure the reliability of the transmission of the flexible wheel 1 .

[0143] The harmonic reducer comprises a fastener 2 , which passes through a limiter 3 and is connected to a power output member 4 .

[0144] The fastener 2 is provided so that the limiter 3 can be fixedly connected to the power output member 4. Combined with the cooperation between the connection structure and the limiter 3, the connection between the output part and the flexible wheel 1 is more reliable.

[0145] like Figure 7 As shown, it can be understood that there can be multiple fasteners 2, and the styles and structures of the multiple fasteners 2 can be the same or different. The fasteners 2 include but are not limited to bolts, pins, etc.

[0146] The power output member 4 includes an output shaft or an output flange, so that the power output member 4 can output in two different ways, which can increase the use scenarios of the harmonic reducer.

[0147] In a third aspect of the present embodiment, a robotic arm is provided, comprising the above-mentioned flexible spline 1 or the above-mentioned harmonic reducer.

[0148] The mechanical arm comprises a moving arm, and the harmonic reducer is connected with the moving arm.

[0149] Specifically, the harmonic reducer is arranged at the joint of the robotic arm, and the robotic arm also includes at least one moving arm, which is connected to the harmonic reducer, specifically to the output part of the harmonic reducer, such as being connected to the aforementioned power output member 4 through a flange, or being connected to a coupling through an output shaft.

[0150] In a fourth aspect of the present embodiment, a cleaning device is provided, comprising the above-mentioned flexible wheel 1 or the above-mentioned harmonic reducer or the above-mentioned mechanical arm.

[0151] The harmonic reducer is arranged on the traveling part and / or the cleaning part of the cleaning device.

[0152] As a feasible embodiment, the harmonic reducer can be arranged on the traveling part of the cleaning device, wherein the traveling part includes a driving motor, a transmission system and a traveling wheel for driving the cleaning device to move, and the harmonic reducer can be a part of the transmission system, so that the driving motor drives the traveling wheel to rotate through the harmonic reducer and other transmission components in the transmission system, thereby making the cleaning device move.

[0153] As a feasible embodiment, the harmonic reducer can be arranged on the cleaning part of the cleaning device, and the cleaning part can include cleaning parts that need to move, such as a roller brush, a side brush, a main drag and a side drag, and the driving motor can drive the roller brush, the side brush, the main drag and the side drag to move through the harmonic reducer to achieve the cleaning operation. Taking the side brush as an example, the side brush is connected to the output part of the harmonic reducer, such as being connected to the aforementioned power output part 4 through a flange, or being connected to the coupling through an output shaft.

[0154] It is understandable that the harmonic reducer can be set on the traveling part and the cleaning part of the cleaning equipment (such as self-moving cleaning devices such as cleaning robots and sweeping robots), or it can be set on other components used for transmission and with speed regulation requirements.

[0155] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0156] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A flexible wheel, characterized in that: The flexible wheel (1) is made by injection molding, and comprises a power input part (11), a waist part (12) and a power output part (13). The waist part (12) is respectively connected to the power input part (11) and the power output part (13). The minimum wall thickness of the waist part (12) is 0.2 mm to 3 mm.

2. The flexible wheel according to claim 1, characterized in that: The inner diameter of the power input part (11) of the flexible wheel (1) is 12 mm to 80 mm.

3. The flexible wheel according to claim 1, characterized in that: The inner diameter of the power input part (11) of the flexible wheel (1) is 18 mm to 35 mm.

4. The flexible wheel according to claim 1, characterized in that: Transmission teeth are arranged on the outer peripheral wall of the power input part (11), the transmission teeth are arranged along the circumference of the flexible wheel (1), and the diameter of the tooth top circle of the transmission teeth is 13 mm to 85 mm.

5. The flexible wheel according to claim 1, characterized in that: Transmission teeth are arranged on the outer peripheral wall of the power input part (11), the transmission teeth are arranged along the circumference of the flexible wheel (1), and the diameter of the tooth top circle of the transmission teeth is 20 mm to 38 mm.

6. The flexible wheel according to claim 4 or 5, characterized in that: A boss (131) is formed on one side of the power output portion (13) away from the power input portion (11), the boss (131) protruding from the waist (12) along the axial direction of the flexible wheel (1), and a first stop (132) is formed on the table surface of the boss (131), the first stop (132) protruding from the table surface in a direction away from the power input portion (11).

7. The flexible wheel according to claim 6, characterized in that: In the axial direction of the flexible wheel (1), the axial distance between the table surface and the end of the power input part (11) away from the power output part (13) is 6 mm to 30 mm.

8. The flexible wheel according to claim 6, characterized in that: In the axial direction of the flexible wheel (1), the axial distance between the table surface and the end of the power input part (11) away from the power output part (13) is 6 mm to 20 mm.

9. The flexible wheel according to claim 6, characterized in that: The ratio of the axial distance to the diameter of the tooth tip circle is 0.2 to 1.

10. The flexible wheel according to claim 6, characterized in that: The ratio of the axial distance to the diameter of the tooth tip circle is 0.25 to 0.

6.

11. The flexible wheel according to claim 1, characterized in that: The length of the power input portion (11) in the axial direction of the flexible wheel (1) is 2 mm to 15 mm.

12. The flexible wheel according to claim 1, characterized in that: The length of the power input portion (11) in the axial direction of the flexible wheel (1) is 3 mm to 8 mm.

13. The flexible wheel according to claim 1, characterized in that: The power input portion (11) and the waist portion (12) are arranged along the axial direction of the flexible wheel (1), one end of the waist portion (12) is connected to the power input portion (11), the power output portion (13) and the waist portion (12) are arranged along the radial direction of the flexible wheel (1), and the power output portion (13) is connected to one end of the waist portion (12) away from the power input and output portion (11).

14. The flexible wheel according to claim 1, characterized in that: The waist portion (12) comprises a first section (121), a second section (122) and a third section (123); the first section (121), the second section (122) and the third section (123) are connected in sequence along the direction from the power input portion (11) to the power output portion (13); in the direction from the power input portion (11) to the power output portion (13), the wall thickness of the first section (121) decreases gradually, the wall thickness of the second section (122) is the same, and the wall thickness of the third section (123) increases gradually.

15. The flexible wheel according to claim 14, characterized in that: The wall thickness of the second section (122) is 0.2 mm to 3 mm.

16. The flexible wheel according to claim 1, characterized in that: The power output part (13) is provided with a connection structure, and the connection structure protrudes from the surface of the power output part (13).

17. The flexible wheel according to claim 16, characterized in that: The connection structure comprises a plurality of connection columns (133), and the plurality of connection columns (133) are arranged on the inner surface and / or the outer surface of the power output part (13); The power output part (13) is provided with an assembly hole (134), and a plurality of the connecting columns (133) are evenly arranged along the circumference of the assembly hole (134).

18. The flexible wheel according to claim 1, characterized in that: A transmission tooth is arranged on the outer peripheral wall of the power input part (11), and the tooth surface of the transmission tooth comprises a first arc surface segment (111) and a second arc surface segment (112), the first arc surface segment (111) and the second arc surface segment (112) are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment (111) and the second arc surface segment (112) have different bending directions; The first arc surface segment (111) is concave, and the second arc surface segment (112) is convex.

19. The flexible wheel according to claim 1, characterized in that: The material used to prepare the flexible wheel (1) includes injection-molded engineering plastics.

20. A harmonic reducer, characterized in that: include: The flexible wheel (1), rigid wheel and wave generator as described in any one of claims 1 to 19, wherein the rigid wheel and the wave generator are respectively matched with the power input part (11).

21. The harmonic reducer according to claim 20, characterized in that: Transmission teeth are arranged on the outer peripheral wall of the power input part (11), the transmission teeth are arranged along the circumference of the flexible wheel (1), and the flexible wheel (1) is meshed with the rigid wheel teeth through the transmission teeth; The power input part (11) comprises an opening on a side opposite to the power output part (13) and an inner hole connected to the opening, and the wave generator is embedded in the inner hole through the opening and connected to the inner wall of the inner hole.

22. The harmonic reducer according to claim 20, characterized in that: The torque output carrier of the harmonic reducer comprises an output portion. When the flexible wheel (1) is provided with a first stopper (132), the output portion is provided with a second stopper, and the first stopper (132) is plugged into the second stopper.

23. The harmonic reducer according to claim 22, characterized in that: The output part comprises a limiting member (3) and a power output member (4); a limiting hole (31) is formed on the limiting member (3); the connecting structure is used to pass through the limiting hole (31); and the power output member (4) is connected to the limiting member (3); The connection structure is arranged on the inner surface of the power output part (13), and the limiting member (3) and the power output member (4) are respectively located on two sides of the power output part (13); The power output part (13) is provided with an assembly hole (134), and at least a portion of the power output member (4) is located in the assembly hole (134); The harmonic reducer comprises a fastener (2), and the fastener (2) passes through the limiter (3) and is connected to the power output member (4).

24. A robotic arm, characterized in that: A flexible wheel as claimed in any one of claims 1 to 19 or a harmonic reducer as claimed in any one of claims 20 to 23; The mechanical arm includes a moving arm. When the mechanical arm includes the harmonic reducer, the harmonic reducer is connected to the moving arm.

25. A cleaning device, characterized in that: It comprises the flexible wheel as claimed in any one of claims 1 to 19, the harmonic reducer as claimed in any one of claims 20 to 23, or the mechanical arm as claimed in claim 24; When the cleaning device includes the harmonic reducer, the harmonic reducer is disposed on the traveling portion and / or the cleaning portion of the cleaning device.

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