Transmission mechanism for harmonic speed reducer

Abstract

The invention provides a transmission mechanism for a harmonic speed reducer. The transmission mechanism comprises a wave generator; the flexible gear is provided with a first wall part extending in the axis direction and a second wall part extending in the radial direction, the cam is sleeved with the first wall part, the first wall part can abut against the cam to deform, the second wall part is arranged at the end, away from the cam, of the first wall part, and a first tooth part is arranged on the outer side wall of the first wall part; the first inner ring is arranged on the outer side of the first wall part of the flexible gear in a sleeving mode, and a second tooth part capable of being meshed with the first tooth part of the first wall part of the flexible gear is arranged on the outer wall of the first inner ring; the second inner ring sleeves the outer side of the first wall part of the flexible gear; the outer ring sleeves the outer sides of the first inner ring and the second inner ring; and the torque sensor is fixedly connected with the second wall part of the flexible gear and is fixedly connected with the outer ring. Due to the fact that the whole torque sensor is flexible, when the harmonic speed reducer works, stress deformation of the flexible gear is greatly released through the torque sensor, and the service life of the flexible gear is prolonged by 2-4 times and the like.

Description

Technical Field

[0001] This application relates to the field of harmonic reducer technology, and specifically to a transmission mechanism for a harmonic reducer. Background Technology

[0002] The description in this section provides only background information relevant to the disclosure of this application and does not constitute prior art.

[0003] Existing harmonic reducers generally include a wave generator, a flexure, and a steel wheel. Depending on the output method, one type of existing harmonic reducer uses a fixed flexure to drive the steel wheel for output. In this type of reducer, one end of the flexure is positioned outside the wave generator, and the other end is fixed to the outer ring of a crossed roller bearing. The inner ring of the crossed roller bearing outputs power outwards through the steel wheel.

[0004] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of this application and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this application. Summary of the Invention

[0005] This application is based on and claims priority to Chinese Patent Application No. 2025226608591, filed on December 16, 2025, the entire contents of which are incorporated herein by reference.

[0006] Through the inventive discovery of the inventor, it has been found that the harmonic reducer using the steel wheel output in the prior art has at least one of the following defects: (1) Flexible wheels are more prone to wear, resulting in a shorter lifespan; (2) The overall structure has weak impact resistance. Under heavy loads, the harmonic reducer may be damaged. (3) Start-up too fast.

[0007] Based on the aforementioned deficiencies in the prior art, the transmission mechanism for the harmonic reducer in this application is used to solve at least one of the aforementioned problems.

[0008] To achieve the above objectives, this application provides the following technical solution: a transmission mechanism for a harmonic reducer, comprising: A wave generator, the wave generator including a cam; The flexible wheel has a first wall extending along the axial direction and a second wall extending in the radial direction. The first wall is sleeved on the outside of the cam and can abut against the cam to deform. The second wall is disposed at the end of the first wall away from the cam. The outer wall of the first wall is provided with a first tooth. A first inner ring is sleeved on the outer side of the first wall portion of the flexible wheel, and the outer wall of the first inner ring is provided with a second tooth portion that can mesh with the first tooth portion of the first wall portion of the flexible wheel. The second inner ring is sleeved on the outside of the first wall portion of the flexible wheel, and the second inner ring is located between the first inner ring and the second wall portion of the flexible wheel along the axial direction. An outer ring is fitted around the outside of the first inner ring and the second inner ring. The outer ring engages with the first inner ring via a first roller and with the second inner ring via a second roller. A torque sensor is fixedly connected to the second wall of the flexible wheel; the torque sensor is also fixedly connected to the outer ring.

[0009] Preferably, the outer ring, the first roller, and the first inner ring form a crossed roller bearing.

[0010] Preferably, the outer ring, the second roller, and the second inner ring form a ball bearing or a crossed roller bearing.

[0011] Preferably, the second roller and the second inner ring are concentric.

[0012] Preferably, a thin-walled bearing is provided between the cam and the first wall portion of the flexible wheel.

[0013] Preferably, it includes a housing, and the outer ring is fixedly connected to the housing.

[0014] Preferably, the first inner ring has a third tooth for outward output on the side opposite to the second inner ring.

[0015] Preferably, the torque sensor is flexible in its entirety.

[0016] Preferably, the flexible wheel has a one-piece construction.

[0017] Preferably, the first inner ring is a one-piece structure.

[0018] The beneficial effects of this application, based on the above technical solutions, are as follows: (1) One end of the flexible wheel is set on the outside of the cam, and the other end is fixed to the torque sensor. This structure maintains the advantages of the existing harmonic reducer while overcoming the disadvantage of the traditional structure being easily damaged. Since the torque sensor is flexible, when the harmonic reducer is working, the deformation of the flexible wheel under force is greatly released through the torque sensor, and its lifespan is extended by 2-4 times. (2) Due to the action of the torque sensor, the shock resistance of the transmission mechanism is further enhanced. Even in cases where the load is large or suddenly increases, the deformation of the flexible wheel will be diluted and buffered by the torque sensor, further protecting the flexible wheel. (3) When the transmission mechanism of the harmonic reducer is started, the flexible wheel not only needs to provide enough power to drive the steel wheel to rotate, but also must overcome the deformation force of the torque sensor. Therefore, under the action of the torque sensor, the transmission mechanism of the harmonic reducer can achieve a certain slow start.

[0019] Specific embodiments of this application are disclosed in detail with reference to the following description and accompanying drawings, illustrating how the principles of this application can be employed. It should be understood that the embodiments of this application are not limited in scope. Within the spirit and scope of the appended claims, the embodiments of this application include many changes, modifications, and equivalents.

[0020] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0021] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, whole, step, or component, but does not exclude the presence or addition of one or more other features, wholes, steps, or components. Attached Figure Description

[0022] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this application in any way. Furthermore, the shapes and scales of the components in the drawings are merely illustrative to aid in understanding this application and do not specifically limit the shapes and scales of the components. Those skilled in the art, guided by the teachings of this application, can select various possible shapes and scales to implement this application according to specific circumstances. In the drawings: Figure 1 The transmission mechanism for a harmonic reducer in an embodiment of this application is shown.

[0023] The reference numerals in the above figures are as follows: 1, wave generator; 11, cam; 2, thin-walled bearing; 3, flexible wheel; 31, first wall portion; 32, second wall portion; 41, first inner ring; 42, second inner ring; 43, third tooth portion; 5, outer ring; 6, torque sensor; 7, second fastener; 81, first roller; 82, second roller. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0025] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0028] It should be noted that in the description of this application, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more.

[0029] Reference Figure 1As shown in the figure, this application discloses a transmission mechanism for a harmonic reducer, comprising: Wave generator 1, the wave generator 1 including a cam 11; The flexible wheel 3 has a first wall portion 31 extending along the axial direction and a second wall portion 32 extending along the radial direction. The first wall portion 31 is sleeved on the outside of the cam 11 and can abut against the cam 11 to deform. The second wall portion 32 is disposed at the end of the first wall portion 31 away from the cam 11. The outer wall of the first wall portion 31 is provided with a first tooth. The first inner ring 41 is sleeved on the outside of the first wall portion 31 of the flexible wheel 3, and the inner wall of the first roller 81 is provided with a second tooth portion that can mesh with the first tooth portion of the first wall portion 31 of the flexible wheel 3. The second inner ring 42 is sleeved on the outside of the first wall portion 31 of the flexible wheel 3, and the second inner ring 42 is located between the first inner ring 41 and the second wall portion 32 of the flexible wheel 3 along the axial direction. Outer ring 5, which is sleeved on the outside of the first inner ring 41 and the second inner ring 42, the outer ring 5 cooperates with the first inner ring 41 through the first roller 81, and the outer ring 5 cooperates with the second inner ring 42 through the second roller 82; Torque sensor 6, which is fixedly connected to the second wall portion 32 of the flexible wheel 3 by a first fastener (not shown in the figure); The torque sensor 6 is fixedly connected to the outer ring 5 of the cross bearing by a second fastener 7.

[0030] With the above structure, the embodiments of this application have the following advantages: (1) One end of the flexible wheel 3 is set on the outside of the cam 11, and the other end is fixed to the torque sensor 6. This structure maintains the advantages of the existing harmonic reducer while overcoming the disadvantage of the traditional structure being easily damaged. Since the torque sensor 6 is flexible as a whole, when the harmonic reducer is working, the deformation of the flexible wheel 3 under force is greatly released through the torque sensor 6, and its lifespan is extended by 2-4 times. (2) Due to the action of the torque sensor, the shock resistance of the transmission mechanism is further enhanced. Even in cases where the load is large or suddenly increases, the deformation of the flexible wheel 3 will be diluted and buffered by the torque sensor, further protecting the flexible wheel 3. (3) When the transmission mechanism of the harmonic reducer is started, the flexible wheel 3 not only needs to provide enough power to drive the steel wheel to rotate, but also must overcome the deformation force of the torque sensor. Therefore, under the action of the torque sensor, the transmission mechanism of the harmonic reducer can achieve a certain slow start.

[0031] Specifically, similar to existing technologies, the wave generator 1 may include a drive motor (not shown in the figure), a coupling, a cam 11, etc. The wave generator 1 can serve as the power input for the harmonic reducer. Generally, a flexible wheel 3 is provided on the outer side of the cam 11. A thin-walled bearing 2 is provided between the cam 11 and the flexible wheel 3.

[0032] In this embodiment, the flexible wheel 3 has a cap-shaped, one-piece structure. The flexible wheel 3 includes a first annular wall portion 31 and a second annular wall portion 32. The first wall portion 31 is located outside the coupling and the thin-walled bearing 2. The first wall portion 31 extends along an axis parallel to the rotational shaft of the drive motor. One end of the first wall portion 31 (the right end in the figure) can abut against the cam 11. Furthermore, a first tooth is provided at one end of the first wall portion 31 on the outside of the cam 11. Generally, the first tooth is located radially outside the cam 11 or the thin-walled bearing 2. The second wall portion 32 extends radially outward from the other end of the first wall portion 31 (the left end in the figure).

[0033] The transmission mechanism of this harmonic reducer includes a first inner ring 41, a second inner ring 42, and an outer ring 5. Both the first inner ring 41 and the second inner ring 42 are fitted onto the outer side of the flexible gear 3. The first inner ring 41 and the second inner ring 42 are arranged side-by-side along the axial direction. Furthermore, the second inner ring 42 is located along the axial direction between the first inner ring 41 and the second wall portion 32 of the flexible gear 3. The first inner ring 41 has a third tooth 43 for outward output on its side opposite to the second inner ring 42.

[0034] The outer wall of the first inner ring 41 is provided with a second tooth that can mesh with the first tooth of the first wall portion 31 of the flexible wheel 3. Unlike the first inner ring 41, the outer wall of the second inner ring 42 and the flexible wheel 3 do not mesh with each other through teeth. There can be a gap space between the second inner ring 42 and the flexible wheel 3, so the second inner ring 42 and the flexible wheel 3 do not come into contact. The second inner ring 42 is located along the axial direction between the first inner ring 41 and the second wall portion 32 of the flexible wheel 3.

[0035] The outer ring 5 is sleeved on the outside of the first inner ring 41 and the second inner ring 42. The outer ring 5 engages with the first inner ring 41 via a first roller 81, and with the second inner ring 42 via a second roller 82. The torque sensor 6 is fixedly connected to the second wall portion 32 of the flexible wheel 3 via a first fastener; the torque sensor 6 is fixedly connected to the outer ring 5 of the cross bearing via a second fastener 7.

[0036] Understandably, the harmonic reducer may also include a housing that can accommodate the wave generator 1, the flexspline 3, etc. The housing can be fixedly connected to the outer ring 5. Preferably, the housing can be fixedly connected to the outer ring 5 by a second fastener 7.

[0037] In an optional embodiment, the first roller 81 can be a cylindrical roller. The outer ring 5, the first roller 81, and the first inner ring 41 form a crossed roller bearing. The main function of the bearing formed by the first roller 81 is to resist torque. The second roller 82 can be a four-point ball bearing. The outer ring 5, the second roller 82, and the second inner ring 42 form a four-point ball bearing or a crossed roller bearing. The second roller 82 can also be a cylindrical roller. The outer ring 5, the first roller 81, and the first inner ring 41 form a crossed roller bearing. The main function of the bearing formed by the second roller 82 is to ensure concentricity.

[0038] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this teaching should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed application subject matter.

Claims

1. A transmission mechanism for a harmonic reducer, characterized in that, include: A wave generator, the wave generator including a cam; The flexible wheel has a first wall extending along the axial direction and a second wall extending in the radial direction. The first wall is sleeved on the outside of the cam and can abut against the cam to deform. The second wall is disposed at the end of the first wall away from the cam. The outer wall of the first wall is provided with a first tooth. A first inner ring is sleeved on the outer side of the first wall portion of the flexible wheel, and the outer wall of the first inner ring is provided with a second tooth portion that can mesh with the first tooth portion of the first wall portion of the flexible wheel. The second inner ring is sleeved on the outside of the first wall portion of the flexible wheel, and the second inner ring is located between the first inner ring and the second wall portion of the flexible wheel along the axial direction. An outer ring is fitted around the outside of the first inner ring and the second inner ring. The outer ring engages with the first inner ring via a first roller and with the second inner ring via a second roller. A torque sensor is fixedly connected to the second wall of the flexible wheel; the torque sensor is also fixedly connected to the outer ring.

2. The transmission mechanism according to claim 1, characterized in that, The outer ring, the first roller, and the first inner ring form a crossed roller bearing.

3. The transmission mechanism according to claim 1, characterized in that, The outer ring, the second roller, and the second inner ring form a ball bearing or a crossed roller bearing.

4. The transmission mechanism according to claim 1, characterized in that, The second roller and the second inner ring are designed to be concentric.

5. The transmission mechanism according to claim 1, characterized in that, A thin-walled bearing is provided between the cam and the first wall of the flexible wheel.

6. The transmission mechanism according to claim 1, characterized in that, It includes a housing, and the outer ring is fixedly connected to the housing.

7. The transmission mechanism according to claim 1, characterized in that, The first inner ring has a third tooth for outward output on the side opposite to the second inner ring.

8. The transmission mechanism according to claim 1, characterized in that, The torque sensor is flexible in design.

9. The transmission mechanism according to claim 1, characterized in that, The flexible wheel has a one-piece structure.

10. The transmission mechanism according to claim 1, characterized in that, The first inner ring is a one-piece structure.

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