High-torque-density lightweight harmonic reducer of humanoid robot

Abstract

The high-torque-density light-weight humanoid robot harmonic reducer comprises a rigid gear, a flexible gear and a wave generator, the rigid gear is of an annular structure with an inner gear ring, the tooth shape of the inner gear ring is an involute tooth shape, the flexible gear is of a thin-wall cup-shaped structure, an outer gear ring is arranged on the outer wall of the flexible gear, and the wave generator is arranged on the outer wall of the flexible gear. The tooth shape of the outer gear ring is matched with the tooth shape of the inner gear ring of the rigid gear, an installation shaft hole is formed in the center of the cup bottom of the flexible gear, the wave generator comprises an oval flexible bearing and a cam installed on the outer side of the flexible bearing, the cam is in interference fit with the flexible bearing, and the wave generator is installed in the installation shaft hole of the flexible gear. The flexible gear is used for enabling the flexible gear to generate elastic deformation, and a heat dissipation assembly is detachably installed in an installation shaft hole of the flexible gear. By arranging the heat dissipation assembly, the heat dissipation effect of the harmonic reducer is remarkably improved, the internal temperature is reduced, the working stability of the reducer during high-load operation is improved, and the service life of the reducer during high-load operation is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and particularly to a high torque density and lightweight harmonic reducer for humanoid robots. Background Art

[0002] With the rapid development of artificial intelligence and robotics technologies, humanoid robots have shown great application potential in multiple fields such as service, medical treatment, and rescue. As a core component of the joint drive system of humanoid robots, the performance of the harmonic reducer directly affects the motion accuracy, load capacity, and overall efficiency of the robot.

[0003] However, there are still some deficiencies in the existing harmonic reducers for humanoid robots. On the one hand, during long-term high-frequency use of traditional harmonic reducers, the flexspline is prone to fatigue deformation, resulting in a decrease in transmission accuracy and affecting the accuracy of the actions of humanoid robots; on the other hand, the existing harmonic reducers have poor heat dissipation performance. During high-load operation, internal heat accumulates, which will reduce the service life and working stability of the reducer. In addition, the existing harmonic reducers are complex to assemble, which is not conducive to large-scale production and rapid repair and replacement, increasing the production cost and maintenance cost of humanoid robots. Therefore, there is an urgent need for a new type of harmonic reducer suitable for humanoid robots to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a harmonic reducer that is not easily deformed, has excellent heat dissipation performance, and is easy to assemble, so as to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A high torque density and lightweight harmonic reducer for humanoid robots, comprising a rigid gear, a flexspline, and a wave generator. The rigid gear is a ring-shaped structure with an internal gear ring, and the tooth profile of the internal gear ring is an involute tooth profile. The flexspline is a thin-walled cup-shaped structure. An external gear ring is provided on the outer wall of the flexspline, and the tooth profile of the external gear ring is adapted to the tooth profile of the internal gear ring of the rigid gear. A mounting shaft hole is provided at the center of the bottom of the cup of the flexspline, and a reinforcing plate is provided on one side of the mounting shaft hole. The wave generator includes an elliptical flexible bearing and a cam installed outside the flexible bearing. The cam is in interference fit with the flexible bearing. The wave generator is installed in the mounting shaft hole of the flexspline for causing the flexspline to generate elastic deformation and realizing meshing transmission with the rigid gear. A heat dissipation component is detachably installed inside the mounting shaft hole of the flexspline. A motor shaft is installed inside the flexible bearing through a shaft mounting hole, and one end of the motor shaft is connected to the heat dissipation component.

[0006] Furthermore, the flexspline has a cup body made of a titanium alloy matrix and a tooth ring made of a nickel-based alloy. A gradient strengthening layer is additionally provided on the inner wall of the cup body, and the gradient strengthening layer is, from the inside to the outside, a titanium nitride coating, a silicon carbide fiber braided layer, and a shape memory alloy buffer layer. Through this structural design, the anti-fatigue life of the flexspline is significantly improved. At the same time, through the phase change characteristics of the shape memory alloy, a deformation of 0.05 mm level can be actively compensated under high-temperature working conditions. Compared with the traditional integral flexspline, this solution breaks through the performance limit of a single material through the collaborative innovation design of materials and structures, and the flexspline does not need to be disassembled as a whole when replacing the damaged tooth ring.

[0007] Furthermore, the thickness of the titanium nitride coating is 5 microns, the thickness of the silicon carbide braided fiber layer is 0.2 mm, and the thickness of the shape memory alloy layer is 0.1 mm.

[0008] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, the heat dissipation component includes a mounting bracket, a transmission shaft, a transmission disc, and a heat dissipation fan. The mounting bracket has a circular structure, and the outer side wall of the mounting bracket is mutually attached to the inner side wall of the flexspline. The transmission shaft is installed at the central position of the mounting bracket, and the transmission shaft is rotationally connected to the mounting bracket through a bearing.

[0009] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, the transmission disc is located on one side of the mounting bracket, the heat dissipation fan is located on the other side of the mounting bracket, one end of the transmission shaft is fixedly connected to the transmission disc, and the other end of the transmission shaft is in transmission connection with the heat dissipation fan.

[0010] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, there are two groups of heat dissipation fans, and the two groups of heat dissipation fans are respectively located on both sides of the transmission shaft. A driving shaft is fixedly installed at the center of the heat dissipation fan, and one end of the driving shaft is rotationally connected to the mounting bracket through a bearing.

[0011] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, a driving gear is fixedly installed on the transmission shaft on the side where the heat dissipation fan is located. A driven gear is fixedly installed on the driving shaft of the heat dissipation fan. The diameter of the driving gear is larger than that of the driven gear. The driving gear meshes with the driven gears on both sides respectively, and a hollow through hole is provided on the driving gear.

[0012] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, the transmission disc includes a first rotating disc and a second rotating disc. One side of the first rotating disc is fixedly connected to the transmission shaft. The diameter of the second rotating disc is smaller than that of the first rotating disc. One side of the second rotating disc is embedded inside the first rotating disc, and the first rotating disc and the second rotating disc are movably connected.

[0013] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, a pressure spring is installed inside the first rotating disk and the second rotating disk. One end of the pressure spring is fixedly connected to the inner wall of the first rotating disk, and the other end of the pressure spring is fixedly connected to the first rotating disk. A friction plate is fixedly arranged on the outer side of the second rotating disk, and the second rotating disk contacts one end of the motor shaft through the friction plate.

[0014] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, a limiting ring is fixedly arranged on the outer side of the second rotating disk. The limiting ring is located inside the first rotating disk, and the limiting ring is engaged with the inner edge of the first rotating disk.

[0015] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, a plurality of heat dissipation fins are fixedly arranged inside the mounting shaft hole of the flexspline. The plurality of heat dissipation fins are evenly distributed in a circular shape on the inner wall of the mounting shaft hole, and the heat dissipation fins are located on one side of the heat dissipation fan.

[0016] In the above-mentioned high torque density lightweight humanoid robot harmonic reducer, ventilation holes are arranged on the outer wall of the flexspline. The ventilation holes are located on one side of the heat dissipation fan. Heat dissipation holes are arranged on one side of the bottom of the cup of the flexspline. The heat dissipation holes are located on the other side of the heat dissipation fan. A clamping groove that cooperates with the heat dissipation fins is arranged on one side of the mounting bracket, and the heat dissipation fins are detachably installed inside the clamping groove.

[0017] Furthermore, a permanent magnet array is arranged at the shaft end of the wave generator, and an iron-based fluid is injected between the permanent magnet array and the motor shaft to form a dynamic sealing interface. At the same time, spiral micro-channels (width 0.5 mm, depth 1 mm, pitch 8 mm) are opened on the outer wall of the flexspline, and a phase change heat storage material (such as paraffin or expanded graphite composite material) is filled in the channels. When the temperature exceeds 45 degrees, the phase change material absorbs heat and melts, and capillary effect is generated along the spiral channels. Cooperating with the convection effect of the magnetic fluid, unpowered assisted heat dissipation is realized. When used in combination with the heat dissipation component, the heat dissipation efficiency of the reducer is further improved.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. By setting the heat dissipation component, the present invention not only has a simple structure and is convenient to install, but also can effectively improve the heat dissipation efficiency of the harmonic reducer, extend its service life. The heat dissipation component adopts a detachable design, which is convenient for maintenance and replacement, reduces the maintenance cost. At the same time, the structure of the whole reducer is compact, further reducing the volume and meeting the design requirements of the high torque density lightweight humanoid robot.

[0020] 2. As the motor shaft continuously rotates, the wave generator of the present invention continuously causes elastic deformation of the flexspline within the mounting shaft hole, achieving meshing transmission with the rigid gear. During this process, certain heat is generated in the flexspline and its surrounding components. To effectively dissipate this heat, the heat dissipation assembly comes into play. The rotation of the cooling fan drives the flow of the surrounding air, and fresh air is exchanged with the outside through the ventilation holes. The internal air flow flows out after being cooled by the heat dissipation fins, and the fresh air flow is guided into the interior of the flexspline by the action of the cooling fan, greatly increasing the contact area between the inner wall of the mounting shaft hole and the air, thereby improving the heat dissipation efficiency. The hot air can also be discharged outside the harmonic reducer through the heat dissipation holes, forming a complete heat dissipation cycle.

[0021] 3. A compression spring is arranged between the two rotating discs, which can ensure the close contact between the friction disc and the motor shaft by virtue of the elastic action of the compression spring, thereby improving the stability and reliability of the transmission, and at the same time facilitating installation and fixation. In addition, since the second rotating disc is movably connected to the first rotating disc, this design can reduce vibration and noise during the transmission process to a certain extent.

[0022] 4. The modular design of the wave generator of the present invention further shortens the maintenance and assembly time, and further reduces the error of repeated assembly accuracy.

[0023] 5. The split design of the flexspline of the present invention combined with the structural design of the inner wall composite coating further enhances the anti-fatigue characteristics and high-temperature compensation characteristics of the flexspline, enabling the harmonic reducer to maintain strong transmission performance even in high-frequency usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 is a schematic side view of the flexspline and the wave generator of the present invention;

[0026] Figure 3 is a schematic diagram of the heat dissipation assembly structure of the present invention;

[0027] Figure 4 is a schematic side view of the flexspline of the present invention;

[0028] Figure 5 is a schematic side view of the wave generator of the present invention;

[0029] Figure 6 is a schematic side view of the rigid gear of the present invention;

[0030] Figure 7 is a schematic diagram of the structure at the connection of the transmission shaft of the present invention;

[0031] Figure 8For the present invention Figure 3 Schematic diagram of the structure at position A in the present invention

[0032] In the figure: 1, rigid gear; 2, flexible gear; 3, wave generator; 4, external gear ring; 5, mounting shaft hole; 6, flexible bearing; 7, cam; 8, motor shaft; 9, heat dissipation component; 10, mounting bracket; 11, transmission shaft; 12, transmission disc; 13, heat dissipation fan; 14, drive shaft; 15, drive gear; 16, driven gear; 17, first rotating disc; 18, second rotating disc; 19, friction plate; 20, limit ring; 21, heat dissipation fin; 22, ventilation hole; 23, heat dissipation hole; 24, pressure spring; 25, internal gear ring; 26, reinforcement plate; 27, card slot; 28, shaft mounting hole Specific embodiments

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0034] Please refer to Figures 1-8 , the present invention provides a technical solution for a high torque density and lightweight humanoid robot harmonic reducer: including a rigid gear 1, a flexible gear 2, and a wave generator 3. The rigid gear 1 is an annular structure with an internal gear ring 25, and the tooth profile of the internal gear ring 25 is an involute tooth profile. The flexible gear 2 is a thin-walled cup-shaped structure. An external gear ring 4 is provided on the outer wall of the flexible gear 2, and the tooth profile of the external gear ring 4 is adapted to the tooth profile of the internal gear ring 25 of the rigid gear 1. A mounting shaft hole 5 is provided at the center of the bottom of the cup of the flexible gear 2. A reinforcement plate 26 is provided on one side of the mounting shaft hole 5. The reinforcement plate 26 can improve the structural strength of the flexible gear 2 at the mounting shaft hole 5 and prevent deformation or damage caused by long-term use or large loads. The wave generator 3 includes an elliptical flexible bearing 6 and a cam 7 installed outside the flexible bearing 6. The cam 7 is in interference fit with the flexible bearing 6. The wave generator 3 is installed in the mounting shaft hole 5 of the flexible gear 2 to cause elastic deformation of the flexible gear 2 and realize meshing transmission with the rigid gear 1. A heat dissipation component 9 is detachably installed inside the mounting shaft hole 5 of the flexible gear 2. The motor shaft 8 is installed inside the flexible bearing 6 through the shaft mounting hole 28, and one end of the motor shaft 8 is connected to the heat dissipation component 9

[0035] Further, in another embodiment, the cam 7 is divided into three 120-degree sector modules. Each sector module is connected by a self-locking dovetail joint, and a piezoelectric ceramic sheet is built into the tenon head. During installation, a pre-tightening force sensor is used to control the synchronous pressing of each module. When a torque deviation of 0.05 N·m is detected, the piezoelectric ceramic sheet actively adjusts the contact pressure. When disassembling, only need to rotate the outer ring lock ring by 30 degrees, and each module will automatically pop out under the action of the memory spring. This design greatly reduces the maintenance time, further reduces the repeat assembly precision error, and further improves the precision level compared with the traditional quick-release structure in the prior art.

[0036] Further, the heat dissipation component 9 includes a mounting bracket 10, a transmission shaft 11, a transmission disc 12, and a heat dissipation fan 13. The mounting bracket 10 has a circular structure, and the outer side wall of the mounting bracket 10 is in mutual contact with the inner side wall of the flexspline 2. The transmission shaft 11 is installed at the central position of the mounting bracket 10, and the transmission shaft 11 is rotationally connected to the mounting bracket 10 through a bearing.

[0037] In this embodiment, the rotation of the motor shaft 8 drives the transmission shaft 11 and the transmission disc 12 to rotate together. The heat dissipation fan 13 is installed on the outer side of the transmission disc 12 and rotates with the rotation of the transmission disc 12, thereby realizing the heat dissipation of the harmonic reducer. This design of the heat dissipation component 9 not only has a simple structure and is convenient to install, but also can effectively improve the heat dissipation efficiency of the harmonic reducer and extend its service life.

[0038] Further, the transmission disc 12 is located on one side of the mounting bracket 10, the heat dissipation fan 13 is located on the other side of the mounting bracket 10, one end of the transmission shaft 11 is fixedly connected to the transmission disc 12, and the other end of the transmission shaft 11 is drivingly connected to the heat dissipation fan 13.

[0039] In this embodiment, by connecting the transmission disc 12 and the heat dissipation fan 13 respectively at both ends of the transmission shaft 11, when the motor shaft 8 rotates, it can drive the transmission disc 12 and the heat dissipation fan 13 to rotate simultaneously. This design not only ensures the normal operation of the harmonic reducer, but also can effectively dissipate the generated heat through the heat dissipation fan 13, improving the heat dissipation efficiency. At the same time, the transmission disc 12 and the heat dissipation fan 13 are respectively located on both sides of the mounting bracket 10, making the structure of the entire heat dissipation component 9 more compact, further reducing the volume of the harmonic reducer, and meeting the design requirements of high torque density and lightweight humanoid robots.

[0040] Further, there are two groups of the heat dissipation fans 13, and the two groups of heat dissipation fans 13 are respectively located on both sides of the transmission shaft 11. A driving shaft 14 is fixedly installed at the center of the heat dissipation fan 13, and one end of the driving shaft 14 is rotationally connected to the mounting bracket 10 through a bearing.

[0041] In this embodiment, two sets of cooling fans 13 are respectively located on both sides of the transmission shaft 11, enabling the transmission shaft 11 to drive the two sets of cooling fans 13 to rotate simultaneously when rotating, further improving the cooling efficiency. This design not only ensures the stable operation of the harmonic reducer under high loads, but also effectively dissipates the heat generated by the harmonic reducer quickly, avoiding performance degradation or damage caused by overheating.

[0042] Furthermore, a driving gear 15 is fixedly installed on one side of the transmission shaft 11 where the cooling fan 13 is located, and a driven gear 16 is fixedly installed on the driving shaft 14 of the cooling fan 13. The diameter of the driving gear 15 is larger than that of the driven gear 16, and the driving gear 15 meshes with the driven gears 16 on both sides respectively.

[0043] In this embodiment, through the meshing transmission between the driving gear 15 and the driven gear 16, when the transmission shaft 11 rotates, it can drive the driving shaft 14 of the cooling fan 13 to rotate, further improving the transmission efficiency and cooling effect. Since the diameter of the driving gear 15 is larger than that of the driven gear 16, this design achieves the effect of accelerating and reducing torque, which means that the rotational speed of the fan 13 will increase significantly, thereby promoting more air flow, increasing the air flow rate, and effectively enhancing the cooling effect. In addition, the driving gear 15 meshes with the driven gears 16 on both sides, ensuring that the transmission shaft 11 can drive the two sets of cooling fans 13 to rotate simultaneously when rotating, further improving the cooling efficiency and stability of the entire cooling assembly 9.

[0044] Furthermore, in another embodiment, a permanent magnet rotor is provided at the end of the transmission shaft 11, and a magnetically conductive blade is installed on the driving shaft of the cooling fan 13. Magnetorheological fluid is filled between the transmission shaft 11 and the driving shaft, and an axial magnetic field is applied. When the transmission shaft 11 rotates, the magnetorheological fluid forms a directional vortex under the shearing action, and transmits the torque to the magnetically conductive blade through the magneto-viscous effect, realizing non-contact transmission. Compared with the gear transmission method, this design utilizes the non-contact transmission characteristics of the magnetic fluid to further improve the mechanical efficiency of the cooling assembly and significantly eliminate the maintenance problems caused by gear wear.

[0045] Furthermore, the transmission disk 12 includes a first rotating disk 17 and a second rotating disk 18. One side of the first rotating disk 17 is fixedly connected to the transmission shaft 11. The diameter of the second rotating disk 18 is smaller than that of the first rotating disk 17. One side of the second rotating disk 18 is embedded inside the first rotating disk 17, and the first rotating disk 17 and the second rotating disk 18 are movably connected.

[0046] Further, a compression spring 24 is installed inside the first rotating disk 17 and the second rotating disk 18. One end of the compression spring 24 is fixedly connected to the inner wall of the first rotating disk 17, and the other end of the compression spring 24 is fixedly connected to the first rotating disk 17. A friction plate 19 is fixedly provided on the outer side of the second rotating disk 18, and the second rotating disk 18 contacts one end of the motor shaft 8 through the friction plate.

[0047] In this embodiment, through the arrangement of the compression spring 24, when the motor shaft 8 is installed, pressure can be applied to the second rotating disk 18, so that the first rotating disk 17 and the second rotating disk 18 can be driven to rotate by the frictional force between the motor shaft 8 and the second rotating disk 18, thereby driving the transmission shaft 11 to rotate. When the motor shaft 8 rotates, the second rotating disk 18 can be driven to rotate through the frictional force between the friction plate 19 and the second rotating disk 18. At the same time, the elastic effect of the compression spring 24 can ensure the close contact between the friction plate 19 and the motor shaft 8, thereby improving the stability and reliability of the transmission. In addition, since the second rotating disk 18 is movably connected to the first rotating disk 17, this design can reduce the vibration and noise during the transmission process to a certain extent.

[0048] Further, a limiting ring 20 is fixedly provided on the outer side of the second rotating disk 18. The limiting ring 20 is located inside the first rotating disk 17, and the limiting ring 20 is engaged with the inner edge of the first rotating disk 17.

[0049] In this embodiment, through the arrangement of the limiting ring 20, the position of the second rotating disk 18 in the first rotating disk 17 can be further stabilized, preventing it from shifting or shaking during the transmission process. This engaging design not only enhances the structural stability but also helps to improve the transmission accuracy and efficiency.

[0050] Further, heat dissipation fins 21 are fixedly provided inside the mounting shaft hole 5 of the flexspline 2. The heat dissipation fins 21 are evenly distributed in a circular shape on the inner wall of the mounting shaft hole 5, and the heat dissipation fins 21 are located on one side of the cooling fan 13.

[0051] In this embodiment, through the arrangement of the heat dissipation fins 21, the contact area between the inner wall of the mounting shaft hole 5 and the air can be greatly increased, thereby improving the heat dissipation efficiency. When the harmonic reducer is working, the flexspline 2 and its surrounding components may generate a certain amount of heat. If this heat is not dissipated in time, it may affect the performance and service life of the reducer. The presence of the heat dissipation fins 21 can accelerate the transfer and dissipation of the heat inside the mounting shaft hole 5, ensuring that the harmonic reducer can work continuously and stably.

[0052] In addition, the heat dissipation fins 21 are located on one side of the heat dissipation fan 13. This layout design enables the airflow generated by the heat dissipation fan 13 to blow more directly onto the heat dissipation fins 21, thereby further improving the heat dissipation effect. The rotation of the heat dissipation fan 13 can drive the flow of the surrounding air, forming a continuous airflow. When this airflow passes through the heat dissipation fins 21, it can carry away a large amount of heat, ensuring that the temperature of the harmonic reducer always remains within a reasonable range.

[0053] Furthermore, ventilation holes 22 are provided on the outer wall of the flexspline 2. The ventilation holes 22 are located on one side of the heat dissipation fan 13. On the cup bottom side of the flexspline 2, heat dissipation holes 23 are provided. The heat dissipation holes 23 are located on the other side of the heat dissipation fan 13. On one side of the mounting bracket 10, a card slot 27 that cooperates with the heat dissipation fins 21 is provided.

[0054] In this embodiment, through the arrangement of the ventilation holes 22 and the heat dissipation holes 23, the heat dissipation performance of the harmonic reducer can be further optimized. The ventilation holes 22 are located on one side of the heat dissipation fan 13, allowing more airflow to enter the interior of the harmonic reducer. When these airflows flow through the flexspline 2 and other heat-generating components, they can effectively carry away heat. The heat dissipation holes 23 are located on the other side of the heat dissipation fan 13, which can discharge the hot air inside the harmonic reducer, forming a complete heat dissipation cycle.

[0055] The working principle of the present invention is as follows: When the motor shaft 8 rotates, its power is transmitted to the second rotating disk 18 through the friction plate 19. Since the second rotating disk 18 and the first rotating disk 17 are connected by a compression spring 24, and one side of the second rotating disk 18 is embedded inside the first rotating disk 17 and is movably connected, the rotation of the second rotating disk 18 will drive the first rotating disk 17 to rotate together. The rotation of the first rotating disk 17 is then transmitted to the entire driving disk 12 through the transmission shaft 11, including the heat dissipation fan 13 located outside the driving disk 12. At this time, the driven gear 16 on the driving shaft 14 of the heat dissipation fan 13 meshes with the driving gear 15 on the transmission shaft 11. Since the diameter of the driving gear 15 is larger than the diameter of the driven gear 16, the effect of speed reduction and torque increase is achieved, enabling the heat dissipation fan 13 to generate a greater torque at a lower rotational speed, thereby improving the heat dissipation efficiency.

[0056] Meanwhile, with the continuous rotation of the motor shaft 8, the wave generator 3 continuously causes elastic deformation of the flexspline 2 within the mounting shaft hole 5 of the flexspline 2, achieving meshing transmission with the rigid gear 1. During this process, certain heat may be generated in the flexspline 2 and its surrounding components. To effectively dissipate this heat, the heat dissipation assembly 9 comes into play. The rotation of the cooling fan 13 drives the flow of the surrounding air, forming a continuous air current. This air current first passes through the heat dissipation fins 21, greatly increasing the contact area between the inner wall of the mounting shaft hole 5 and the air, thereby improving the heat dissipation efficiency. Subsequently, the air current enters the interior of the harmonic reducer through the ventilation holes 22 and effectively carries away the heat when flowing through the flexspline 2 and other heat-generating components. Finally, the hot air is discharged outside the harmonic reducer through the heat dissipation holes 23, forming a complete heat dissipation cycle.

[0057] In summary, the high torque density lightweight humanoid robot harmonic reducer provided by the present invention, through the ingenious design of the heat dissipation assembly 9, not only has a simple structure and is convenient to install, but also can effectively improve the heat dissipation efficiency of the harmonic reducer and extend its service life. At the same time, the structure of the entire reducer is more compact, further reducing the volume and meeting the design requirements of high torque density lightweight humanoid robots.

[0058] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0059] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high torque density lightweight harmonic reducer for a humanoid robot, comprising a rigid gear (1), a flexible gear (2), and a wave generator (3), characterized in that: The rigid gear (1) is an annular structure with an internal gear ring (25), and the tooth profile of the internal gear ring (25) is an involute tooth profile. The flexible gear (2) is a thin-walled cup-shaped structure. An external gear ring (4) is provided on the outer wall of the flexible gear (2), and the tooth profile of the external gear ring (4) is adapted to the tooth profile of the internal gear ring (25) of the rigid gear (1). An installation shaft hole (5) is provided at the center of the bottom of the cup of the flexible gear (2), and a reinforcing plate (26) is provided on one side of the installation shaft hole (5). The wave generator (3) includes an elliptical flexible bearing (6) and a cam (7) installed on the outer side of the flexible bearing (6). The cam (7) is in interference fit with the flexible bearing (6). The wave generator (3) is installed in the installation shaft hole (5) of the flexible gear (2) for elastically deforming the flexible gear (2) to achieve meshing transmission with the rigid gear (1). A heat dissipation component (9) is detachably installed inside the installation shaft hole (5) of the flexible gear (2). A motor shaft (8) is installed inside the flexible bearing (6) through a shaft installation hole (28), and one end of the motor shaft (8) is connected to the heat dissipation component (9).

2. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 1, wherein The heat dissipation component (9) includes an installation bracket (10), a transmission shaft (11), a transmission disc (12), and a heat dissipation fan (13). The installation bracket (10) is a circular structure, and the outer side wall of the installation bracket (10) is in mutual fit with the inner side wall of the flexible gear (2). The transmission shaft (11) is installed at the central position of the installation bracket (10), and the transmission shaft (11) is rotationally connected to the installation bracket (10) through a bearing.

3. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 2, wherein The transmission disc (12) is located on one side of the installation bracket (10), and the heat dissipation fan (13) is located on the other side of the installation bracket (10). One end of the transmission shaft (11) is fixedly connected to the transmission disc (12), and the other end of the transmission shaft (11) is in transmission connection with the heat dissipation fan (13).

4. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 2, characterized in that Two groups of heat dissipation fans (13) are provided, and the two groups of heat dissipation fans (13) are respectively located on both sides of the transmission shaft (11). A drive shaft (14) is fixedly installed at the center of the heat dissipation fan (13), and one end of the drive shaft (14) is rotationally connected to the installation bracket (10) through a bearing.

5. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 4, characterized in that, A drive gear (15) is fixedly installed on the transmission shaft (11) on one side of the heat dissipation fan (13), and a driven gear (16) is fixedly installed on the drive shaft (14) of the heat dissipation fan (13). The diameter of the drive gear (15) is larger than the diameter of the driven gear (16), and the drive gear (15) is respectively meshed with the driven gears (16) on both sides.

6. The high-torque-density lightweight harmonic reducer for humanoid robots according to claim 2, wherein The transmission disc (12) includes a first rotating disc (17) and a second rotating disc (18). One side of the first rotating disc (17) is fixedly connected to the transmission shaft (11). The diameter of the second rotating disc (18) is smaller than that of the first rotating disc (17). One side of the second rotating disc (18) is embedded inside the first rotating disc (17), and the first rotating disc (17) and the second rotating disc (18) are movably connected.

7. The high torque density lightweight harmonic reducer for humanoid robots according to claim 6, characterized in that, A pressure spring (24) is installed inside the first rotating disk (17) and the second rotating disk (18). One end of the pressure spring (24) is fixedly connected to the inner wall of the first rotating disk (17), and the other end of the pressure spring (24) is fixedly connected to the first rotating disk (17). A friction plate (19) is fixedly arranged on the outer side of the second rotating disk (18), and the second rotating disk (18) contacts one end of an external motor shaft (8) through the friction plate (19).

8. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 6, wherein A limiting ring (20) is fixedly arranged on the outer side of the second rotating disk (18). The limiting ring (20) is located inside the first rotating disk (17), and the limiting ring (20) is engaged with the inner edge of the first rotating disk (17).

9. The high torque density lightweight harmonic reducer for a humanoid robot according to claim 2, wherein, A plurality of heat dissipation fins (21) are fixedly arranged inside the mounting shaft hole (5) of the flexspline (2). The plurality of heat dissipation fins (21) are evenly distributed in a circular shape on the inner wall of the mounting shaft hole (5), and the heat dissipation fins (21) are located on one side of the heat dissipation fan (13).

10. The high-torque-density lightweight harmonic reducer for a humanoid robot according to claim 9, characterized in that, Ventilation holes (22) are arranged on the outer wall of the flexspline (2). The ventilation holes (22) are located on one side of the heat dissipation fan (13). Heat dissipation holes (23) are arranged on one side of the bottom of the cup of the flexspline (2). The heat dissipation holes (23) are located on the other side of the heat dissipation fan (13). A clamping groove (27) that cooperates with the heat dissipation fins (21) is arranged on one side of the mounting bracket (10), and the heat dissipation fins (21) are detachably installed inside the clamping groove (27).

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