Modular harmonic reducer module, joint module and robot

Abstract

The application discloses a combined harmonic reducer module, a joint module and a robot, which comprises a first-stage harmonic reducer, a second-stage harmonic reducer, a connecting outer ring and a connecting shaft. The first-stage reducer comprises a first wave generator, a first flexible gear, a first rigid gear and a first crossed roller bearing; the second-stage reducer comprises a second wave generator, a second flexible gear, a second rigid gear and a second crossed roller bearing; the connecting outer ring is arranged in an axial direction with the first-stage reducer and the second-stage reducer, and the two ends of the connecting outer ring are respectively detachably connected to a first outer ring of the first crossed roller bearing and a second outer ring of the second crossed roller bearing; the connecting shaft is located at the inner side of the connecting outer ring, the first end of the connecting shaft is detachably connected to the first rigid gear, and the second end of the connecting shaft is detachably connected to the second wave generator. The application can improve the versatility and maintainability of the harmonic reducer module.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and in particular to a combined harmonic speed reducer module, a joint module, and a robot. Background Technology

[0002] Harmonic reducers are transmission devices that use a wave generator to induce controllable elastic deformation of a flex wheel, which then meshes with a rigid wheel to transmit motion and power. They are widely used in industrial robots, aerospace, and other fields. Current technology achieves high transmission ratios through multi-stage harmonic reducers. However, the first and second stages of existing multi-stage harmonic reducers typically share a common transmission structure (such as a flex wheel or a rigid wheel), requiring separate design and manufacturing, resulting in higher costs and limited application. Furthermore, the flex wheel is prone to fatigue damage due to prolonged deformation. Integrated multi-stage harmonic reducers either require custom-made flex wheels for replacement or complete replacement, which is inconvenient for maintenance. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a combined harmonic reducer module, joint module, and robot, which can improve the versatility and maintainability of the harmonic reducer module.

[0004] On one hand, embodiments of the present invention provide a combined harmonic reducer module, comprising:

[0005] The first-stage reducer includes a first wave generator, a first flexible wheel, a first rigid wheel, and a first crossed roller bearing. The first flexible wheel is sleeved between the first wave generator and the first rigid wheel, and the external teeth of the first flexible wheel mesh with the internal teeth of the first rigid wheel. The first flexible wheel is connected to the first outer ring of the first crossed roller bearing, and the first rigid wheel is connected to the first inner ring of the first crossed roller bearing.

[0006] The second-stage reducer includes a second wave generator, a second flexible wheel, a second rigid wheel, and a second crossed roller bearing. The second flexible wheel is sleeved between the second wave generator and the second rigid wheel, and the external teeth of the second flexible wheel mesh with the internal teeth of the second rigid wheel. The second flexible wheel is connected to the second outer ring of the second crossed roller bearing, and the second rigid wheel is connected to the second inner ring of the second crossed roller bearing.

[0007] The connecting outer ring is arranged axially with the first stage reducer and the second stage reducer, and the two ends of the connecting outer ring are respectively detachably connected to the first outer ring of the first crossed roller bearing and the second flexible wheel;

[0008] A connecting shaft is located inside the connecting outer ring. The first end of the connecting shaft is detachably connected to the first rigid wheel, and the second end of the connecting shaft is detachably connected to the second wave generator.

[0009] According to some embodiments of the present invention, the connecting shaft includes a disc-shaped shaft connecting portion and a shaft portion protruding from the surface of the shaft connecting portion, the shaft connecting portion being provided with a first weight-reducing position, and the back side of the shaft portion being provided with a second weight-reducing position.

[0010] According to some embodiments of the present invention, the outer wall of the shaft is provided with a second spline, the second wave generator is provided with a second keyway, and the second spline and the second keyway are keyed together.

[0011] According to some embodiments of the present invention, the shaft connection portion is connected to the first rigid wheel, and a grease storage cavity is formed between the shaft connection portion and the first wave generator.

[0012] According to some embodiments of the present invention, a first flexible bearing is installed between the first wave generator and the first flexible wheel, and a second flexible bearing is installed between the second wave generator and the second flexible wheel.

[0013] According to some embodiments of the present invention, the first-stage reducer and the second-stage reducer have the same structure.

[0014] According to some embodiments of the present invention, the width-to-diameter ratio of both the first-stage reducer and the second-stage reducer is 0.2.

[0015] According to some embodiments of the present invention, the reduction ratios of the first-stage reducer and the second-stage reducer may be the same or different.

[0016] On the other hand, embodiments of the present invention provide a joint module, including the above-described combined harmonic reducer module.

[0017] In another aspect, embodiments of the present invention provide a robot including the aforementioned joint module.

[0018] The embodiments of the present invention have at least the following beneficial effects:

[0019] Both the first-stage and second-stage reducers are complete harmonic reducers. They are detachably connected via an outer ring and driven via a connecting shaft. The first-stage and second-stage reducers can be used independently or in combination. Various combinations of large reduction ratios can be achieved by using first-stage and second-stage reducers with different reduction ratios, which improves versatility. If one stage reducer is damaged, only the damaged reducer can be replaced or the undamaged reducer can be recycled, which enhances maintainability.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic diagram of the structure of the combined harmonic reducer module according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 The diagram shows an exploded view of the combined harmonic reducer module.

[0024] Figure 3 for Figure 1 A schematic cross-sectional view of the combined harmonic reducer module is shown.

[0025] Figure 4 for Figure 1 One of the schematic diagrams of the connecting shaft of the combined harmonic reducer module is shown;

[0026] Figure 5 for Figure 1 The second schematic diagram of the connecting shaft of the combined harmonic reducer module is shown.

[0027] Figure 6 for Figure 1 A schematic diagram of the structure of the first stage reducer of the combined harmonic reducer module is shown.

[0028] Figure 7 for Figure 1 The diagram shows the exploded structure of the first stage reducer of the combined harmonic reducer module.

[0029] Figure label:

[0030] First-stage reducer 100, first wave generator 110, first keyway 111, first flexible wheel 120, flexible wheel connecting part 121, transmission part 122, first rigid wheel 130, first crossed roller bearing 140, first outer ring 141, first inner ring 142, first flexible bearing 150, second-stage reducer 200, second wave generator 210, second keyway 211, second flexible wheel 220, second rigid wheel 230, second crossed roller bearing 240, second outer ring 241, second inner ring 242, second flexible bearing 250, connecting outer ring 300, connecting shaft 400, shaft connecting part 410, first weight reduction position 411, cavity 412, shaft part 420, second weight reduction position 421, second spline 422, grease storage cavity P1, first redundant space P2, second redundant space P3. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, it should be understood that the orientation descriptions, such as axial, radial, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0033] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the stated number, and "above," "below," "within," etc. are understood to include the stated number. If "first," "second," etc. are used in the description, they are only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0034] In the description of this invention, unless otherwise explicitly defined, terms such as "set", "install", and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0035] Currently, multi-stage harmonic reducers in the industrial field generally adopt a highly integrated one-piece structural design, where the first and second stage reducers achieve deep structural integration by sharing core transmission components such as wave generators, flexible wheels, or rigid wheels. However, such integrated solutions are usually tailor-made for specific application scenarios (such as specific models of industrial robot joints, precision turntables, or aerospace actuators), requiring entirely new customized designs and dedicated production lines. This results in poor structural compatibility, severely limiting the scope of application and making it difficult to achieve universal adaptation across platforms and models. Especially in the R&D and prototyping stages of industrial robots, the demand for multi-stage harmonic reducers in a single batch is usually extremely small. If a lot of time is invested in designing new integrated reducers and organizing small-batch prototyping for such small-batch orders, not only will the R&D and production cycle be lengthy, but the inability to achieve economies of scale will also lead to a significant increase in unit costs, severely restricting the rapid iteration, cost control, and marketization of industrial robot products. Furthermore, the core component of the harmonic reducer—the flexure—is subjected to high-frequency periodic elastic deformation during operation. Working under alternating stress for extended periods, it is highly susceptible to material fatigue, leading to cracks or fractures, and ultimately causing functional failures or even complete damage to the entire reducer. Since most components of these customized integrated multi-stage harmonic reducers (such as flexures with specific tooth profiles) are non-standard parts, they cannot be directly purchased from the market after damage. Replacement parts must be custom-made from the original manufacturer, a time-consuming and costly process with extremely poor maintenance convenience. If the entire integrated multi-stage harmonic reducer assembly is scrapped and replaced with new parts, the procurement cost is high, and the recycling value of the remaining intact parts in the damaged assembly is almost zero, resulting in significant resource waste. From a life-cycle cost perspective, its maintainability and economic efficiency are both unsatisfactory.

[0036] Therefore, this embodiment discloses a combined harmonic reducer module, which improves the versatility and maintainability of the harmonic reducer module based on modular and reconfigurable technical concepts. Please refer to... Figure 1 The combined harmonic reducer module of this embodiment includes a first-stage reducer 100, a second-stage reducer 200, a connecting outer ring 300, and a connecting shaft 400. The connecting outer ring 300 serves to connect and enclose the first-stage reducer 100 and the second-stage reducer 200, while the connecting shaft 400 enables power transmission between the first-stage reducer 100 and the second-stage reducer 200. The various components and their interactions are described in detail below:

[0037] Please refer to Figure 1 , Figure 2 and Figure 3The first-stage reducer 100 includes a first wave generator 110, a first flexible wheel 120, a first rigid wheel 130, and a first crossed roller bearing 140. The first flexible wheel 120 is sleeved between the first wave generator 110 and the first rigid wheel 130. The first flexible wheel 120 is provided with external teeth, and the first rigid wheel 130 is provided with internal teeth. The external teeth of the first flexible wheel 120 mesh with the internal teeth of the first rigid wheel 130. The first flexible wheel 120 is connected to the first outer ring 141 of the first crossed roller bearing 140, and the first rigid wheel 130 is connected to the first inner ring 142 of the first crossed roller bearing 140. In this way, the first crossed roller bearing 140 can provide radial support stiffness and torque transmission path for the first flexible wheel 120 and the first rigid wheel 130, as well as withstand the overturning moment during operation.

[0038] The second-stage reducer 200 includes a second wave generator 210, a second flexible wheel 220, a second rigid wheel 230, and a second crossed roller bearing 240. The second flexible wheel 220 is sleeved between the second wave generator 210 and the second rigid wheel 230. The second flexible wheel 220 has external teeth, and the second rigid wheel 230 has internal teeth. The external teeth of the second flexible wheel 220 mesh with the internal teeth of the second rigid wheel 230. The second flexible wheel 220 is connected to the second outer ring 241 of the second crossed roller bearing 240, and the second rigid wheel 230 is connected to the second inner ring 242 of the second crossed roller bearing 240. The design principle of the second crossed roller bearing 240 is the same as that of the first crossed roller bearing 140. By designing independent first crossed roller bearings 140 and second crossed roller bearings 240, the first-stage reducer 100 and the second-stage reducer 200 can form their own independent complete harmonic transmission units, which retains the separability for independent use and realizes the integrated design for combined use.

[0039] Please refer to Figure 2 and Figure 3The connecting outer ring 300 is arranged axially with the first-stage reducer 100 and the second-stage reducer 200. The first-stage reducer 100, connecting outer ring 300, and second-stage reducer 200 are arranged sequentially axially. Both ends of the connecting outer ring 300 are detachably connected to the first outer ring 141 and the second flexible wheel 220 of the first crossed roller bearing 140, respectively. For example, both ends of the connecting outer ring 300 are provided with threaded holes. The first outer ring 141 of the first crossed roller bearing 140 is connected to the second flexible wheel 220 by the cooperation of screws and threaded holes. 1. A detachable connection is made between the outer ring 300, the second flexure 220, and the second crossed roller bearing 240, thereby connecting the first-stage reducer 100 and the second-stage reducer 200. It is worth noting that for the first-stage reducer 100, the first flexure 120 and the first crossed roller bearing 140 are connected via screws and threaded holes; similarly, for the second-stage reducer 200, the second flexure 220 and the second crossed roller bearing 240 are connected via screws and threaded holes. The position of the threaded hole on the outer ring 300 is adapted to the first outer ring 141 of the first crossed roller bearing 140 and the second outer ring 241 of the second crossed roller bearing 240, thus preserving the original structure of the first crossed roller bearing 140 and the second crossed roller bearing 240 to the greatest extent possible, maintaining the independence of the first-stage reducer 100 and the second-stage reducer 200.

[0040] Please continue to refer to Figure 2 and Figure 3 The connecting shaft 400 is located inside the connecting outer ring 300. The first end of the connecting shaft 400 is detachably connected to the first rigid wheel 130, and the second end is detachably connected to the second wave generator 210. This built-in mounting structure of the connecting shaft 400 within the space inside the connecting outer ring 300 shortens the axial connection length between the first-stage reducer 100 and the second-stage reducer 200, thus improving the overall structural compactness and rigidity of the module. Notably, the connecting shaft 400 uses a standardized detachable connection method with both the first-stage reducer 100 and the second-stage reducer 200, improving the ease of module assembly and facilitating independent replacement, repair, or recycling of any stage reducer, enabling modular maintenance.

[0041] Both the first-stage reducer 100 and the second-stage reducer 200 are complete harmonic reducer units. They are detachably connected via the outer ring 300 and via the connecting shaft 400. The first-stage reducer 100 and the second-stage reducer 200 can be used independently as single-stage reducers or combined into a multi-stage harmonic reduction system. Different reduction ratio reducer units can be flexibly selected and combined according to the required total reduction ratio, torque, and space constraints. Various combinations of large reduction ratios can be achieved using the first-stage reducer 100 and the second-stage reducer 200 with different reduction ratios, improving versatility. If a reducer stage fails during long-term operation (e.g., due to fatigue fracture of the flexspline), only the damaged reducer can be disassembled and replaced, while the undamaged reducer can be recycled as a spare part for subsequent repairs or other combinations. This significantly reduces spare parts inventory and maintenance costs, minimizes resource waste, and enhances maintainability. For example, the first-stage reducer 100 and the second-stage reducer 200 can be standard models available on the market, without the need for customization. If the first-stage reducer 100 is damaged, it can be directly disassembled and replaced, or the entire module can be replaced, and the intact second-stage reducer 200 can be removed from the old module as an independent spare part or used in a new module. Similarly, if only the second-stage reducer 200 is damaged, it can be replaced separately, and the still intact first-stage reducer 100 can be recycled and reused.

[0042] Please refer to Figure 4 and Figure 5 The connecting shaft 400 includes a disc-shaped shaft connecting portion 410 and a shaft portion 420 protruding from the surface of the shaft connecting portion 410. A first weight-reducing position 411 is provided on the shaft connecting portion 410, and a second weight-reducing position 421 is provided on the back side of the shaft portion 420. The first weight-reducing position 411 can be a hole-like structure or a through-slot structure, such as a weight-reducing hole or a weight-reducing through-slot. A hollow cavity is provided on the non-working side of the shaft portion 420 as the second weight-reducing position 421. Thus, by providing the first weight-reducing position 411 on the shaft connecting portion 410 and the second weight-reducing position 421 on the back side of the shaft portion 420, the weight of the connecting shaft 400 can be reduced while ensuring sufficient bending and torsional strength, thus reducing rotational inertia and improving dynamic response performance. This also helps meet the lightweight requirements of high-end equipment (such as industrial robot joints). For example, the shaft connection portion 410 of the connecting shaft 400 is a circular flange structure. Six weight-reducing holes are evenly distributed around the center circumference of the shaft connection portion 410, which can reduce the weight of the shaft connection portion 410, achieving weight balance and material saving. Among them, a shaft portion 420 protruding from the surface of the shaft connection portion 410 is provided at the center position. The back of the shaft portion 420 is machined into a hollow structure, which can reduce the weight of the shaft portion 420.

[0043] Please refer to Figure 2 , Figure 4 , Figure 6 and Figure 7 Both the first-stage reducer 100 and the second-stage reducer 200 are provided with keyways for keyed connection to achieve power transmission. For example, the first wave generator 110 of the first-stage reducer 100 is provided with a first keyway 111, which is used to connect with a first spline on the motor drive shaft to transmit input torque. The outer wall of the shaft portion 420 of the connecting shaft 400 is provided with a second spline 422, and the second wave generator 210 is provided with a second keyway 211. The second spline 422 and the second keyway 211 are keyed together to transmit torque via spline connection. In standard operating mode, both the first flexible gear 120 and the second flexible gear 220 are in a fixed state, and the motor drive shaft is keyed to the first wave generator 110. The second weight-reducing position 421 on the back of the shaft portion 420 of the connecting shaft 400 can provide effective clearance space for the motor drive shaft, ensuring assembly possibility and avoiding motion interference. The power transmission path is as follows: the drive shaft of the motor drives the first wave generator 110 to rotate, the first wave generator 110 causes the first flexible wheel 120 to undergo controlled elastic deformation, thereby causing the first flexible wheel 120 to mesh with the first rigid wheel 130 to drive the first rigid wheel 130 to decelerate and rotate. Since the first rigid wheel 130 is connected to the connecting shaft 400, the connecting shaft 400 rotates synchronously with the first rigid wheel 130 to transmit power to the second wave generator, causing the second wave generator 210 to rotate. The second wave generator 210 drives the second flexible wheel 220 to undergo controlled elastic deformation, thereby causing the second flexible wheel 220 to mesh with the second rigid wheel 230 to perform a second deceleration, thereby driving the second rigid wheel 230 to rotate, and thus outputting power through the second rigid wheel 230, realizing two-stage deceleration and a large reduction ratio.

[0044] Please refer to Figure 3 The shaft connection portion 410 is connected to the first rigid wheel 130, and a grease storage cavity P1 is formed between the shaft connection portion 410 and the first wave generator 110. For example, please refer to... Figure 3 and Figure 5The shaft portion 420 protrudes from the first surface of the shaft connection portion 410, and the second surface of the shaft connection portion 410 is provided with a cavity 412. The diameter of the cavity 412 is greater than or equal to the inner ring diameter of the first rigid wheel 130. After assembly, the position of the cavity 412 is adapted to the meshing area of ​​the first wave generator 110, the first flexible wheel 120, and the first rigid wheel 130. The design of the cavity 412 can increase the axial distance between the shaft connection portion 410 and the first wave generator 110, so that a larger volume grease storage cavity P1 is formed between them, so as to store more grease, thereby providing continuous and sufficient lubrication for the first stage transmission meshing pair, reducing wear and heat generation. Meanwhile, the first flexible wheel 120 and the first rigid wheel 130 will generate a lot of frictional heat during the meshing transmission process. The design of the cavity 412 can provide ample heat dissipation space and a larger heat dissipation surface area. Moreover, the shaft connection part 410 is provided with a hollow first weight reduction position 411, which can connect the spaces on opposite sides of the shaft connection part 410, promote air circulation, thereby providing stronger heat dissipation performance, suppressing temperature rise to a certain extent, and improving the stability and life of the transmission.

[0045] Please refer to Figure 2 and Figure 7 A first flexible bearing 150 is installed between the first wave generator 110 and the first flexible wheel 120, and a second flexible bearing 250 is installed between the second wave generator 210 and the second flexible wheel 220. The outer ring of the first flexible bearing 150 is in contact with the inner wall of the first flexible wheel 120, and the inner ring of the first flexible bearing 150 is connected to the cam of the first wave generator 110. This avoids direct metal-to-metal contact and sliding friction between the first wave generator 110 and the first flexible wheel 120, transforming sliding friction into rolling friction within the first flexible bearing 150. This significantly reduces friction loss, temperature rise, and wear, giving the first-stage reducer 100 a longer service life and higher transmission efficiency. The design principle of the second flexible bearing 250 is the same as that of the first flexible bearing 150, and will not be described further here.

[0046] To improve versatility and interchangeability, the first-stage reducer 100 and the second-stage reducer 200 have identical structures. In industrial robot applications, a robot typically requires multiple joint modules (e.g., a six-axis robot requires six), or a workstation may have multiple robots of the same model. Assuming that two multi-stage harmonic reducer modules (e.g., module #1 and module #2) both use the combined harmonic reducer module of this embodiment, and that the internal first-stage reducer 100 and second-stage reducer 200 have completely identical structures, if the first-stage reducer 100 of module #1 fails, and the second-stage reducer 200 of module #2 also fails simultaneously, thanks to the identical structure of the first-stage reducer 100 and the second-stage reducer 200, the intact second-stage reducer 200 in module #1 and the intact first-stage reducer 100 in module #2 can be disassembled and combined into a new multi-stage harmonic reducer module for continued use. In this case, only one new multi-stage harmonic reducer module needs to be replaced, rather than scrapping two old modules and purchasing two new modules, which helps reduce maintenance costs.

[0047] Please refer to Figure 2 , Figure 6 and Figure 7 In this embodiment, both the first flexible wheel 120 and the second flexible wheel 220 adopt a top hat-shaped short cylindrical structure. The first flexible wheel 120 has a flexible wheel connecting part 121 and a transmission part 122, and the edge of the flexible wheel connecting part 121 is a thickened structure (e.g., Figure 6 (As shown by mark B in the middle), to improve mechanical strength, so as to facilitate connection with the first outer ring 141 of the first crossed roller bearing 140. The drive part 122 of the first flexible wheel 120 protrudes from the plane of the flexible wheel connecting part 121 and forms a hollow cylindrical structure. The outer wall of the end of the drive part 122 away from the flexible wheel connecting part 121 is provided with external teeth (such as...) that mesh with the first rigid wheel 130. Figure 7 As indicated by mark A (tooth profile not shown in the figure), the width-to-diameter ratio of the transmission connection is approximately 0.31, achieving an axially flat design and effectively shortening the axial distance of the single-stage reducer. The first wave generator 110 is installed inside the transmission part 122 of the first flexure 120, and its position is adapted to the external tooth area of ​​the transmission part 122. A first redundant space P2 is reserved between the first wave generator 110 and the flexure connection part 121 of the first flexure 120, providing the necessary axial length for the installation of the drive motor and avoiding structural interference. Similarly, because the first-stage reducer 100 and the second-stage reducer 200 have the same structure, the structure of the second flexure 220 is the same as that of the first flexure 120. That is, a second redundant space P3 is also reserved between the second wave generator 210 of the second-stage reducer 200 and the second flexure 220 (e.g., ...). Figure 3As shown in the diagram, in this embodiment, part of the connecting shaft 400 is installed in the second redundant space P3, shortening the total axial length of the entire module after assembly and improving space utilization. It should be noted that a small gap is left between the connecting shaft 400 and the second flexible wheel 220 to avoid motion interference.

[0048] The width-to-diameter ratio of both the first-stage reducer 100 and the second-stage reducer 200 is 0.2 (the width-to-diameter ratio is equal to the ratio of diameter to axial width). This means that the single-stage reducer itself has a small width-to-diameter ratio, exhibiting a flattened structural feature, which can effectively reduce the axial space occupied, making it suitable for miniaturized and compact design scenarios with strict limitations on axial space. When the first-stage reducer 100 and the second-stage reducer 200 are combined into a combined harmonic reducer module in this embodiment, the overall width-to-diameter ratio is 0.45, still maintaining good compactness and not occupying too much axial space, continuing to meet the miniaturized design requirements of application scenarios such as industrial robot joints.

[0049] In application, two-stage reducers with the same reduction ratio can be selected to form a symmetrical reducer module, or two-stage reducers with different reduction ratios can be selected to form a mixed combination. That is, the reduction ratios of the first-stage reducer 100 and the second-stage reducer 200 can be the same or different. Through combination calculation (total reduction ratio ≈ first-stage reduction ratio × second-stage reduction ratio), a wide range of different reduction ratio combinations can be achieved to meet the different needs of diverse applications from precision positioning to heavy-duty handling.

[0050] This embodiment also provides a joint module, including the aforementioned combined harmonic reducer module. Details of the combined harmonic reducer module are described above and will not be repeated here. Both the first-stage reducer 100 and the second-stage reducer 200 are complete harmonic reducers. A detachable connection between the first-stage reducer 100 and the second-stage reducer 200 is achieved through a connecting outer ring 300, and a transmission connection is achieved through a connecting shaft 400. The first-stage reducer 100 and the second-stage reducer 200 can be used independently or in combination. Various combinations of large reduction ratios can be achieved through different reduction ratios of the first-stage reducer 100 and the second-stage reducer 200, which improves versatility. If one stage reducer is damaged, only the damaged reducer can be replaced, or the undamaged reducer can be recycled, enhancing maintainability. In some application examples, the joint module also includes a motor and a housing, with both the motor and the combined harmonic reducer module mounted on the housing. The drive shaft of the motor is keyed to the first wave generator 110 of the combined harmonic reducer module to achieve power transmission.

[0051] This embodiment also provides a robot, including the joint module described above. The details of the joint module are as described above and will not be repeated here. Both the first-stage reducer 100 and the second-stage reducer 200 are complete harmonic reducers. The first-stage reducer 100 and the second-stage reducer 200 are detachably connected via the connecting outer ring 300, and their transmission is achieved via the connecting shaft 400. The first-stage reducer 100 and the second-stage reducer 200 can be used independently or in combination. Various combinations of large reduction ratios can be achieved using the first-stage reducer 100 and the second-stage reducer 200 with different reduction ratios, which improves versatility. If one of the reducers is damaged, only the damaged reducer can be replaced, or the undamaged reducer can be recycled, enhancing maintainability.

[0052] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A combined harmonic reducer module, characterized in that, include: The first-stage reducer (100) includes a first wave generator (110), a first flexible wheel (120), a first rigid wheel (130), and a first crossed roller bearing (140). The first flexible wheel (120) is sleeved between the first wave generator (110) and the first rigid wheel (130), and the external teeth of the first flexible wheel (120) mesh with the internal teeth of the first rigid wheel (130). The first flexible wheel (120) is connected to the first outer ring (141) of the first crossed roller bearing (140), and the first rigid wheel (130) is connected to the first inner ring (142) of the first crossed roller bearing (140). The second-stage reducer (200) includes a second wave generator (210), a second flexible wheel (220), a second rigid wheel (230), and a second crossed roller bearing (240). The second flexible wheel (220) is sleeved between the second wave generator (210) and the second rigid wheel (230), and the external teeth of the second flexible wheel (220) mesh with the internal teeth of the second rigid wheel (230). The second flexible wheel (220) is connected to the second outer ring (241) of the second crossed roller bearing (240), and the second rigid wheel (230) is connected to the second inner ring (242) of the second crossed roller bearing (240). The connecting outer ring (300) is arranged axially with the first stage reducer (100) and the second stage reducer (200), and the two ends of the connecting outer ring (300) are respectively detachably connected to the first outer ring (141) of the first crossed roller bearing (140) and the second flexible wheel (220). A connecting shaft (400) is located inside the connecting outer ring (300). The first end of the connecting shaft (400) is detachably connected to the first rigid wheel (130), and the second end of the connecting shaft (400) is detachably connected to the second wave generator (210). The connecting shaft (400) includes a disc-shaped shaft connecting part (410) and a shaft part (420) protruding from the surface of the shaft connecting part (410). A first weight-reducing position (411) is provided on the shaft connecting part (410), and a second weight-reducing position (421) is provided on the back side of the shaft part (420). The shaft connecting part (410) is connected to the first rigid wheel (130), and a grease storage cavity is formed between the shaft connecting part (410) and the first wave generator (110).

2. The combined harmonic reducer module according to claim 1, characterized in that, The outer wall of the shaft (420) is provided with a second spline (422), and the second wave generator (210) is provided with a second keyway (211). The second spline (422) and the second keyway (211) are keyed together.

3. The combined harmonic reducer module according to claim 1, characterized in that, A first flexible bearing (150) is installed between the first wave generator (110) and the first flexible wheel (120), and a second flexible bearing (250) is installed between the second wave generator (210) and the second flexible wheel (220).

4. The combined harmonic reducer module according to any one of claims 1 to 3, characterized in that, The first-stage reducer (100) and the second-stage reducer (200) have the same structure.

5. The combined harmonic reducer module according to claim 4, characterized in that, The width-to-diameter ratio of both the first-stage reducer (100) and the second-stage reducer (200) is 0.

2.

6. The combined harmonic reducer module according to claim 5, characterized in that, The reduction ratios of the first-stage reducer (100) and the second-stage reducer (200) may be the same or different.

7. A joint module, characterized in that, Includes the combined harmonic reducer module as described in any one of claims 1 to 6.

8. A robot, characterized in that, Includes the joint module as described in claim 7.

Images