Rigid wheel and harmonic reducer

Abstract

The invention provides a rigid gear and a harmonic reducer, the rigid gear comprises a rigid gear body and rigid gear teeth, the inner ring surface of the rigid gear body comprises a tooth area, a plurality of rigid gear teeth are distributed in the tooth area, and each rigid gear tooth extends in the axial direction of the rigid gear body; a material reducing area is arranged on the tooth top face of the rigid gear teeth, the material reducing area comprises a wavy face section, and in the section where the axis of the rigid gear body is located, the wavy face section is in a wavy line shape extending in the axial direction of the rigid gear body. After the rigid gear is meshed with the flexible gear, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the subtractive area. Therefore, the rigid gear of the wave surface section is designed and constructed in the material reduction area, the self counter weight is reduced, the contact area with the flexible gear is reduced, a buffer space for providing elastic deformation and absorbing vibration is formed in the material reduction area, the load distribution of the harmonic reducer in the operation process is more uniform, and the problems of how to optimize the structure of the harmonic reducer in the prior art and how to improve the working efficiency of the harmonic reducer are solved. And the performance in the aspects of light weight, high speed, low noise and small vibration is improved.

Description

Technical Field

[0001] The present application relates to the technical field of harmonic reducers, and particularly relates to a rigid gear and a harmonic reducer. Background Art

[0002] A harmonic reducer mainly consists of a rigid gear, a flexible gear, and a wave generator. A harmonic reducer is a gear transmission structure that relies on the wave generator to cause the flexible gear to generate controllable elastic deformation and mesh with the rigid gear to transmit motion and power. The wave generator consists of a cam and a flexible bearing.

[0003] In recent years, with the rapid development of the robotics industry, especially the renewal and iteration of collaborative robots and humanoid robots, the requirements for harmonic reducers applied in robots have been gradually increasing. However, the performance of existing harmonic reducers in terms of lightweight, high speed, low noise, and small vibration is difficult to meet the design requirements of robots.

[0004] Therefore, how to optimize the structure of the harmonic reducer to improve its performance in terms of lightweight, high speed, low noise, and small vibration is particularly important. Summary of the Invention

[0005] In view of this, the present application provides a rigid gear and a harmonic reducer to solve the problem of how to optimize the structure of the harmonic reducer in the prior art to improve its performance in terms of lightweight, high speed, low noise, and small vibration.

[0006] To achieve the above object, the present application provides the following technical solutions: A rigid gear applied to a harmonic reducer, comprising: A rigid gear body, the inner ring surface of the rigid gear body includes a tooth region; Rigid gear teeth, there are multiple and distributed in the tooth region, each of the rigid gear teeth extends along the axial direction of the rigid gear body, and a material-removing region is provided on the tooth top surface of the rigid gear tooth. The material-removing region includes a wavy surface segment. In the cross-section where the axis of the rigid gear body is located, the wavy surface segment is in a wavy line shape extending along the axial direction of the rigid gear body; Wherein, after the rigid gear meshes with the flexible gear, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the material-removing region.

[0007] Optionally, the material-removing region further includes a first inclined surface segment and a second inclined surface segment. In the axial direction of the rigid gear body, the first inclined surface segment and the second inclined surface segment are respectively located on both sides of the wavy surface segment; In the cross-section where the axis of the rigid gear body is located, both the first inclined surface segment and the second inclined surface segment are in an inclined line shape, and both are inclined from the side connected to the wavy surface segment to the other side in a direction close to the axis of the rigid gear body.

[0008] Optionally, the inner ring surface of the rigid gear body further includes a non-tooth region, the non-tooth region and the tooth region are distributed along the axial direction of the rigid gear body, the first inclined surface section is located on the side of the wave surface section away from the non-tooth region, and the second inclined surface section is located on the side of the wave surface section close to the non-tooth region, where: The projection dimension of the first inclined surface section in the axial direction of the rigid gear body is h1, the projection dimension of the second inclined surface section in the axial direction of the rigid gear body is h2, and h1≥h2; and / or, The angle between the extended plane where the first inclined surface section is located and the axis of the rigid gear body is α, the angle between the extended plane where the second inclined surface section is located and the axis of the rigid gear body is β, and α≥β.

[0009] Optionally, in the cross-section where the axis of the rigid gear body is located, the length of the rigid gear teeth in the axial direction of the rigid gear body is H, the projection dimension of the wave surface section in the axial direction of the rigid gear body is h, the radii of the multiple arc surface sections that make up the wave surface section are all R, the projection dimension of the first inclined surface section in the axial direction of the rigid gear body is h1, and the projection dimension of the second inclined surface section in the axial direction of the rigid gear body is h2, where: h and R are in a positive correlation; H = h + h1 + h2, and h and h1 + h2 are in a negative correlation.

[0010] Optionally, the wave surface section includes a first concave arc surface section, a first convex arc surface section, a second concave arc surface section, a second convex arc surface section, and a third concave arc surface section that are sequentially distributed along the axial direction of the rigid gear body.

[0011] Optionally, in the cross-section where the axis of the rigid gear body is located, the length of the rigid gear teeth in the axial direction of the rigid gear body is H, the projection dimension of the first inclined surface section in the axial direction of the rigid gear body is h1, the projection dimension of the second inclined surface section in the axial direction of the rigid gear body is h2, and the radii of the first concave arc surface section, the first convex arc surface section, the second concave arc surface section, the second convex arc surface section, and the third concave arc surface section are all R, where: H = h1 + h2 + a×5×R, and 0.24≤a≤0.31.

[0012] Optionally, a takes the value of 0.26687.

[0013] Optionally, the radii of the multiple arc surface sections that make up the wave surface section are all R, the inner diameter of the rigid gear body at the most convex point of the wave surface section is d, and the inner diameter at the most concave point of the wave surface section is D, where: R and D are in a negative correlation, and R and d are in a positive correlation.

[0014] Optionally, the inner diameter of the rigid wheel body at the most convex point of the wave surface segment is d, and the inner diameter of the most concave point of the wave surface segment is D, and the depth of the most concave point of the wave surface segment relative to the most convex point is d1, wherein: D=d+2×d1.

[0015] Optionally, the angle between the extended surface where the first inclined surface segment is located and the axis of the rigid wheel body is α, the angle between the extended surface where the second inclined surface segment is located and the axis of the rigid wheel body is β, 1°≤α≤5°, 1°≤β≤5°.

[0016] Optionally, of the two ends of the rigid wheel tooth, one end is transitionally connected to the rigid wheel body curved surface or inclined surface, and the other end is transitionally connected to the rigid wheel body curved surface or inclined surface.

[0017] A harmonic reducer comprises a crossed roller bearing, a wave generator, a flexspline and a rigid wheel in any one of the above items, wherein the wave generator is internally sleeved in the flexspline, the flexspline is internally sleeved in the rigid wheel, and the flexspline teeth of the flexspline are meshed with the rigid wheel teeth, and the outer ring of the crossed roller bearing is connected to the rigid wheel.

[0018] The rigid wheel provided in the present application is applied to a harmonic reducer, and includes a rigid wheel body and rigid wheel teeth. The inner annular surface of the rigid wheel body includes a tooth area, in which a plurality of rigid wheel teeth are distributed, and each rigid wheel tooth extends along the axial direction of the rigid wheel body; a material reduction area is provided on the tooth top surface of the rigid wheel teeth, and the material reduction area includes a wavy surface segment, and in the cross section where the axis of the rigid wheel body is located, the wavy surface segment is in the shape of a wavy line extending along the axial direction of the rigid wheel body; after the rigid wheel is meshed with the flexible wheel, a buffer space that can provide elastic deformation and absorb vibration is formed in the material reduction area. With such arrangement, the inner annular surface of the rigid wheel body is the surface of the rigid wheel used to cooperate with the flexible wheel, the rigid wheel teeth mesh with the flexible wheel teeth for transmission, and there is a design of local material missing on the tooth top surface of the rigid wheel teeth to form a reduced material area. After many tests and verifications, the applicant found that designing and constructing a rigid wheel with a wave surface segment in the reduced material area not only reduces its own counterweight, reduces the contact area with the flexible wheel, and makes the rigid wheel have better structural mechanical properties, but also forms a buffer space in the reduced material area to provide elastic deformation and absorb vibration during the operation of the harmonic reducer, so that the load distribution of the harmonic reducer during operation is more uniform, which is conducive to the high-speed, low-noise and low-vibration operation of the harmonic reducer. Compared with the conventional rigid wheel in the prior art, the rigid wheel provided by the present application can meet the performance requirements in terms of lightweight, high speed, low noise and low vibration, and solves the problem of how to optimize the structure of the harmonic reducer in the prior art to improve the performance in terms of lightweight, high speed, low noise and low vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0020] Figure 1 It is a schematic structural diagram of the rigid gear provided by the embodiment of the present application.

[0021] Figure 2 It is the front view of the rigid gear provided by the embodiment of the present application.

[0022] Figure 3 It is the schematic cross-sectional view of the rigid gear provided by the embodiment of the present application.

[0023] Figure 4 It is Figure 3 The partial schematic diagram at position A in

[0024] Figure 5 It is Figure 3 The dimension marking diagram at position A in

[0025] Figure 6 It is the assembly schematic diagram of the harmonic reducer provided by the embodiment of the present application.

[0026] Figure 7 It is the schematic cross-sectional view of the harmonic reducer provided by the embodiment of the present application.

[0027] In Figures 1 - 7 : 1. Rigid gear; 2. Flexible gear; 3. Flexible bearing; 4. Cam; 5. Crossed roller bearing; 11. Rigid gear body; 12. Rigid gear teeth; 13. Non-tooth area; 121. Machining allowance reduction area; 1211. Wavy surface section; 1212. First inclined surface section; 1213. Second inclined surface section. Specific embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0029] The applicant found that as one of the core components of the harmonic reducer, the structural design and dimensional parameters of the rigid gear 1 have a quite important impact on the performance of the harmonic reducer.

[0030] like Figures 1 - 5 As shown, the embodiment of the present application provides a rigid wheel 1, which is applied to a harmonic reducer. The rigid wheel 1 includes a rigid wheel body 11 and rigid wheel teeth 12. The inner annular surface of the rigid wheel body 11 includes a tooth area, and a plurality of rigid wheel teeth 12 are distributed in the tooth area. Each rigid wheel tooth 12 extends along the axial direction of the rigid wheel body 11; the rigid wheel teeth 12 have a tooth top surface provided with a material reduction area 121, and the material reduction area 121 includes a wave surface segment 1211. The wave surface segment 1211 includes a plurality of connected arc surfaces and forms a concave-convex shape. In the cross section where the axis of the rigid wheel body 11 is located, that is, the axial cross section, the wave surface segment 1211 is in the shape of a wave line extending along the axial direction of the rigid wheel body 11; after the rigid wheel 1 is meshed with the flexible wheel 2, a buffer space that can provide elastic deformation and absorb vibration is formed in the material reduction area 121.

[0031] As is well known in the art, the inner annular surface of the rigid wheel 1 is a surface of the rigid wheel 1 for meshing and assembling with the flexible wheel 2; the shape of the rigid wheel teeth 12 is usually that it has two tooth side surfaces and a tooth top surface located between the two tooth side surfaces, and there is an angle between the two tooth side surfaces.

[0032] In this way, the inner annular surface of the rigid wheel body 11 is the surface of the rigid wheel 1 for cooperating with the flexible wheel 2, the rigid wheel teeth 12 mesh with the flexible wheel teeth for transmission, and there is a design of local material missing on the tooth top surface of the rigid wheel teeth 12, thereby forming a reduced material area 121. After many tests and verifications, the applicant found that the rigid wheel 1 with a wave surface segment 1211 designed and constructed in the reduced material area 121 not only reduces its own counterweight, reduces the contact area with the flexible wheel 2, and makes the rigid wheel 1 have better structural mechanical properties, but also forms a buffer space for providing elastic deformation and absorbing vibration in the operation of the harmonic reducer in the reduced material area 121, so that the load distribution of the harmonic reducer during operation is more uniform, which is conducive to the high-speed, low-noise and low-vibration operation of the harmonic reducer. Compared with the conventional rigid wheel 1 in the prior art, the rigid wheel 1 provided by the present application can meet the performance requirements of lightweight, high-speed, low-noise and low-vibration, and solves the problem of how to optimize the structure of the harmonic reducer in the prior art to improve the performance in terms of lightweight, high-speed, low-noise and low-vibration.

[0033] This application abandons the inherent design ideas for the rigid wheel 1 in the field. In the long-term product development and improvement practice, various rigid wheel 1 structural designs are studied to explore the impact on the performance of the harmonic reducer, and the tooth top surface of the rigid wheel tooth 12 is designed to be a wavy surface, which is a completely different structural reduction design scheme from the past. Through the breakthrough design in details, after the rigid wheel 1 is assembled to the harmonic reducer, the performance of the harmonic reducer in the above-mentioned many aspects is improved, and outstanding technical effects are achieved through completely different design ideas.

[0034] Moreover, the rigid gear 1 provided by the present application has good performance in the application of small harmonic reducers through tests and verification, which helps the design direction of miniaturization of harmonic reducers.

[0035] In some alternative embodiments, a partial area in the tooth top surface of the rigid gear teeth 12 is a material-removing area 121, or the entire area of the tooth top surface of the rigid gear teeth 12 is a material-removing area 121. It is preferably designed that the entire area of the tooth top surface is a material-removing area 121.

[0036] In some alternative embodiments, the material-removing area 121 further includes a first inclined surface segment 1212 and a second inclined surface segment 1213. Axially of the rigid gear body 11, the first inclined surface segment 1212 and the second inclined surface segment 1213 are respectively located on both sides of the wavy surface segment 1211; in the cross-section where the axis of the rigid gear body 11 is located, both the first inclined surface segment 1212 and the second inclined surface segment 1213 are in the shape of an inclined line, and both are inclined from the side connected to the wavy surface segment 1211 to the other side in the direction close to the axis of the rigid gear body 11. That is, the first inclined surface segment 1212 and the second inclined surface segment 1213 form a material-removing design different from the shape of the wavy surface segment 1211.

[0037] With such a setting, on the basis of designing the wavy surface segment 1211 in the material-removing area 121, a design with inclined surface segments on both sides is further formed. Through tests and verification, it can further reduce the self-weight of the rigid gear 1, reduce the contact area between the rigid gear 1 and the flexible gear 2, reduce the adverse stress action and adverse shear action of the rigid gear teeth 12, thereby further optimizing the structural mechanical properties of the rigid gear 1, further enhancing the role of the rigid gear 1 in providing elastic deformation and absorbing vibration, and thus further improving the performance of the rigid gear 1 in terms of helping the harmonic reducer to be lightweight, high-speed, low-noise, and small-vibration.

[0038] In some other alternative embodiments, the inner ring surface of the rigid gear body 11 further includes a non-tooth area 13. The non-tooth area 13 and the tooth area are distributed axially along the rigid gear body 11. The first inclined surface segment 1212 is located on the side of the wavy surface segment 1211 away from the non-tooth area 13, and the second inclined surface segment 1213 is located on the side of the wavy surface segment 1211 close to the non-tooth area 13, where: the projection dimension of the first inclined surface segment 1212 axially of the rigid gear body 11 is h1, the projection dimension of the second inclined surface segment 1213 axially of the rigid gear body 11 is h2, and h1≥h2; and / or, the angle between the extended plane where the first inclined surface segment 1212 is located and the axis of the rigid gear body 11 is α, the angle between the extended plane where the second inclined surface segment 1213 is located and the axis of the rigid gear body 11 is β, and α≥β.

[0039] With such a setting, the first inclined surface section 1212 and the second inclined surface section 1213 can be designed to be symmetric structures, that is, h1 = h2 and α = β. Additionally, considering that the loading magnitudes and working conditions on the inner and outer sides of the rigid gear 1 are generally different, the first inclined surface section 1212 and the second inclined surface section 1213 can also be designed to be asymmetric structures. Since the first inclined surface section 1212 is located near the end face of the rigid gear 1 and the second inclined surface section 1213 is located in the middle of the rigid gear 1, it is preferably set that the axial dimension of the first inclined surface section 1212 is longer than that of the second inclined surface section 1213, and the inclination angle of the first inclined surface section 1212 is also larger than that of the second inclined surface section 1213, that is, h1 > h2, α > β, which is beneficial for the rigid gear 1 to have better structural mechanical properties.

[0040] It should be noted that in this application, the design parameter values of the rigid gear 1 are not arbitrary and need to follow certain design bases, and be controlled in terms of shape design and parameter design. Only in this way can the structural strength of the rigid gear 1 be ensured while enabling the rigid gear 1 to provide elastic deformation and absorb vibration, thereby achieving the technical effect of optimizing the performance of the harmonic reducer.

[0041] In some other alternative embodiments, in the cross-section where the axis of the rigid gear body 11 is located, the axial length of the rigid gear teeth 12 on the rigid gear body 11 is H, the projected dimension of the wave surface section 1211 in the axial direction of the rigid gear body 11 is h, the radii of the multiple arc surface sections that make up the wave surface section 1211 are all R, the projected dimension of the first inclined surface section 1212 in the axial direction of the rigid gear body 11 is h1, and the projected dimension of the second inclined surface section 1213 in the axial direction of the rigid gear body 11 is h2, where: h and R are in a positive correlation, that is, the larger R is, the larger the design value of h is; H = h + h1 + h2, and h and h1 + h2 are in a negative correlation, that is, the larger R is, the larger h is, and the smaller the design value of h1 + h2 is.

[0042] With such a setting, on the one hand, the projected dimension of the wave surface section 1211 in the axial direction is the chord length corresponding to the arc surface section, and there is a known calculation formula between the chord length, R, and the central angle corresponding to the arc surface section, that is, the chord length is affected by R and the central angle. When designing the specific parameters of the wave surface section 1211, it should be ensured that the central angle corresponding to the arc surface section is a certain value or within a small design range, preferably an obtuse angle. Following such a design, the larger the value of R selected, the larger the design value of h, and the undulation degree and distribution range of the wave surface section 1211 are adapted. With such a design of the material reduction area 121, the rigid gear 1 can provide elastic deformation and absorb vibration, and the effect of making the load distribution uniformity during the operation of the harmonic reducer can reach a better level. On the other hand, the axial length H of the rigid gear teeth 12 should be within a certain design range. Therefore, when h is larger, the design value of h1 + h2 is smaller, ensuring that the axial length of the rigid gear teeth 12 is adapted to the axial length of the flexspline teeth.

[0043] More specifically, the number of arc surface segments that make up the wavy surface segment 1211 can take values among 2, 3, 4, 5, and 6.

[0044] In some specific embodiments, the number of arc surface segments that make up the wavy surface segment 1211 is selected as 5. The wavy surface segment 1211 includes a first concave arc surface segment, a first convex arc surface segment, a second concave arc surface segment, a second convex arc surface segment, and a third concave arc surface segment that are sequentially distributed along the axial direction of the rigid gear body 11. In this way, through tests and verifications, when the wavy surface segment 1211 on the tooth top surface has five arc surface segments, it is easy to design and take values for R, h, h1, and h2. After the rigid gear 1 participates in the assembly of the harmonic reducer, the harmonic reducer obtains a better load distribution uniformity effect during operation.

[0045] In some specific embodiments, in the cross-section where the axis of the rigid gear body 11 is located, the length of the rigid gear teeth 12 in the axial direction of the rigid gear body 11 is H, the projection dimension of the first inclined surface segment 1212 in the axial direction of the rigid gear body 11 is h1, the projection dimension of the second inclined surface segment 1213 in the axial direction of the rigid gear body 11 is h2, and the radii of the first concave arc surface segment, the first convex arc surface segment, the second concave arc surface segment, the second convex arc surface segment, and the third concave arc surface segment are all R, where: H = h1 + h2 + a×5×R, 0.24 ≤ a ≤ 0.31.

[0046] With such a setting, through the optimal design of the parameters of various different rigid gear teeth 12 and the material removal area 121, the above relationship formula is obtained through simulation. It has better coordination in terms of taking into account the structural strength of the rigid gear 1, providing elastic deformation and absorbing vibration, and optimizing the load distribution uniformity effect.

[0047] More preferably, a takes the value of 0.26687.

[0048] In some other specific embodiments, the radii of the multiple arc surface segments that make up the wavy surface segment 1211 are all R. The inner diameter of the rigid gear body 11 at the most convex point of the wavy surface segment 1211 is d, and the inner diameter at the most concave point of the wavy surface segment 1211 is D, where: R and D are negatively correlated, and R and d are positively correlated. That is, the larger R is, the smaller D is, and the larger d is.

[0049] With such a setting, when designed and taken values in the above manner, it conforms to the law that the larger R is, the smaller the undulation degree of the wavy surface segment 1211 is. Following such a design, in tests and verifications, after the rigid gear 1 participates in the assembly of the harmonic reducer, the harmonic reducer obtains a better load distribution uniformity effect during operation.

[0050] In some other specific embodiments, the inner diameter of the rigid gear body 11 at the most convex point of the wavy surface section 1211 is d, and the inner diameter at the most concave point of the wavy surface section 1211 is D. The depth of the most concave point of the wavy surface section 1211 relative to the most convex point is d1, where: D = d + 2×d1.

[0051] With such a setting, the lowest points of the wavy surface sections 1211 of each rigid gear tooth 12 are on the same circle, and the highest points of the wavy surface sections 1211 at each location are on the same circle. That is, the wavy surface sections 1211 of each rigid gear tooth 12 have high consistency, which is beneficial to ensuring that after the rigid gear 1 participates in the assembly of the harmonic reducer, the load distribution uniformity during the operation of the harmonic reducer is improved.

[0052] In some other specific embodiments, the angle between the extension plane of the first inclined surface section 1212 and the axis of the rigid gear body 11 is α, and the angle between the extension plane of the second inclined surface section 1213 and the axis of the rigid gear body 11 is β, where 1° ≤ α ≤ 5° and 1° ≤ β ≤ 5°. With such a setting, the inclination angles of the inclined surface sections on both sides of the wavy surface section 1211 are controlled within the above angle range, and in combination with the surface special-shaped design of the material removal area 121, better performance of the rigid gear 1 within the exploration range can be obtained.

[0053] In some other preferred embodiments, among the two ends of the rigid gear tooth 12, one end is connected to the rigid gear body 11 through a curved surface transition or an inclined surface transition, and the other end is connected to the rigid gear body 11 through a curved surface transition or an inclined surface transition; preferably, both ends of the rigid gear tooth 12 are connected to the rigid gear body 11 through an inclined surface transition. With such a setting, chamfers are formed between both ends of the rigid gear tooth 12 and the rigid gear body 11, which is convenient for the installation and disassembly between the rigid gear 1 and the flexible gear 2.

[0054] As Figures 6 - 7 shown, based on the above rigid gear 1, the embodiment of the present application further provides a harmonic reducer, which includes a crossed roller bearing 5, a wave generator, a flexible gear 2, and the above rigid gear 1. The wave generator is sleeved inside the flexible gear 2, the flexible gear 2 is sleeved inside the rigid gear 1, and the flexible gear teeth of the flexible gear 2 mesh with the rigid gear teeth 12. The wave generator includes a flexible bearing 3 and a cam 4. The flexible bearing 3 is sleeved outside the cam 4. The crossed roller bearing 5 includes an inner ring and an outer ring, and the outer ring of the crossed roller bearing 5 is connected to the rigid gear 1 through a fastener. Since the harmonic reducer has the above rigid gear 1, the beneficial effects brought by the rigid gear 1 to the harmonic reducer can be seen in the above content and will not be elaborated here.

[0055] The basic principles of the present application have been described in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the specific details disclosed above are only for illustrative and facilitating understanding purposes, rather than limitations. These details do not limit the present application to necessarily adopting these specific details for implementation.

[0056] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms meaning "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0057] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0058] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0059] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth", and "sixth" used in the description of the embodiments of the present application are only for more clearly elaborating the technical solutions and cannot be used to limit the protection scope of the present application.

[0060] The above description has been given for purposes of illustration and description. In addition, this description does not intend to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A rigid wheel, characterized in that: Applied to harmonic reducers, including: A rigid wheel body (11), wherein the inner annular surface of the rigid wheel body (11) comprises a tooth area; A plurality of steel wheel teeth (12) are provided and distributed in the tooth area, each of the steel wheel teeth (12) extending in the axial direction of the steel wheel body (11), and a material reduction area (121) is provided on the tooth top surface of the steel wheel teeth (12), the material reduction area (121) comprising a wave surface segment (1211), and in a cross section where the axis of the steel wheel body (11) is located, the wave surface segment (1211) is in the shape of a wave line extending in the axial direction of the steel wheel body (11); Wherein, after the rigid wheel (1) and the flexible wheel (2) are meshed, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the material reduction area (121).

2. The rigid wheel according to claim 1, characterized in that: The material reduction zone (121) further comprises a first inclined surface segment (1212) and a second inclined surface segment (1213), wherein in the axial direction of the rigid wheel body (11), the first inclined surface segment (1212) and the second inclined surface segment (1213) are respectively located on both sides of the wave surface segment (1211); In the cross section where the axis of the rigid wheel body (11) is located, the first inclined surface section (1212) and the second inclined surface section (1213) are both in the shape of an oblique line, and both are inclined from one side connected to the wave surface section (1211) to the other side in a direction close to the axis of the rigid wheel body (11).

3. The rigid wheel according to claim 2, characterized in that: The inner annular surface of the rigid wheel body (11) further comprises a non-toothed area (13), the non-toothed area (13) and the toothed area are distributed along the axial direction of the rigid wheel body (11), the first inclined surface section (1212) is located on a side of the wave surface section (1211) away from the non-toothed area (13), and the second inclined surface section (1213) is located on a side of the wave surface section (1211) close to the non-toothed area (13), wherein: The projection size of the first inclined surface segment (1212) in the axial direction of the rigid wheel body (11) is h1, and the projection size of the second inclined surface segment (1213) in the axial direction of the rigid wheel body (11) is h2, and h1≥h2; and / or, The angle between the extended surface where the first inclined surface segment (1212) is located and the axis of the rigid wheel body (11) is α, and the angle between the extended surface where the second inclined surface segment (1213) is located and the axis of the rigid wheel body (11) is β, and α≥β.

4. The rigid wheel according to claim 2, characterized in that: In a cross section where the axis of the rigid wheel body (11) is located, the length of the rigid wheel tooth (12) in the axial direction of the rigid wheel body (11) is H, the projection dimension of the wave surface segment (1211) in the axial direction of the rigid wheel body (11) is h, the radius of the plurality of arc surface segments constituting the wave surface segment (1211) is R, the projection dimension of the first inclined surface segment (1212) in the axial direction of the rigid wheel body (11) is h1, and the projection dimension of the second inclined surface segment (1213) in the axial direction of the rigid wheel body (11) is h2, wherein: h and R are positively correlated; H=h+h1+h2, h and h1+h2 are negatively correlated.

5. The rigid wheel according to claim 2, characterized in that: The wave surface segment (1211) comprises a first concave arc surface segment, a first convex arc surface segment, a second concave arc surface segment, a second convex arc surface segment and a third concave arc surface segment, which are sequentially distributed along the axial direction of the rigid wheel body (11).

6. The rigid wheel according to claim 5, characterized in that: In a cross section where the axis of the rigid wheel body (11) is located, the length of the rigid wheel tooth (12) in the axial direction of the rigid wheel body (11) is H, the projection size of the first inclined surface segment (1212) in the axial direction of the rigid wheel body (11) is h1, the projection size of the second inclined surface segment (1213) in the axial direction of the rigid wheel body (11) is h2, and the radii of the first concave arc surface segment, the first convex arc surface segment, the second concave arc surface segment, the second convex arc surface segment and the third concave arc surface segment are all R, wherein: H=h1+h2+a×5×R, 0.24≤a≤0.

31.

7. The rigid wheel according to claim 6, characterized in that: The value of a is 0.26687.

8. The rigid wheel according to claim 2, characterized in that: The radii of the multiple arc surface segments constituting the wave surface segment (1211) are all R, the inner diameter of the most convex point of the rigid wheel body (11) on the wave surface segment (1211) is d, and the inner diameter of the most concave point of the wave surface segment (1211) is D, wherein: There is a negative correlation between R and D, and a positive correlation between R and d.

9. The rigid wheel according to claim 2, characterized in that: The inner diameter of the rigid wheel body (11) at the most convex point of the wave surface segment (1211) is d, and the inner diameter of the most concave point of the wave surface segment (1211) is D, and the depth of the most concave point of the wave surface segment (1211) relative to the most convex point is d1, wherein: D=d+2×d1.

10. The rigid wheel according to claim 2, characterized in that: The angle between the extended surface where the first inclined surface segment (1212) is located and the axis of the rigid wheel body (11) is α, and the angle between the extended surface where the second inclined surface segment (1213) is located and the axis of the rigid wheel body (11) is β, 1°≤α≤5°, 1°≤β≤5°.

11. The rigid wheel according to claim 2, characterized in that: Of the two ends of the rigid wheel tooth (12), one end is connected to the rigid wheel body (11) in a curved surface transition connection or an inclined surface transition connection, and the other end is connected to the rigid wheel body (11) in a curved surface transition connection or an inclined surface transition connection.

12. A harmonic reducer, characterized in that: The invention comprises a crossed roller bearing (5), a wave generator, a flexspline (2), and a rigid wheel (1) as claimed in any one of claims 1 to 11, wherein the wave generator is internally sleeved in the flexspline (2), the flexspline (2) is internally sleeved in the rigid wheel (1), and the flexspline teeth of the flexspline (2) are meshed with the rigid wheel teeth (12), and the outer ring of the crossed roller bearing (5) is connected to the rigid wheel (1).

Images