High-efficiency anti-backlash low-energy-consumption robot harmonic reducer

Abstract

The application discloses a high-efficiency gap-eliminating low-energy-consumption robot harmonic reducer, and belongs to the technical field of robot transmission parts. The high-efficiency gap-eliminating low-energy-consumption robot harmonic reducer comprises a rigid gear, a flexible gear, a flexible bearing and a wave generator. The flexible gear is not completely engaged with the rigid gear, and is located on the inner wall of the rigid gear. The flexible bearing is installed on the inner wall of the flexible gear. The wave generator is installed on the inner wall of the flexible bearing. The double gap-eliminating structure of the disc spring axial pre-tightening cooperation rigid gear partition radial top tight is arranged. The rigid gear is separated into a plurality of independent sector elastic sections through axial through grooves and positioning grooves. The tooth gap of the corresponding sector area is controlled by a single adjusting bolt. When the assembly error of the reducer or the tooth surface wear caused by long-term operation causes the gap to increase, the axial compensation can be realized by relying on the elastic force of the disc spring, and the radial compensation can be completed by twisting the adjusting bolt to push the local sector section to contract radially, and the overall pre-tightening amount does not need to be increased.

Description

Technical Field

[0001] This invention belongs to the technical field of robot transmission components, specifically relating to a high-efficiency backlash-free, low-energy-consumption robot harmonic reducer. Background Technology

[0002] Robot harmonic reducers are precision gear transmission components that rely on the elastic wave deformation of flexible wheels and utilize the difference in the number of teeth to achieve speed reduction and torque increase. They are core key components of industrial robots, humanoid robot forearms, wrist joints, and hand joints. Relying on flexible deformation meshing transmission, they differ from conventional rigid gears and RV reducers, and are characterized by small size, high precision, and low backlash.

[0003] Existing conventional harmonic reducers generally have two major shortcomings. First, the tooth backlash after tooth surface wear cannot be easily compensated. The backlash caused by assembly tolerances and long-term operational wear is difficult to eliminate, resulting in idle impact during transmission and affecting the positioning accuracy of robots. Some backlash elimination structures on the market only use a single axial or radial preload method, which has a limited compensation range and cannot take into account wear compensation throughout the entire life cycle. Second, traditional lubrication methods mostly involve filling the cavity with grease. The grease relies on random splashing to achieve tooth surface lubrication. Local meshing areas are prone to dry friction due to lack of oil, and excess grease creates churning resistance, increasing the no-load energy consumption of the reducer.

[0004] Conventional harmonic reducers typically feature a monolithic closed-loop structure for the rigid wheel, making it impossible to fine-tune the inner diameter in sections. Eliminating localized backlash requires increasing the overall preload, which can easily lead to excessive deformation of the flexible wheel, further increasing frictional losses. Furthermore, traditional wave generators lack a built-in directional lubrication structure, necessitating disassembly for grease filling, resulting in cumbersome maintenance. In summary, existing harmonic reducers exhibit significant deficiencies in backlash compensation, lubrication structure, and energy consumption control, making them ill-suited for the high-precision, low-energy-consumption, and long-life requirements of robot transmissions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a high-efficiency backlash-free and low-energy-consumption robot harmonic reducer.

[0006] The technical solution adopted to solve the above technical problems is: a high-efficiency backlash-free and low-energy-consumption robot harmonic reducer, including a rigid wheel, a flexible wheel, a flexible bearing and a wave generator. The flexible wheel and the rigid wheel are not fully meshed. The flexible wheel is located on the inner wall of the rigid wheel. The flexible bearing is installed on the inner wall of the flexible wheel and the wave generator is installed on the inner wall of the flexible bearing. The wave generator consists of a flexible ring and an elliptical cam. The flexible ring is installed on the inner wall of the flexible bearing, and the elliptical cam is installed on the inner wall of the flexible ring. An input shaft is inserted inside the elliptical cam, an output shaft is mounted on the rear end face of the flexible wheel, a backlash elimination component is provided between the rigid wheel and the output shaft, an external backlash elimination component is provided on the outer wall of the rigid wheel, and an internal lubrication component is provided between the elliptical cam and the flexible ring.

[0007] Furthermore, the flexible wheel backlash elimination assembly includes a deep groove ball bearing fixedly installed on the rear end face of the rigid wheel, a disc spring fixedly installed on the rear end face of the inner ring of the deep groove ball bearing, and a threaded plate threaded on the outer wall of the output shaft, the threaded plate being tightly fitted with the disc spring.

[0008] Through the above technical solution, the deep groove ball bearing isolates the rigid wheel and the disc spring, avoiding interference with the rotation of the output shaft caused by the fixed state of the rigid wheel; the rotating threaded plate can compress the disc spring, and the axial preload compensation is achieved by relying on the continuous elastic thrust of the disc spring. The structure is simple and can effectively compensate for the meshing clearance caused by tooth wear.

[0009] Furthermore, both the inner teeth of the rigid wheel and the outer teeth of the flexible wheel are trapezoidal tooth profile structures that mesh with each other; the total tooth length of the flexible wheel teeth is less than the total tooth length of the inner teeth of the rigid wheel, and an axial preload compensation allowance is reserved along the tooth length direction; the axial slight shrinkage is generated by the spring force of the disc spring pressing the threaded plate to eliminate the tooth side meshing clearance caused by assembly tolerance and tooth surface wear step by step.

[0010] Through the above technical solutions, the trapezoidal teeth have a stronger load-bearing capacity and more uniform force distribution, and the reserved tooth length margin provides space for wear compensation; the disc spring can continuously provide elastic preload, automatically compensate for the gap as the tooth surface wears, effectively reduce the return stroke, ensure tight gear meshing in the long term, and improve the transmission positioning accuracy.

[0011] Furthermore, the external backlash elimination component includes an outer ring located on the outer wall of the rigid wheel. The outer wall of the rigid wheel has multiple axial through grooves and multiple positioning grooves. Multiple adjusting bolts are threaded onto the outer ring. Positioning balls are fixedly installed at the inner ends of the multiple adjusting bolts. The multiple positioning balls are located inside the corresponding positioning grooves. Fixing seats are fixedly installed on both sides of the outer wall of the outer ring.

[0012] Through the above technical solution, the screwing and adjusting bolts can be precisely pressed against the corresponding position on the outer wall of the rigid wheel via the positioning ball. The positioning ball is embedded in the positioning groove to prevent the bolts from slipping or misaligning during the pressing process. The outer ring plays a unified limiting role for the installation of each adjusting bolt. Together with the fixed seat, the components can be stably assembled, which facilitates precise control of the local shrinkage of the rigid wheel and stable completion of the backlash compensation operation.

[0013] Furthermore, the positioning groove and the axial through groove are alternately arranged along the circumference of the rigid wheel, and a positioning groove is set between two adjacent sets of axial through grooves. The adjacent axial through grooves and the positioning groove cooperate to form an independent fan-shaped elastic segment. A single set of adjusting bolts independently adjusts the tooth side clearance of the corresponding fan-shaped area, and the clearance is precisely eliminated by partition.

[0014] With the above technical solution, the deformation of each sector elastic segment does not interfere with each other, and the uneven gap caused by local tooth surface wear can be adjusted individually without the need to press the rigid wheel as a whole, avoiding excessive compression of the flexible wheel and increasing friction loss, effectively improving the gap adjustment accuracy and reducing no-load energy consumption.

[0015] Furthermore, both of the aforementioned mounting bases are provided with mounting holes for mounting bolts.

[0016] The above technical solution enables the outer ring and external backlash elimination components to be quickly positioned and installed together by means of fixing holes and fixing bolts. The assembly and positioning are convenient and reliable, which facilitates the fixed installation of the reducer at the robot joint and improves the overall assembly efficiency and installation stability.

[0017] Furthermore, the axial through groove is fully opened along the axial direction of the rigid wheel, and an annular connecting base is retained between the bottom of the groove and the inner teeth of the rigid wheel to ensure the overall integral structure of the rigid wheel.

[0018] Through the above technical solutions, the axial through-groove can reduce the circumferential stiffness of the rigid wheel to achieve local radial shrinkage and gap adjustment. The annular connecting base can maintain the overall structural strength of the rigid wheel and avoid the rigid wheel from breaking apart due to slotting. While meeting the requirements for zonal deformation and gap elimination, it ensures the overall installation accuracy and structural stability of the rigid wheel.

[0019] Furthermore, the built-in lubrication component includes an oil cavity inside the elliptical cam, an oil injection nozzle connected to the oil cavity is installed on the end face of the elliptical cam, an annular oil reservoir is formed on the outer circumferential surface of the elliptical cam, multiple oil outlet holes are formed between the oil injection nozzle and the annular oil reservoir, and multiple flow holes are formed on the inner end of the flexible bearing and on the flexible ring.

[0020] Through the above technical solution, lubricating grease is added by the grease nipple and stored in the oil cavity. It then flows into the annular oil reservoir through the oil outlet and then enters the bearing rolling pair clearance evenly through the flow holes on the flexible ring and flexible bearing, realizing directional delivery of grease. The quantitative oil supply is achieved by the cooperation of components, avoiding the loss caused by excessive grease accumulation and continuous supply of lubricating oil to the meshing parts of the bearing and gear, reducing dry friction loss and extending the service life of the whole machine.

[0021] Furthermore, the flexible bearing is assembled from an inner ring, balls, and a thin-walled outer ring. The outer wall of the thin-walled outer ring of the flexible bearing is in close contact with the inner wall of the flexible wheel, and the inner ring of the flexible bearing is in close contact with the outer wall of the flexible ring.

[0022] Through the above technical solution, the thin-walled outer ring can follow the contour of the elliptical cam to produce elastic deformation, stably transmitting the elliptical shape of the wave generator to the flexible wheel, ensuring that the flexible wheel undergoes periodic deformation according to the set trajectory; the inner and outer rings are tightly fitted with the flexible ring and the inner wall of the flexible wheel respectively, eliminating assembly gaps, eliminating backlash in power transmission, improving transmission accuracy, and at the same time, evenly distributing the load and improving the meshing force state of the gear teeth.

[0023] Furthermore, the elliptical cam has a limiting hole corresponding to the input shaft, and the input shaft passes through the inside of the limiting hole.

[0024] Through the above technical solution, the input shaft forms a limiting insertion engagement with the elliptical cam by means of a limiting socket, which can limit the radial offset and circumferential slippage between the input shaft and the elliptical cam, ensure accurate coaxial power transmission, avoid eccentric shaking during transmission, and improve the smoothness of the wave generator operation; at the same time, the socket assembly structure is easy to disassemble and assemble, which facilitates the assembly of parts and subsequent disassembly and maintenance, effectively ensuring the reliability of power input.

[0025] The beneficial effects of the present invention are as follows: (1) The present invention sets up a double gap elimination structure with disc spring axial preload and rigid wheel partition radial clamping. The rigid wheel is divided into multiple independent fan-shaped elastic segments by axial through groove and positioning groove. A single adjusting bolt controls the tooth gap of the corresponding fan-shaped area. With flexible wheel, rigid wheel trapezoidal teeth and compensation margin reserved for flexible wheel tooth length less than rigid wheel tooth length, when the gap increases due to assembly error of reducer or long-term operation tooth surface wear, it can achieve axial compensation by disc spring elasticity, and can also turn the adjusting bolt to push local fan-shaped segments to radially contract to complete radial gap filling. There is no need to increase the overall preload, and it will not cause excessive pressure distortion of flexible wheel. It can dynamically eliminate tooth side gap throughout the cycle, effectively reduce transmission return idle stroke, and improve robot joint transmission positioning accuracy. (2) The present invention integrates a built-in lubrication component inside the elliptical cam. After the lubricating oil is added through the grease nipple, it is stored in the oil cavity inside the cam. It enters the annular oil reservoir through the oil outlet hole and then flows into the flexible bearing through the flow hole. The grease seeps outward along the gap between the bearing balls to the inner wall of the flexible wheel. The grease is delivered to the gear meshing position by means of the tooth root gap caused by the periodic deformation of the flexible wheel. This method abandons the traditional method of filling the whole cavity with a large amount of oil and grease splashing lubrication, realizes fixed point micro-oil supply, greatly reduces the oil stirring resistance caused by excess grease, reduces the energy consumption of the reducer when running under no-load, and avoids dry grinding of the meshing part due to lack of oil, thus extending the service life of the gear and bearing. (3) This invention adopts an axial full-through slot design, with the bottom of the slot retaining the annular connecting base. While separating independent elastic sections, it ensures the integrity of the overall structure of the rigid wheel. The outer ring is equipped with a fixing seat with fixing holes, which facilitates the assembly and fixing of the reducer. The partitioned elastic structure reduces the circumferential bending stiffness of the rigid wheel. Only a small tightening torque is needed to complete the local deformation clearance adjustment, making assembly and debugging convenient. The double clearance elimination combined with the built-in self-lubricating structure is integrated inside the reducer body. There is no need to add additional independent oil injection accessories and external clearance elimination accessories. The overall structure is compact and simplified, reducing the space occupied by the reducer. It is more suitable for the installation conditions of robot joints with small space, and broadens the application range of the product. Attached Figure Description

[0026] Figure 1 This is a first-view view of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is a top view of the present invention; Figure 4 yes Figure 3 Sectional view at point AA; Figure 5 This is a schematic diagram of the external gap-eliminating component of the present invention; Figure 6 This is a schematic diagram of the rigid wheel in this invention; Figure 7 This is a schematic diagram of the adjusting bolt in this invention; Figure 8 This is a schematic diagram of the flexible wheel in this invention; Figure 9 This is a schematic diagram of the elliptical cam in this invention.

[0027] Reference numerals: 1. Rigid wheel; 2. Flexible wheel; 3. Flexible bearing; 4. Wave generator; 5. Input shaft; 6. Output shaft; 7. Flexible wheel backlash elimination assembly; 8. External backlash elimination assembly; 9. Internal lubrication assembly; 41. Flexible ring; 42. Elliptical cam; 71. Deep groove ball bearing; 72. Disc spring; 73. Threaded plate; 81. Outer ring; 82. Axial through groove; 83. Positioning groove; 84. Adjusting bolt; 85. Positioning ball; 86. Fixing seat; 91. Oil cavity; 92. Oil nozzle; 93. Annular oil reservoir; 94. Oil outlet; 95. Flow hole. Detailed Implementation

[0028] like Figures 1-9As shown, this embodiment of a high-efficiency backlash-free and low-energy-consumption robot harmonic reducer includes a rigid wheel 1, a flexible wheel 2, a flexible bearing 3, and a wave generator 4. The flexible wheel 2 and the rigid wheel 1 are not fully meshed. The flexible wheel 2 is located on the inner wall of the rigid wheel 1. The flexible bearing 3 is installed on the inner wall of the flexible wheel 2. The wave generator 4 is installed on the inner wall of the flexible bearing 3. The wave generator 4 is composed of a flexible ring 41 and an elliptical cam 42. The flexible ring 41 is installed on the inner wall of the flexible bearing 3, and the elliptical cam 42 is installed on the inner wall of the flexible ring 41. An input shaft 5 is inserted inside the elliptical cam 42, an output shaft 6 is installed on the rear end face of the flexible wheel 2, a flexible wheel backlash elimination component 7 is provided between the rigid wheel 1 and the output shaft 6, an external backlash elimination component 8 is provided on the outer wall of the rigid wheel 1, and an internal lubrication component 9 is provided between the elliptical cam 42 and the flexible ring 41.

[0029] The flexible gear backlash elimination assembly 7 includes a deep groove ball bearing 71 fixedly installed on the rear end face of the rigid wheel 1. A disc spring 72 is fixedly installed on the rear end face of the inner ring of the deep groove ball bearing 71. A threaded plate 73 is threadedly installed on the outer wall of the output shaft 6. The threaded plate 73 is tightly fitted with the disc spring 72. The deep groove ball bearing 71 is installed at the rear end of the rigid wheel 1, which can separate the fixed rigid wheel 1 from the rotating component and avoid the problem of the rigid wheel 1 hindering the rotation of the output shaft 6. The threaded plate 73 is threadedly fitted on the outside of the output shaft 6 and abuts against the disc spring 72. Rotating the threaded plate 73 can change the preload compression of the disc spring 72. Axial compensation is achieved by means of the continuous elastic force of the disc spring 72, which continuously compensates for the meshing backlash caused by assembly errors and tooth surface wear, controls the transmission return backlash, and ensures the meshing accuracy of the rigid wheel 1 and the flexible gear 2 for a long time.

[0030] Both the internal teeth of rigid wheel 1 and the external teeth of flexible wheel 2 are trapezoidal tooth profile structures that mesh with each other. The total tooth length of flexible wheel 2 is less than that of the internal teeth of rigid wheel 1, and axial preload compensation allowance is reserved along the tooth length direction. A small axial shrinkage is generated by the spring force of disc spring 72 pressing the threaded plate 73 to gradually eliminate the tooth flank meshing clearance caused by assembly tolerance and tooth surface wear. Rigid wheel 1 and flexible wheel 2 adopt trapezoidal tooth profile meshing, which has a larger tooth surface force area and excellent load-bearing performance. The tooth length of flexible wheel 2 is less than that of rigid wheel 1, which leaves sufficient axial compensation space. Axial fine adjustment is achieved by relying on the elastic thrust of disc spring 72 in conjunction with threaded plate 73. This can gradually offset the tooth flank clearance caused by assembly manufacturing deviation and long-term wear, and continuously maintain close tooth contact, effectively reduce return back error, and steadily improve the transmission accuracy of reducer and the repeatability of robot positioning.

[0031] The external backlash elimination component 8 includes an outer ring 81 located on the outer wall of the rigid wheel 1. The outer wall of the rigid wheel 1 has multiple axial through grooves 82 and multiple positioning grooves 83. Multiple adjusting bolts 84 are threaded onto the outer ring 81, and positioning balls 85 are fixedly installed at the inner ends of each adjusting bolt 84. The positioning balls 85 are located inside the corresponding positioning grooves 83. Fixing seats 86 are fixedly installed on both sides of the outer wall of the outer ring 81. The outer ring 81 is fitted onto the outside of the rigid wheel 1 and supports all the adjusting bolts 84. The positioning balls 85 at the ends of the bolts are engaged in the positioning grooves 83 to prevent slippage and misalignment during the pressing process. In conjunction with the axial through grooves 82, the rigid wheel 1 is locally compressed and contracted. The fixing seats 86 on both sides facilitate the overall locking and fixing of the component. The tightening amount can be precisely controlled by turning the adjusting bolts 84. The structure is compact, the adjustment operation is convenient, and it can stably complete radial backlash compensation, effectively improve the gear meshing state, and enhance the overall transmission stability of the machine.

[0032] Positioning grooves 83 and axial through grooves 82 are alternately arranged along the circumference of rigid wheel 1. A positioning groove 83 is set between two adjacent sets of axial through grooves 82. Adjacent axial through grooves 82 and positioning grooves 83 cooperate to form an independent fan-shaped elastic segment. A single set of adjusting bolts 84 independently controls the tooth backlash of the corresponding fan-shaped area, achieving precise backlash elimination by zone. Positioning grooves 83 and axial through grooves 82 are alternately arranged on the outer wall of rigid wheel 1 and separate independent fan-shaped elastic segments. Each area is individually controlled by the corresponding adjusting bolts 84. This allows for individual correction of uneven tooth backlash caused by local wear, without the need to press the rigid wheel 1 as a whole. This avoids excessive compression of the flexible wheel 2, which increases frictional resistance and effectively reduces no-load energy consumption. The zoned control mode improves the precision of backlash adjustment, enabling long-term stable control of gear backlash and continuous assurance of reducer transmission accuracy.

[0033] Both fixed seats 86 are provided with fixing holes for installing fixing bolts; the fixing holes of the fixed seats 86 can be used with the fastening bolts to complete the positioning and locking of the outer ring 81 and the entire set of external backlash elimination components 8, which can quickly and securely fix the components in the preset installation position, optimize the assembly process of the reducer and robot joint, simplify on-site installation operations, improve assembly efficiency, and the fixing hole limit installation method distributes the force evenly, which can suppress the deviation and shaking of the outer ring 81 during operation, and ensure the accurate and stable top pressure position of the adjusting bolt 84 and the positioning ball 85 in the long term, and continuously maintain the performance of the partitioned backlash adjustment structure.

[0034] The axial through groove 82 is fully opened along the axial direction of the rigid wheel 1. A ring-shaped connecting base is retained between the bottom of the groove and the internal teeth of the rigid wheel 1 to ensure the integral structure of the rigid wheel 1. The axial through groove 82 runs through the axial direction of the rigid wheel 1, which can reduce the structural stiffness of the rigid wheel 1 in the circumferential direction and facilitate local radial shrinkage under external pressure. The ring-shaped connecting base left at the bottom of the groove can stably connect the various structural segments, maintain the integral integrity of the rigid wheel 1, and avoid the component from breaking after the groove is opened. Under the premise of meeting the structural requirements of partition deformation and gap elimination, the overall strength and installation benchmark of the rigid wheel 1 remain unchanged, taking into account both the adjustment capability and structural reliability.

[0035] The built-in lubrication component 9 includes an oil chamber 91 inside the elliptical cam 42. An oil inlet 92 connected to the oil chamber 91 is installed on the end face of the elliptical cam 42. An annular oil reservoir 93 is formed on the outer circumference of the elliptical cam 42. Multiple oil outlet holes 94 are formed between the oil inlet 92 and the annular oil reservoir 93. Multiple flow holes 95 are formed on the inner end of the flexible bearing 3 and the flexible ring 41. After being filled with lubricating grease through the oil inlet 92, the grease is stored in the oil chamber 91. It can be guided to the annular oil reservoir 93 through the oil outlet holes 94, and then sent into the bearing through the flow holes 95 at the flexible ring 41 and the flexible bearing 3. This achieves directional and orderly delivery of grease, breaking away from the traditional mode of large-area oil storage in the whole machine cavity, reducing the energy consumption caused by the agitation of excess grease, and continuously and quantitatively supplying oil to the rolling pairs of bearings and gear meshing positions. This effectively prevents dry friction due to lack of oil in key transmission parts and extends the overall service life of the reducer.

[0036] The flexible bearing 3 is assembled from an inner ring, balls, and a thin-walled outer ring. The outer wall of the thin-walled outer ring of the flexible bearing 3 is tightly fitted with the inner wall of the flexible wheel 2, and the inner ring of the flexible bearing 3 is tightly fitted with the outer wall of the flexible ring 41. It can accurately transmit the contour deformation of the elliptical cam 42, ensure the regular elastic deformation of the flexible wheel 2, eliminate assembly gaps by fitting together, avoid transmission backlash, and the close cooperation of multiple components can evenly distribute the working load, optimize the gear meshing force between the rigid wheel 1 and the flexible wheel 2, and improve the transmission smoothness and positioning accuracy.

[0037] The elliptical cam 42 has a limiting socket corresponding to the input shaft 5, and the input shaft 5 passes through the limiting socket. The input shaft 5 is inserted into the limiting socket of the elliptical cam 42. The socket can limit the input shaft 5 radially and circumferentially, effectively preventing circumferential slippage and radial offset during the operation of the input shaft 5 and the elliptical cam 42, ensuring smooth coaxial power transmission, reducing the additional losses caused by transmission eccentricity and shaking. The assembly structure of the limiting socket is easy to disassemble and assemble, which facilitates the assembly of various components and subsequent maintenance, and steadily improves the overall operational reliability of the wave generator 4.

[0038] The working principle of this embodiment is as follows: During operation, power is input via input shaft 5, which is inserted into and limited within the limiting socket of elliptical cam 42, causing elliptical cam 42 to rotate synchronously. A flexible ring 41 is fitted onto the outer side of elliptical cam 42, with its outer wall fitting against the inner ring of flexible bearing 3. Flexible bearing 3 consists of an inner ring, balls, and a thin-walled outer ring, with its outer wall tightly against the inner wall of flexible wheel 2. During the rotation of elliptical cam 42, the elliptical profile is applied to flexible wheel 2 via flexible ring 41 and flexible bearing 3, forcing flexible wheel 2 to undergo periodic elliptical deformation. The number of teeth on the inner tooth of rigid wheel 1 is greater than the number of teeth on the outer tooth of flexible wheel 2. The teeth on the long axis of flexible wheel 2 mesh with the inner teeth of rigid wheel 1, while the teeth on the short axis disengage. This tooth difference enables speed reduction transmission, and the reduced power is output outward via output shaft 6 connected to the rear end of flexible wheel 2.

[0039] When performing axial backlash elimination, a deep groove ball bearing 71 is assembled on the rear end face of the rigid wheel 1, and a disc spring 72 is set on the rear side of the inner ring of the deep groove ball bearing 71. A threaded plate 73 is threaded on the outer side of the output shaft 6 and the threaded plate 73 is in contact with the end face of the disc spring 72. Rotating the threaded plate 73 can change the pre-compression of the disc spring 72. The disc spring 72 continuously applies axial force by relying on its own elasticity. With the axial compensation allowance reserved because the tooth length of the flexible wheel 2 is smaller than the tooth length of the rigid wheel 1, it continuously compensates for the axial tooth backlash caused by assembly error and tooth surface wear.

[0040] When performing radial backlash elimination, axial through grooves 82 and positioning grooves 83 are alternately arranged on the outer circumference of the rigid wheel 1. Two adjacent axial through grooves 82 cooperate with a positioning groove 83 to form an independent fan-shaped elastic segment. The outer ring 81 is fitted on the outside of the rigid wheel 1. The positioning ball 85 at the end of the adjusting bolt 84 on the outer ring 81 is embedded in the corresponding positioning groove 83. Fixing holes are opened on the fixing seats 86 on both sides of the outer ring 81 for the whole machine to be installed and fixed. When the adjusting bolt 84 is turned, the positioning ball 85 presses against the corresponding fan-shaped elastic segment, causing the rigid wheel 1 to locally shrink radially, reducing the meshing clearance of the corresponding area separately, and realizing precise radial backlash elimination in the partition. The axial through groove 82 runs through the rigid wheel 1 axially, and the bottom of the groove retains the annular base, which ensures the local deformation capacity while maintaining the integrity of the overall structure of the rigid wheel 1.

[0041] The lubrication operation is completed by the built-in lubrication component 9. The lubricating medium is added into the oil chamber 91 through the grease injection nozzle 92 on the end face of the elliptical cam 42. The grease inside the oil chamber 91 is transported to the annular oil storage groove 93 on the outer periphery of the elliptical cam 42 through multiple sets of oil outlet holes 94. The grease then passes through the flow holes 95 opened on the flexible ring 41 and the flexible bearing 3 in sequence and enters the ball mating gap of the flexible bearing 3. After the lubricating grease seeps out along the end of the bearing, it adheres to the inner wall of the flexible wheel 2. As the flexible wheel 2 repeatedly undergoes elastic deformation, the oil guide gaps intermittently formed at the root of the gear teeth gradually guide the grease on the inner wall into the meshing position of the tooth surfaces of the rigid wheel 1 and the flexible wheel 2, so as to achieve fixed-point continuous lubrication of the meshing pair, reduce dry friction loss, and avoid the energy consumption of oil stirring caused by a large amount of oil stored in the cavity.

Claims

1. A high-efficiency backlash-free, low-energy-consumption robot harmonic reducer, comprising a rigid wheel (1), a flexible wheel (2), a flexible bearing (3), and a wave generator (4), characterized in that: The flexible wheel (2) and the rigid wheel (1) are not fully meshed. The flexible wheel (2) is located on the inner wall of the rigid wheel (1). The flexible bearing (3) is installed on the inner wall of the flexible wheel (2). The wave generator (4) is installed on the inner wall of the flexible bearing (3). The wave generator (4) is composed of a flexible ring (41) and an elliptical cam (42). The flexible ring (41) is installed on the inner wall of the flexible bearing (3), and the elliptical cam (42) is installed on the inner wall of the flexible ring (41). An input shaft (5) is inserted inside the elliptical cam (42), an output shaft (6) is installed on the rear end face of the flexible wheel (2), a flexible wheel backlash elimination component (7) is provided between the rigid wheel (1) and the output shaft (6), an external backlash elimination component (8) is provided on the outer wall of the rigid wheel (1), and an internal lubrication component (9) is provided between the elliptical cam (42) and the flexible ring (41). The flexible wheel backlash elimination assembly (7) includes a deep groove ball bearing (71) fixedly installed on the rear end face of the rigid wheel (1), a disc spring (72) fixedly installed on the rear end face of the inner ring of the deep groove ball bearing (71), and a threaded plate (73) threaded on the outer wall of the output shaft (6), the threaded plate (73) being tightly fitted with the disc spring (72). The internal teeth of the rigid wheel (1) and the external teeth of the flexible wheel (2) are both trapezoidal tooth profile structures that mesh with each other; the total tooth length of the flexible wheel (2) is less than the total tooth length of the internal teeth of the rigid wheel (1), and an axial preload compensation allowance is reserved along the tooth length direction; the axial micro-shrinkage is generated by the spring force of the disc spring (72) pressing the threaded plate (73) to make a fine adjustment, thereby eliminating the tooth side meshing gap caused by assembly tolerance and tooth surface wear step by step; The external backlash elimination component (8) includes an outer ring (81) located on the outer wall of the rigid wheel (1). The outer wall of the rigid wheel (1) is provided with multiple axial through grooves (82). The outer wall of the rigid wheel (1) is also provided with multiple positioning grooves (83). Multiple adjusting bolts (84) are threaded on the outer ring (81). Positioning balls (85) are fixedly installed at the inner ends of the multiple adjusting bolts (84). The multiple positioning balls (85) are located inside the corresponding positioning grooves (83). Fixing seats (86) are fixedly installed on both sides of the outer wall of the outer ring (81). The positioning groove (83) and the axial through groove (82) are arranged alternately along the circumference of the rigid wheel (1). A positioning groove (83) is set between two adjacent sets of axial through grooves (82). The adjacent axial through grooves (82) and the positioning groove (83) cooperate to form an independent fan-shaped elastic section. A single set of adjusting bolts (84) independently adjusts the tooth side clearance of the corresponding fan-shaped area, and the gap is precisely eliminated in the partition.

2. The high-efficiency backlash-free, low-energy-consumption robot harmonic reducer according to claim 1, characterized in that, Both of the aforementioned fixing seats (86) have fixing holes for installing fixing bolts.

3. The high-efficiency backlash-free, low-energy-consumption robot harmonic reducer according to claim 1, characterized in that, The axial through groove (82) is fully opened along the axial direction of the rigid wheel (1), and a ring-shaped connecting base is retained between the bottom of the groove and the inner teeth of the rigid wheel (1) to ensure the overall integral structure of the rigid wheel (1).

4. The high-efficiency backlash-free, low-energy-consumption robot harmonic reducer according to claim 1, characterized in that, The built-in lubrication assembly (9) includes an oil cavity (91) opened inside the elliptical cam (42). An oil injection nozzle (92) connected to the oil cavity (91) is installed on the end face of the elliptical cam (42). An annular oil storage groove (93) is opened on the outer circumferential surface of the elliptical cam (42). Multiple oil outlet holes (94) are opened between the oil injection nozzle (92) and the annular oil storage groove (93). Multiple flow holes (95) are opened on the inner end of the flexible bearing (3) and the flexible ring (41).

5. The high-efficiency backlash-free, low-energy-consumption robot harmonic reducer according to claim 4, characterized in that, The flexible bearing (3) is assembled from an inner ring, balls and a thin-walled outer ring. The outer wall of the thin-walled outer ring of the flexible bearing (3) is closely fitted with the inner wall of the flexible wheel (2), and the inner ring of the flexible bearing (3) is closely fitted with the outer wall of the flexible ring (41).

6. The high-efficiency backlash-free, low-energy-consumption robot harmonic reducer according to claim 1, characterized in that, The elliptical cam (42) has a limiting hole corresponding to the input shaft (5), and the input shaft (5) passes through the inside of the limiting hole.

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