Harmonic reducer, transmission system and equipment

Abstract

The utility model provides a harmonic reducer, a transmission system and equipment, and relates to the technical field of mechanical transmission. The harmonic reducer comprises a first rigid gear, a second rigid gear, a flexible gear, a first bearing, a second bearing and a wave generator which are coaxially arranged, and the flexible gear is of a cylindrical structure; the wave generator comprises a wheel shaft which is coaxially arranged with the flexible wheel, and a circular part and an elliptic part which are sequentially arranged along the axis direction of the flexible wheel, the circular part and the elliptic part are connected through the wheel shaft, and the circular part and the elliptic part are respectively arranged corresponding to the fixed part and the driven part; the first bearing is arranged on the circular part in a sleeving mode, and the circular part is rotationally connected with the flexible gear through the first bearing. According to the harmonic reducer, the flexible gear of the cylindrical structure and the circular part corresponding to the fixing piece in position are arranged, and the circular part is rotationally connected with the flexible gear through the first bearing, so that the machining difficulty and cost of the flexible gear can be reduced, the mechanical strength of the flexible gear is guaranteed, and meanwhile normal operation of the harmonic reducer is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, and in particular to a harmonic reducer, a transmission system and equipment. Background Art

[0002] Harmonic reducers are widely used in many fields due to their high transmission ratio, high precision and compact structure. They are mainly composed of an internally toothed rigid wheel, an externally toothed flexible wheel and a wave generator that causes the flexible wheel to undergo radial deformation. Generally, the wave generator is used as the prime mover, the externally toothed flexible wheel is used as the driven part, and the internally toothed rigid wheel is used as the fixed part. Under the action of the wave generator, the flexible wheel generates a controllable elastic deformation wave, which causes the teeth of the rigid wheel and the flexible wheel to be staggered relative to each other, thereby transmitting power and motion.

[0003] At present, for harmonic reducers, the external gear flex spline is used as a driven part, which is generally in the shape of a top hat or a sleeve cup, that is, the external gear flex spline is generally composed of a cylindrical structure suitable for elastic deformation and a flange structure arranged at the end of the cylindrical structure for connecting the output component. Such a structure is prone to the following problems:

[0004] 1. When the wave generator drives the flexible wheel and causes radial deformation of the flexible wheel, the stress is concentrated at the connection position or transition position between the cylindrical structure and the flange structure, which makes it easy to crack at this position;

[0005] 2. The structure of the externally toothed flexible wheel in the shape of a top hat or a cup is relatively complex, difficult to process and has a relatively high processing cost. For example, a bending process is required to realize the top hat or cup structure of the flexible wheel, and this process is also likely to affect the mechanical properties of the flexible wheel. Utility Model Content

[0006] In order to solve at least one aspect of the above technical problems, the utility model provides a harmonic reducer, including a coaxially arranged first rigid wheel, a second rigid wheel, a flexible wheel, a first bearing, a second bearing and a wave generator, the flexible wheel is a cylindrical structure, and the outer side wall of the flexible wheel is provided with a plurality of external teeth arranged at intervals along the circumference of the flexible wheel; the first rigid wheel is provided with a first through hole for accommodating the flexible wheel, the second rigid wheel is provided with a second through hole for accommodating the flexible wheel, the hole walls of the first through hole and the second through hole are both provided with internal teeth for meshing with the external teeth, and the first rigid wheel and the second rigid wheel are arranged in sequence along the axial direction of the flexible wheel; The wave generator includes a wheel shaft coaxially arranged with the flexible wheel, and a circular portion and an elliptical portion sequentially arranged along the axial direction of the flexible wheel, the circular portion and the elliptical portion being connected via the wheel shaft; one of the first rigid wheel and the second rigid wheel is used as a fixed member, and the other is used as a driven member, the circular portion is correspondingly arranged with the fixed member, and the elliptical portion is correspondingly arranged with the driven member; the first bearing is sleeved on the circular portion, and the circular portion is rotatably connected to the flexible wheel via the first bearing; the second bearing is sleeved on the elliptical portion, and the elliptical portion is rotatably connected to the flexible wheel via the second bearing.

[0007] Optionally, each of the external teeth extends along the axis direction of the flexible wheel, the number of the internal teeth of the fixing member is equal to the number of the external teeth, and the number of the internal teeth of the driven member is greater than the number of the external teeth by a first preset number.

[0008] Optionally, the external teeth include first external teeth and second external teeth extending along the axial direction of the flexible wheel, a plurality of the first external teeth are arranged on the outer side wall of the flexible wheel at intervals along the circumference of the flexible wheel, a plurality of the second external teeth are arranged on the outer side wall of the flexible wheel at intervals along the circumference of the flexible wheel, and the first external teeth and the second external teeth are arranged in sequence along the axial direction of the flexible wheel; the first external teeth are arranged corresponding to the fixing member and are used to mesh with the internal teeth of the fixing member; the second external teeth are arranged corresponding to the driven member and are used to mesh with the internal teeth of the driven member; the number of the first external teeth is equal to the number of the internal teeth of the fixing member, and the number of the internal teeth of the driven member is more than the number of the second external teeth by a first preset number.

[0009] Optionally, the internal teeth of the fixed member and the internal teeth of the driven member are both adapted to design parameters of the external teeth of the flexible spline, wherein the design parameters include at least one of a module and a pressure angle.

[0010] Optionally, the first rigid wheel serves as the fixing member, and the diameter of the second through hole is greater than the diameter of the first through hole; or, the first rigid wheel serves as the driven member, and the diameter of the first through hole is greater than the diameter of the second through hole.

[0011] Optionally, the second bearing comprises a flexible bearing, the inner ring of the flexible bearing sleeve cooperates with the elliptical portion, and the portion of the flexible wheel corresponding to the driven member cooperates with the outer ring of the flexible bearing.

[0012] Optionally, the harmonic reducer further comprises a first support bearing and a second support bearing sleeved on the wheel axle, and the circular portion and the elliptical portion are located between the first support bearing and the second support bearing.

[0013] Optionally, the harmonic reducer further includes a third bearing coaxially arranged with the flexible wheel, and the first rigid wheel and the second rigid wheel are rotationally connected via the third bearing.

[0014] In order to solve at least one aspect of the above technical problems, the utility model also provides a transmission system, including the harmonic reducer as described above.

[0015] In order to solve at least one aspect of the above technical problems, the utility model also provides a device, including the harmonic reducer as described above or the transmission system as described above.

[0016] Compared with the prior art, the utility model has the following beneficial effects: in the utility model, by using one of the first rigid wheel and the second rigid wheel as a driven member for connecting the output component, the flexible wheel does not need to be provided with a flange structure for connecting the output component, and can be provided with a cylindrical structure with simple structure and easy processing. On the one hand, the processing cost of the flexible wheel can be reduced, and the difficulty of assembling and disassembling the flexible wheel in the harmonic reducer can be reduced, and the convenience of the later maintenance of the flexible wheel can be improved; on the other hand, the flexible wheel is prevented from being easily cracked due to the presence of a corresponding transition position and the stress concentration; on the other hand, the overall structure of the flexible wheel is a cylindrical structure, and there is no need to consider the connection with the flange structure, and the thickness of the flexible wheel (wall) can be relatively increased, so as to ensure the function of the flexible wheel (suitable for deformation with the elliptical part) while improving the mechanical strength of the flexible wheel, and improving the overall bearing capacity of the flexible wheel and the harmonic reducer, and the outer side wall of the flexible wheel is provided with external teeth at positions corresponding to the first rigid wheel and the second rigid wheel, which can further improve the mechanical strength of the flexible wheel. Based on the above-mentioned flexible wheel, in order to ensure that the harmonic reducer can operate normally and stably, the wave generator of the harmonic reducer is provided with a wheel shaft, a circular part and an elliptical part, and the wheel shaft is used to connect the driving component and realize the connection between the circular part and the elliptical part, so as to drive the circular part and the elliptical part to rotate together when the wheel shaft rotates. Among them, the position of the circular part corresponds to the fixed part, that is, the circular part is connected to the flexible wheel in rotation at the position corresponding to the flexible wheel and the fixed part through the first bearing sleeved thereon, so that the first bearing and the fixed part stably clamp the flexible wheel at the position corresponding to the flexible wheel and the fixed part, so as to ensure that the shape and position of the flexible wheel at the position where it is meshed with the fixed part can be stably supported, thereby ensuring that the flexible wheel maintains its geometric shape and the accuracy of the meshing of the internal and external teeth during the transmission process, ensuring that the position of the flexible wheel and the fixed part is relatively fixed, avoiding the deformation of the corresponding parts of the flexible wheel and the fixed part during the transmission process to cause poor meshing, etc., which causes the rotation of the flexible wheel relative to the fixed part to cause the transmission accuracy of the harmonic reducer to decrease. The position of the elliptical portion corresponds to the driven member, that is, the portion corresponding to the flexible wheel and the driven member is suitable for accommodating the elliptical portion and the second bearing by deformation, so that the elliptical portion is rotatably connected with the portion corresponding to the flexible wheel and the driven member through the second bearing. In this way, through the second bearing, when the position of the flexible wheel relative to the fixed member remains unchanged, the portion corresponding to the flexible wheel and the driven member is suitable for corresponding deformation with the rotation of the elliptical portion, so that the driven member is driven to rotate accordingly through the external teeth of the portion corresponding to the flexible wheel and the driven member, thereby realizing power transmission and ensuring stable transmission accuracy and efficient power transmission capability of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a cross-sectional structure of a harmonic reducer in an embodiment of the utility model;

[0018] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0019] Figure 3 A schematic diagram of a cross-sectional structure of a harmonic reducer in an embodiment of the utility model;

[0020] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0021] Figure 5 It is a schematic diagram of the cross-section structure of the connection between the first rigid wheel, the second rigid wheel and the flexible wheel in the embodiment of the utility model;

[0022] Figure 6 for Figure 5 A partial enlarged view of point C in the middle;

[0023] Figure 7 A schematic diagram of a cutaway structure of a flexible wheel in an embodiment of the utility model;

[0024] Figure 8 It is a schematic diagram of a cutaway structure of a flexible wheel in an embodiment of the utility model.

[0025] Description of reference numerals:

[0026] 1. Fixed part; 2. Follower; 3. Flexible wheel; 4. First bearing; 5. Second bearing; 6. Wave generator; 61. Wheel axle; 62. Circular part; 63. Oval part; 7. Third bearing; 81. First support bearing; 82. Second support bearing; a. External teeth; b. Internal teeth. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are described in detail below in conjunction with the accompanying drawings. Although some embodiments of the utility model are shown in the accompanying drawings, it should be understood that the utility model can be implemented in various forms and should not be interpreted as being limited to the embodiments described here. On the contrary, these embodiments are provided to more thoroughly and completely understand the utility model. It should be understood that the drawings and embodiments of the utility model are only for exemplary purposes and are not used to limit the scope of protection of the utility model.

[0028] The term "including" and its variations used in this article are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present utility model are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0029] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". The "connection" mentioned in the present invention, unless otherwise specified, may refer to direct connection or indirect connection through one or more intermediate components; it may also refer to detachable connection, welding, or integrated connection.

[0030] Combination Figure 1-Figure 7 As shown, the embodiment of the utility model provides a harmonic reducer, including a first rigid wheel, a second rigid wheel, a flexible wheel 3, a first bearing 4, a second bearing 5 and a wave generator 6 which are coaxially arranged. The flexible wheel 3 is a cylindrical structure, and the outer side wall of the flexible wheel 3 is provided with a plurality of external teeth a which are arranged at intervals along the circumference of the flexible wheel 3; the first rigid wheel is provided with a first through hole for accommodating the flexible wheel 3, the second rigid wheel is provided with a second through hole for accommodating the flexible wheel 3, and the hole walls of the first through hole and the second through hole are both provided with internal teeth b for meshing with the external teeth a, and the first rigid wheel and the second rigid wheel are sequentially arranged along the axial direction of the flexible wheel 3; the wave generator 6 includes a coaxially arranged flexible wheel 3 A wheel shaft 61, and a circular portion 62 and an elliptical portion 63 are sequentially arranged along the axial direction of the flexible wheel 3, and the circular portion 62 and the elliptical portion 63 are connected through the wheel shaft 61; one of the first rigid wheel and the second rigid wheel is used as a fixed member 1, and the other of the first rigid wheel and the second rigid wheel is used as a driven member 2, the circular portion 62 is arranged corresponding to the fixed member 1, and the elliptical portion 63 is arranged corresponding to the driven member 2; the first bearing 4 is sleeved on the circular portion 62, and the circular portion 62 is rotatably connected to the flexible wheel 3 through the first bearing 4; the second bearing 5 is sleeved on the elliptical portion 63, and the elliptical portion 63 is rotatably connected to the flexible wheel 3 through the second bearing 5.

[0031] In this embodiment, the flexible wheel 3 of the harmonic reducer adopts a cylindrical structure, which is suitable for elastic deformation (or elastic deformation) under the action of the wave generator 6; Figure 5 As shown, Figure 5It is a schematic diagram of the cross-sectional structure of the connection between the first rigid wheel, the second rigid wheel and the flexible wheel 3 when the flexible wheel 3 is not deformed. When the flexible wheel 3 is not deformed (such as when the flexible wheel 3 is not deformed by the wave generator 6), the flexible wheel 3 is a cylindrical structure (or called a circular column, annular column or hollow cylinder); the flexible wheel 3 is assembled between the rigid wheel (including the first rigid wheel and the second rigid wheel) and the wave generator 6, and the rigid wheel, the flexible wheel 3 and the wave generator 6 are coaxially arranged to ensure the accurate transmission ratio and high precision of the harmonic reducer.

[0032] The first rigid wheel is provided with a first through hole for accommodating the flexible wheel 3, and the second rigid wheel is provided with a second through hole for accommodating the flexible wheel 3; the first through hole and the second through hole are also coaxially arranged, and are coaxially arranged with the flexible wheel 3, the wave generator 6, etc., and the axis of the first rigid wheel, the second rigid wheel, the flexible wheel 3, the first bearing 4, the second bearing 5 and the wave generator 6 are all denoted as Z (such as Figure 1 As shown). The first rigid wheel and the second rigid wheel are both sleeved on the flexible wheel 3, and the first rigid wheel and the second rigid wheel are sequentially arranged along the axial direction of the flexible wheel 3, that is, when the flexible wheel 3 is assembled with the first rigid wheel and the second rigid wheel, the flexible wheel 3 is sequentially arranged through the first through hole and the second through hole along its own axial direction. The outer wall of the flexible wheel 3 is provided with a plurality of external teeth a arranged at intervals along the circumference of the flexible wheel 3, and the hole wall of the first through hole and the hole wall of the second through hole are provided with a plurality of internal teeth b for meshing with the external teeth a, so that positioning and power transmission can be achieved through the meshing of the internal teeth b with the external teeth a (that is, the external teeth a of the flexible wheel 3 are simultaneously meshed with the corresponding internal teeth b of the first rigid wheel and the second rigid wheel). Among them, it is preferred that the first rigid wheel and the second rigid wheel are spaced along the axial direction of the flexible wheel 3, so that in the axial direction of the flexible wheel 3, the internal teeth b of the first rigid wheel and the internal teeth b of the second rigid wheel are respectively meshed with the external teeth a on the outer wall of the flexible wheel 3 at different positions, which can avoid the motion interference between the first rigid wheel and the second rigid wheel. One of the first rigid wheel and the second rigid wheel is used as a fixed member 1 (which does not participate in rotation or other movements during the transmission process), and the relative rotation of the fixed member 1 and the flexible wheel 3 around the axis of the flexible wheel 3 is limited by the meshing of the internal teeth b of the fixed member 1 and the external teeth a of the flexible wheel 3. That is to say, during the transmission process, the positions of the flexible wheel 3 and the fixed member 1 are relatively fixed, and the flexible wheel 3 and the fixed member 1 do not participate in the corresponding rotational movement; the other of the first rigid wheel and the second rigid wheel is used as a driven member 2 (which is driven by the prime mover to move during the transmission process and is used to connect the corresponding output component). During the transmission process, under the action of the wave generator 6 (as the prime mover), the corresponding areas of the flexible wheel 3 and the driven member 2 produce elastic deformation (such as Figure 1-Figure 4 As shown, Figure 1 and Figure 4They are schematic diagrams of the cross-sectional structure of the harmonic reducer when the wave generator 6 rotates to different angles relative to the driven member 2), so that the outer teeth a of the flex spline 3 and the area corresponding to the driven member 2 periodically mesh with the inner teeth b of the driven member 2 (inter-tooth offset meshing), realizing the transmission of movement and force (or differential transmission) between the driving member and the driven member 2.

[0033] As for the wave generator 6, it serves as a prime mover (it serves as a driving part in the transmission process and is responsible for providing input power to the harmonic reducer), and includes a wheel shaft 61, a circular portion 62 and an elliptical portion 63. The wheel shaft 61 is coaxially arranged with the flexible wheel 3 and the rigid wheel. The circular portion 62 and the elliptical portion 63 are sequentially arranged on the wheel shaft 61 along the axis direction of the flexible wheel 3 and are connected through the wheel shaft 61. The wheel shaft 61 is used to connect the corresponding driving component (which is used to drive the wave generator 6 to move). When the wheel shaft 61 rotates around its own axis, the circular portion 62 and the elliptical portion 63 are driven to rotate together; in some embodiments, the wheel shaft 61, the circular portion 62 and the elliptical portion 63 are integrally formed to ensure the overall strength of the wave generator 6. The circular portion 62 has a columnar structure, and its cross-section (i.e., the plane exposed when the circular portion 62 is cut by a plane perpendicular to the axis of the axle 61) is circular; the elliptical portion 63 has a columnar structure, and its cross-section (i.e., the plane exposed when the elliptical portion 63 is cut by a plane perpendicular to the axis of the axle 61) is elliptical.

[0034] The position of the circular portion 62 corresponds to the fixing member 1, and the circular portion 62 is rotatably connected to the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1 through the first bearing 4 sleeved on the circular portion 62. In this way, the first bearing 4 and the fixing member 1 stably clamp the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1, so as to ensure that the shape and position of the flexible wheel 3 at the position meshing with the fixing member 1 can be stably supported, thereby ensuring that the flexible wheel 3 maintains its geometric shape and the accuracy of the meshing of the internal teeth b and the external teeth a during the transmission process, ensuring that the positions of the flexible wheel 3 and the fixing member 1 are relatively fixed, avoiding the deformation of the corresponding parts of the flexible wheel 3 and the fixing member 1 during the transmission process to cause poor meshing, etc., which causes the flexible wheel 3 to rotate relative to the fixing member 1, causing the transmission accuracy of the harmonic reducer to decrease. The second bearing 5 is adapted to the shape of the elliptical portion 63 and is sleeved on the elliptical portion 63. The position of the elliptical portion 63 corresponds to the driven member 2, and the portion of the flexible spline 3 corresponding to the driven member 2 is suitable for accommodating the elliptical portion 63 and the second bearing 5 by deformation, so that the elliptical portion 63 is rotatably connected with the portion of the flexible spline 3 corresponding to the driven member 2 through the second bearing 5. In this way, through the second bearing 5, when the position of the flexible spline 3 relative to the fixed member 1 remains unchanged, it is suitable for corresponding deformation to occur with the rotation of the elliptical portion 63. Among them, when the flexible wheel 3 is not deformed, the cross section of the cylindrical flexible wheel 3 is a circular ring, and the inner diameter of the circular ring is smaller than the major axis of the elliptical cross section of the elliptical portion 63, and larger than the minor axis of the elliptical cross section of the elliptical portion 63; when the wave generator 6 is assembled into the flexible wheel 3, the corresponding parts of the flexible wheel 3 and the driven member 2 are deformed accordingly to accommodate the elliptical portion 63 and the second bearing 5, and the outer teeth a of the flexible wheel 3 are completely meshed with the inner teeth b of the driven member 2 in the major axis direction of the elliptical portion 63, and the outer teeth a of the flexible wheel 3 are completely separated from the inner teeth b of the driven member 2 in the minor axis direction of the elliptical portion 63, and the inner teeth b and the outer teeth a at other positions are in a meshing or meshing state with the rotation of the wave generator 6. Moreover, the first bearing 4 and the second bearing 5 can not only reduce the relative wear between the flexible wheel 3 and the wave generator 6, but also support the wave generator 6 to improve the stability of the rotation of the wave generator 6.

[0035] Thus, compared with using an externally toothed flexible wheel in a top-hat or cup-shaped form as a follower 2, in this embodiment, by using one of the first rigid wheel and the second rigid wheel as the follower 2 for connecting the output component, the flexible wheel 3 does not need to be provided with a flange structure for connecting the output component, and can be provided with a cylindrical structure that is simple in structure and easy to process. On the one hand, it can reduce the processing difficulty and cost of the flexible wheel 3, as well as reduce the difficulty of assembling and disassembling the flexible wheel 3 in the harmonic reducer, and improve the convenience of the later maintenance of the flexible wheel 3; on the other hand, it avoids the situation that the flexible wheel 3 is prone to cracking due to the presence of the corresponding transition position; on the other hand, for an externally toothed flexible wheel in a top-hat or cup-shaped form, due to the presence of the flange structure, in order to ensure the elasticity of the cylindrical structure of the externally toothed flexible wheel, the flexible wheel 3 of the externally toothed flexible wheel needs to be provided with a thinner cylindrical structure (thin wall), resulting in a lower mechanical strength of the externally toothed flexible wheel, while in this embodiment, the overall structure of the flexible wheel 3 is a cylindrical structure, and there is no need to consider the connection with the flange structure. The connection of the flexible wheel 3 (wall) can increase the thickness relatively, so as to ensure the function of the flexible wheel 3 (suitable for deformation with the elliptical portion 63), improve the mechanical strength of the flexible wheel 3, and improve the bearing capacity of the flexible wheel 3 and the harmonic reducer as a whole. In addition, the outer wall of the flexible wheel 3 is provided with external teeth a at positions corresponding to the first rigid wheel and the second rigid wheel, which can further improve the mechanical strength of the flexible wheel 3. In some embodiments, since the flexible wheel 3 of the overall cylindrical structure in this embodiment removes the weak points such as the above-mentioned transition position, the requirements for the materials used for the flexible wheel 3 are reduced, so that the flexible wheel 3 of the harmonic reducer can be processed with lower-cost materials to reduce costs. Based on the above-mentioned flexible wheel 3, in order to ensure that the harmonic reducer can operate normally and stably, the wave generator 6 of the harmonic reducer is provided with a wheel shaft 61, a circular portion 62 and an elliptical portion 63. The wheel shaft 61 is used to connect the driving component and realize the connection between the circular portion 62 and the elliptical portion 63, so as to drive the circular portion 62 and the elliptical portion 63 to rotate together when the wheel shaft 61 rotates. The position of the circular portion 62 corresponds to the fixing member 1, that is, the circular portion 62 is rotatably connected to the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1 through the first bearing 4 sleeved thereon, so that the first bearing 4 and the fixing member 1 stably clamp the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1, so as to ensure that the shape and position of the flexible wheel 3 at the position meshing with the fixing member 1 can be stably supported, thereby ensuring that the flexible wheel 3 maintains its geometric shape and the accuracy of the meshing of the inner teeth b and the outer teeth a during the transmission process, ensuring that the positions of the flexible wheel 3 and the fixing member 1 are relatively fixed, and avoiding the deformation of the corresponding parts of the flexible wheel 3 and the fixing member 1 during the transmission process to cause poor meshing, etc., which causes the flexible wheel 3 to rotate relative to the fixing member 1, causing the transmission accuracy of the harmonic reducer to decrease.The position of the elliptical portion 63 corresponds to the driven member 2, that is, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for accommodating the elliptical portion 63 and the second bearing 5 by deformation, so that the elliptical portion 63 is rotatably connected with the portion corresponding to the flexspline 3 and the driven member 2 through the second bearing 5. In this way, through the second bearing 5, when the position of the flexspline 3 relative to the fixed member 1 remains unchanged, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for corresponding deformation with the rotation of the elliptical portion 63, so that the external teeth a of the portion corresponding to the flexspline 3 and the driven member 2 drive the driven member 2 to rotate accordingly, thereby realizing power transmission and ensuring stable transmission accuracy and efficient power transmission capability of the harmonic reducer.

[0036] Optionally, the inner ring of the first bearing 4 cooperates with the circular portion 62, and the flexible wheel 3 cooperates with the outer ring of the first bearing 4 at the position corresponding to the fixing member 1, so as to ensure the stability of the position of the first bearing 4 and ensure the normal operation of the first bearing 4; the inner ring of the second bearing 5 cooperates with the elliptical portion 63, and the flexible wheel 3 cooperates with the outer ring of the second bearing 5 at the position corresponding to the driven member 2, so as to ensure the stability of the position of the second bearing 5 and ensure the normal operation of the second bearing 5. The cooperation includes interference cooperation, transition cooperation, and clearance cooperation.

[0037] Optionally, combined Figure 5-Figure 7 As shown, each external tooth a extends along the axis direction of the flexible wheel 3, the number of internal teeth b of the fixed member 1 is equal to the number of external teeth a, and the number of internal teeth b of the driven member 2 is greater than the number of external teeth a by a first preset number.

[0038] In this embodiment, each external tooth a extends along the axial direction of the flexible wheel 3, so that the external tooth a of the flexible wheel 3 can maintain good meshing contact with the corresponding internal teeth b of the first rigid wheel and the second rigid wheel. On the one hand, it is ensured that the external tooth a and the corresponding internal tooth b have sufficient meshing contact area, thereby ensuring the stable locking of the relative rotation of the fixed part 1 and the flexible wheel 3 around the axis of the flexible wheel 3 and the stable and accurate driving of the flexible wheel 3 on the driven part 2, thereby improving the load-bearing capacity of the harmonic reducer to the load and ensuring the reliable operation of the harmonic reducer under high load conditions; on the other hand, the external tooth a arranged on the outer side wall of the flexible wheel 3 also plays a role similar to a reinforcing rib, that is, because the external tooth a extends along the axial direction of the flexible wheel 3, the overall structural strength of the flexible wheel 3 is increased, which can effectively reduce the 3 is excessively deformed under the action of the wave generator 6, especially for the middle part of the flexible wheel 3 between the part of the flexible wheel 3 corresponding to the fixed part 1 and the part of the flexible wheel 3 corresponding to the driven part 2. When the part of the flexible wheel 3 corresponding to the driven part 2 is deformed along the elliptical portion 63, the outer tooth a provides additional support and constraint to the middle part of the flexible wheel 3 through its axially extending structure, thereby avoiding unnecessary deformation or distortion of the middle part of the flexible wheel 3 due to local stress concentration, improving the durability and service life of the flexible wheel 3 and the entire harmonic reducer, and ensuring that the flexible wheel 3 maintains a precise shape and positioning during operation, thereby ensuring high precision and stability of the meshing of the inner tooth b and the outer tooth a; on the other hand, the outer tooth a extending along the axial direction of the flexible wheel 3 facilitates the axial assembly between the flexible wheel 3 and the rigid wheel.

[0039] Moreover, the number of the internal teeth b of the fixed member 1 is equal to the number of the external teeth a, so that the external teeth a of the flexible wheel 3 and the internal teeth b of the fixed member 1 are meshed one by one at the connection position (or meshing position), so that the positions of the flexible wheel 3 and the fixed member 1 are relatively fixed, that is, during the transmission process, the flexible wheel 3 and the fixed member 1 do not participate in the corresponding rotational movement; the number of the internal teeth b of the driven member 2 is greater than the number of the external teeth a by a first preset number, and during the transmission process, under the action of the wave generator 6 (as the prime mover), the corresponding areas of the flexible wheel 3 and the driven member 2 are elastically deformed (such as Figure 1-Figure 4 As shown in the figure, the outer teeth a of the flexible wheel 3 and the area corresponding to the driven member 2 periodically mesh with the inner teeth b of the driven member 2 (inter-tooth offset meshing), thereby realizing the transmission of movement and force (or differential transmission) between the driving member and the driven member 2.

[0040] When the harmonic reducer is in working state, under the action of the elliptical portion 63 of the wave generator 6, the flexible wheel 3 produces corresponding elastic deformation, such as the portion of the flexible wheel 3 corresponding to the elliptical portion 63 produces corresponding elastic deformation and (cross section) is elliptical. And as the wave generator 6 rotates in a certain direction (clockwise or counterclockwise), the first rigid wheel or the second rigid wheel as the driven member 2 will rotate in the direction opposite to the rotation direction of the wave generator 6; when the wave generator 6 rotates one circle in a certain direction, the driven member 2 rotates the first preset number of internal teeth b in the direction opposite to the rotation direction of the wave generator 6, that is, the reduction ratio of the harmonic reducer is i=Z1 / (Z1-Z2), wherein Z1 is the number of internal teeth b of the driven member 2, Z2 is the number of external teeth a at the corresponding positions of the flexible wheel 3 and the driven member 2, and Z1-Z2 is the first preset number. In some embodiments, the first preset number can be set according to the required reduction ratio, such as Z1-Z2=2.

[0041] Optionally, combined Figure 8 As shown, the external teeth a include first external teeth and second external teeth extending along the axial direction of the flexible wheel 3, a plurality of first external teeth are arranged on the outer side wall of the flexible wheel 3 at intervals along the circumferential direction of the flexible wheel 3, a plurality of second external teeth are arranged on the outer side wall of the flexible wheel 3 at intervals along the circumferential direction of the flexible wheel 3, and the first external teeth and the second external teeth are arranged in sequence along the axial direction of the flexible wheel 3; the first external teeth are arranged corresponding to the fixed member 1, and are used to mesh with the internal teeth b of the fixed member 1; the second external teeth are arranged corresponding to the driven member 2, and are used to mesh with the internal teeth b of the driven member 2; the number of the first external teeth is equal to the number of the internal teeth b of the fixed member 1, and the number of the internal teeth b of the driven member 2 is more than the number of the second external teeth by a first preset number.

[0042] In this embodiment, the external teeth a include first external teeth and second external teeth, a plurality of first external teeth are arranged on the outer side wall of the flexible wheel 3 at intervals along the circumferential direction of the flexible wheel 3, a plurality of second external teeth are arranged on the outer side wall of the flexible wheel 3 at intervals along the circumferential direction of the flexible wheel 3, and the first external teeth and the second external teeth are both extended along the axial direction of the flexible wheel 3, so as to facilitate the axial assembly between the flexible wheel 3 and the rigid wheel. In addition, in the axial direction of the flexible wheel 3, the first external teeth and the second external teeth are arranged in sequence, so that the first external teeth and the second external teeth correspond to the fixed part 1 and the driven part 2 on the outer side wall of the flexible wheel 3, respectively, that is, the first external teeth are used to mesh with the internal teeth b of the fixed part 1, and the second external teeth are used to mesh with the internal teeth b of the driven part 2. The number of the first external teeth is equal to the number of the internal teeth b of the fixed part 1, so that the first external teeth of the flexible wheel 3 and the internal teeth b of the fixed part 1 are meshed one by one at the connection position (or meshing position), ensuring that the positions of the flexible wheel 3 and the fixed part 1 are relatively fixed; the number of the internal teeth b of the driven part 2 is greater than the number of the second external teeth by a first preset number. During the transmission process, under the action of the wave generator 6 (as the prime mover), the area corresponding to the flexible wheel 3 and the driven part 2 produces elastic deformation, so that the external teeth a part of the area corresponding to the flexible wheel 3 and the driven part 2 periodically meshes with the internal teeth b of the driven part 2 (inter-tooth staggered meshing), realizing the movement and force transmission between the prime mover and the driven part 2, and performing effective power transmission. Among them, the number of internal teeth b of the first rigid wheel and the number of internal teeth b of the second rigid wheel can be equal or unequal; the number of the first external teeth and the second external teeth can be equal or unequal.

[0043] The first external tooth and the second external tooth are sequentially arranged along the axial direction of the flexible wheel 3. For example, the first external tooth and the second external tooth may be arranged at intervals along the axial direction of the flexible wheel 3, that is, there is a certain distance between one end of the first external tooth facing the second external tooth and one end of the second external tooth facing the first external tooth in the axial direction of the flexible wheel 3, and the distance between one end of the first external tooth facing the second external tooth and one end of the second external tooth away from the first external tooth in the axial direction of the flexible wheel 3 is greater than the size of the second external tooth in the axial direction of the flexible wheel 3, such as Figure 8 As shown. Alternatively, the spacing between one end of the first external tooth facing the second external tooth and one end of the first external tooth facing the first external tooth in the axial direction of the flexible wheel 3 is 0. Alternatively, the first external tooth and the second external tooth are arranged crosswise, that is, there is a certain spacing between one end of the first external tooth facing the second external tooth and one end of the second external tooth facing the first external tooth in the axial direction of the flexible wheel 3, and the spacing between one end of the first external tooth facing the second external tooth and one end of the second external tooth away from the first external tooth in the axial direction of the flexible wheel 3 is smaller than the size of the second external tooth in the axial direction of the flexible wheel 3. At this time, there is a situation where one end of the corresponding first external tooth facing the second external tooth extends between two adjacent second external teeth, or one end of the corresponding second external tooth facing the first external tooth extends between two adjacent first external teeth. In this way, the layout of the external teeth a of the flexible wheel 3 on the outer side wall of the flexible wheel 3 is enriched to cope with the rigid wheel with corresponding internal teeth b.

[0044] When the harmonic reducer is in working state, under the action of the elliptical portion 63 of the wave generator 6, the flexible wheel 3 generates corresponding elastic deformation, such as the portion of the flexible wheel 3 corresponding to the elliptical portion 63 generates corresponding elastic deformation and (cross section) is elliptical. And as the wave generator 6 rotates in a certain direction (clockwise or counterclockwise), the first rigid wheel or the second rigid wheel as the driven member 2 will rotate in the direction opposite to the rotation direction of the wave generator 6; when the wave generator 6 rotates one circle in a certain direction, the driven member 2 rotates the first preset number of internal teeth b in the direction opposite to the rotation direction of the wave generator 6, that is, the reduction ratio of the harmonic reducer is i=Z1 / (Z1-Z2), wherein Z1 is the number of internal teeth b of the driven member 2, Z2 is the number of external teeth a at the corresponding positions of the flexible wheel 3 and the driven member 2 (in this embodiment, Z2 is the number of second external teeth), and Z1-Z2 is the first preset number. In some embodiments, the first preset number can be set according to the required reduction ratio.

[0045] Optionally, the internal teeth b of the fixed member 1 and the internal teeth b of the driven member 2 are both adapted to design parameters of the external teeth a of the flex spline 3 , wherein the design parameters include at least one of a module and a pressure angle.

[0046] In this embodiment, the internal teeth b of the fixed member 1 and the driven member 2 (or the internal teeth b of the first rigid wheel and the second rigid wheel) are adapted to the corresponding design parameters of the external teeth a of the flexible wheel 3, such as the module (which determines the tooth spacing of the teeth, etc.), the pressure angle (which affects the contact angle and load distribution when the teeth are meshed) and other design parameters of the internal teeth b of the fixed member 1 and the driven member 2 and the external teeth a of the flexible wheel 3. At least one of the above is adapted (or the same), so that the corresponding internal teeth b and the external teeth a can be meshed stably and effectively. In this way, by accurately matching the corresponding design parameters of the internal teeth b and the external teeth a, it is ensured that the internal teeth b and the external teeth a obtain the best contact state during the transmission process, thereby reducing the wear of the teeth, improving the transmission efficiency and stability, and ensuring the high-precision operation of the harmonic reducer.

[0047] Optionally, combined Figure 1 , Figure 5 As shown, the first rigid wheel serves as the fixing member 1, and the diameter of the second through hole is larger than the diameter of the first through hole; or, the first rigid wheel serves as the driven member 2, and the diameter of the first through hole is larger than the diameter of the second through hole.

[0048] In this embodiment, considering that under the action of the elliptical portion 63 of the wave generator 6, the corresponding parts of the flexible wheel 3 and the driven member 2 will produce corresponding elastic deformation, so that the corresponding parts of the flexible wheel 3 and the driven member 2 will stretch along the long axis direction of the elliptical cross section of the elliptical portion 63. In order to ensure that the driven member 2 and the flexible wheel 3 can rotate smoothly relative to each other, the diameter of the through hole of the rigid wheel used to accommodate the flexible wheel 3 as the driven member 2 is larger than the diameter of the through hole of the rigid wheel used to accommodate the flexible wheel 3 as the fixed member 1. For example, if the first rigid wheel is used as the fixed member 1, the diameter of the second through hole is larger than the diameter of the first through hole; or, if the first rigid wheel is used as the driven member 2, the diameter of the first through hole is larger than the diameter of the second through hole. In this way, while ensuring that the driven member 2 and the flexible wheel 3 can rotate smoothly relative to each other, the convenience of axial assembly between the rigid wheel and the driven member 2 is improved. In some embodiments, the diameter of the through hole of the rigid wheel of the driven member 2 for accommodating the flexible wheel 3 needs to be set according to the size of the used flexible wheel 3 and the wave generator 6. The first through hole of the first rigid wheel and the through hole of the second rigid wheel are both circular holes, the diameter of the first through hole is the diameter of the cross section of the first through hole, and the diameter of the second through hole is the diameter of the cross section of the second through hole.

[0049] Optionally, the second bearing 5 comprises a flexible bearing, the inner ring of the flexible bearing sleeve cooperates with the elliptical portion 63 , and the corresponding parts of the flexspline 3 and the driven member 2 cooperate with the outer ring of the flexible bearing.

[0050] In this embodiment, the second bearing 5 includes a flexible bearing, which is arranged between the elliptical portion 63 and the flexible spline 3, and is used to realize the rotation connection between the elliptical portion 63 and the flexible spline 3. Specifically, the flexible bearing is sleeved on the elliptical portion 63, and the portion of the flexible spline 3 corresponding to the driven member 2 is sleeved on the flexible bearing. The portion of the flexible spline 3 corresponding to the driven member 2 undergoes corresponding elastic deformation under the support of the flexible bearing of the elliptical portion 63, so as to adapt to the elliptical portion 63 and the flexible bearing. When the wave generator 6 rotates, the shape of the elliptical portion 63 causes the corresponding part of the flexspline 3 to undergo periodic elastic deformation. Due to the difference in the number of teeth between the outer teeth a of the flexspline 3 and the inner teeth b of the driven member 2, the outer teeth a of the flexspline 3 will be dislocated and meshed with the inner teeth b of the driven member 2 under the action of the elliptical portion 63, thereby realizing the transmission of motion and force. The role of the flexible bearing is to adapt to this deformation process, and while realizing the rotation connection between the elliptical portion 63 and the flexspline 3 and reducing the relative wear between the elliptical portion 63 and the flexspline 3, the outer teeth a of the flexspline 3 can always maintain a good meshing state with the inner teeth b of the driven member 2 during dynamic deformation, thereby improving the transmission accuracy and transmission stability of the harmonic reducer. Among them, the inner ring of the flexible bearing is installed on the elliptical portion 63 and cooperates with the elliptical portion 63, and bears cyclic stress loads during operation. The outer ring of the flexible bearing cooperates with the corresponding part of the flexspline 3 and the driven member 2, and undergoes elastic deformation with the rotation of the elliptical portion 63 during operation, and not only bears cyclic stress loads, but also bears alternating stress loads.

[0051] Optionally, combined Figure 1 , Figure 3 As shown, the harmonic reducer further includes a first support bearing 81 and a second support bearing 82 sleeved on the axle 61 , and the circular portion 62 and the elliptical portion 63 are located between the first support bearing 81 and the second support bearing 82 .

[0052] In this embodiment, a first support bearing 81 and a second support bearing 82 are provided on the axle 61 to provide additional support for the axle 61. On the one hand, the stability of the rotation of the axle 61 and the wave generator 6 around their own axes is further improved, and the axle 61 is prevented from bending or deflecting during operation, thereby ensuring that the circular portion 62 and the elliptical portion 63 maintain a stable axis during rotation; on the other hand, it is convenient for the harmonic reducer to be connected (or supported) to an external component through the first support bearing 81 and the second support bearing 82, so that the harmonic reducer can be more firmly fixed to the corresponding external component.

[0053] Optionally, an accommodating groove suitable for accommodating the first support bearing 81 is provided at one end of the circular portion 62 away from the elliptical portion 63 .

[0054] In this embodiment, a receiving groove is provided at one end of the circular portion 62 away from the elliptical portion 63 to accommodate the first support bearing 81, so as to reduce the space occupied by the first support bearing 81 and the wave generator 6 in the axis Z direction, thereby facilitating the compact design of the harmonic reducer.

[0055] Optionally, combined Figure 1 , Figure 3 and Figure 5 As shown, the harmonic reducer further includes a third bearing 7 coaxially arranged with the flexible wheel 3 , and the first rigid wheel and the second rigid wheel are rotatably connected via the third bearing 7 .

[0056] In this embodiment, the third bearing 7 coaxially arranged with the flexible wheel 3 is used to realize the rotation connection between the first rigid wheel and the second rigid wheel, such as one of the first rigid wheel and the second rigid wheel is connected to the outer ring of the third bearing 7, and the other of the first rigid wheel and the second rigid wheel is connected to the inner ring of the third bearing 7. By setting the third bearing 7, on the one hand, the stability and smoothness of the relative rotation of the first rigid wheel and the second rigid wheel are ensured, and the first rigid wheel and the second rigid wheel are prevented from interfering with each other, and the more stable rigid wheel connection and smoother motion transmission can make the harmonic reducer maintain higher efficiency and performance under high load or high speed operation conditions; on the other hand, the load of the harmonic reducer can be more evenly distributed on the first rigid wheel and the second rigid wheel, which can reduce local stress concentration and extend the service life of the rigid wheel and the entire harmonic reducer. In some embodiments, the third bearing 7 includes a cross roller bearing. By adopting a cross roller bearing, its advantages of bearing large radial and axial loads in a small space and being able to withstand overturning torque are brought into play, which facilitates the realization of a compact design of the harmonic reducer.

[0057] Optionally, the harmonic reducer further includes a connecting plate detachably connected to the fixing member 1 .

[0058] In this embodiment, the harmonic reducer includes a connecting plate detachably connected to the fixing member 1, and the connecting plate is also used to connect to the corresponding external component (such as detachable connection). In this way, the detachable connection between the fixing member 1 and the corresponding external component is realized through the connecting plate, which improves the flexibility of assembly and disassembly between the fixing member 1 and the connecting plate, and the flexibility of assembly and disassembly of the harmonic reducer on the corresponding external component, improves the convenience of subsequent maintenance of the flexibility of assembly and disassembly, and improves the stability of the harmonic reducer when it is set on the corresponding external component through the connecting plate. In addition, for external components of different structures, the connection of the harmonic reducer on the corresponding external component can be realized by adopting a connecting plate with a corresponding structure that is adapted to the external component, so that the harmonic reducer can adapt to external components of different sizes or structures, thereby improving the adaptability of the harmonic reducer.

[0059] Optionally, a key or a keyway is provided at one end of the axle 61, wherein the key comprises one of a flat key and a spline.

[0060] In this embodiment, the harmonic reducer is connected to the driving component through the axle 61, so that the axle 61 is driven by the driving component to rotate around the axis of the axle 61. Exemplarily, the output shaft of the driving component and the axle 61 are keyed (such as a flat key connection or a spline connection), that is, a key (such as a flat key or a spline) is provided at one end of the axle 61 for connecting with the output shaft of the driving component, and the output shaft of the driving component is provided with a keyway for keying with the key; or, a key is provided at one end of the axle 61 for connecting with the output shaft of the driving component, and the output shaft of the driving component is provided with a keyway for keying with the key. Through the above-mentioned key connection, the driving component can directly transmit the output torque to the axle 61, thereby driving the normal operation of the harmonic reducer.

[0061] Another embodiment of the utility model provides a transmission system, including the above-mentioned harmonic reducer.

[0062] In this embodiment, the transmission system realizes the corresponding differential transmission by adopting the above harmonic reducer. Specifically, by using one of the first rigid wheel and the second rigid wheel as the driven member 2, the flexible wheel 3 does not need to be provided with a flange structure for connecting the output component, and can be provided with a cylindrical structure with simple structure and easy processing. On the one hand, the processing difficulty and cost of the flexible wheel 3 are reduced, and the difficulty of assembling and disassembling the flexible wheel 3 in the harmonic reducer is reduced, and the convenience of the later maintenance of the flexible wheel 3 is improved; on the other hand, the flexible wheel 3 is prevented from being easily cracked due to the presence of the corresponding transition position and the stress concentration; on the other hand, the overall structure of the flexible wheel 3 is a cylindrical structure, and there is no need to consider the connection with the flange structure. The thickness of the flexible wheel 3 (wall) can be relatively increased to ensure the function of the flexible wheel 3 (suitable for deformation with the elliptical portion 63) while improving the mechanical strength of the flexible wheel 3 and the overall bearing capacity of the flexible wheel 3 and the harmonic reducer. In addition, the outer wall of the flexible wheel 3 is provided with external teeth a at the positions corresponding to the first rigid wheel and the second rigid wheel, which can further improve the mechanical strength of the flexible wheel 3. Based on the above-mentioned flexible wheel 3, in order to ensure that the harmonic reducer can operate normally and stably, the wave generator 6 of the harmonic reducer is provided with a wheel shaft 61, a circular portion 62 and an elliptical portion 63. The wheel shaft 61 is used to connect the driving component and realize the connection between the circular portion 62 and the elliptical portion 63, so that when the wheel shaft 61 rotates, the circular portion 62 and the elliptical portion 63 are driven to rotate together. The position of the circular portion 62 corresponds to the fixing member 1, that is, the circular portion 62 is rotatably connected to the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1 through the first bearing 4 sleeved on the circular portion 62. In this way, the first bearing 4 and the fixing member 1 stably clamp the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1, so as to ensure that the shape and position of the flexible wheel 3 at the position meshing with the fixing member 1 can be stably supported, thereby ensuring that the flexible wheel 3 maintains its geometric shape and the accuracy of the meshing of the inner teeth b and the outer teeth a during the transmission process, ensuring that the positions of the flexible wheel 3 and the fixing member 1 are relatively fixed, and avoiding the deformation of the corresponding parts of the flexible wheel 3 and the fixing member 1 during the transmission process to cause poor meshing, etc., which causes the flexible wheel 3 to rotate relative to the fixing member 1, causing the transmission accuracy of the harmonic reducer to decrease. The position of the elliptical portion 63 corresponds to the driven member 2, that is, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for accommodating the elliptical portion 63 and the second bearing 5 by deformation, so that the elliptical portion 63 is rotatably connected with the portion corresponding to the flexspline 3 and the driven member 2 through the second bearing 5. In this way, through the second bearing 5, when the position of the flexspline 3 relative to the fixed member 1 remains unchanged, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for corresponding deformation with the rotation of the elliptical portion 63, so that the external teeth a of the portion corresponding to the flexspline 3 and the driven member 2 drive the driven member 2 to rotate accordingly, thereby realizing power transmission and ensuring stable transmission accuracy and efficient power transmission capability of the harmonic reducer.

[0063] Another embodiment of the utility model provides a device, including the above-mentioned harmonic reducer or the above-mentioned transmission system.

[0064] In this embodiment, the above harmonic reducer or the above transmission system can be applied to aviation, aerospace, energy, navigation, shipbuilding, bionic machinery, common ordnance, machine tools, instruments, electronic equipment, mining and metallurgy, transportation, lifting machinery, petrochemical machinery, textile machinery, agricultural machinery and medical equipment. For example, the above harmonic reducer or the above transmission system can be applied to aircraft wing control, satellite solar panels and antenna angle adjustment, wind turbine blade angle adjustment, ship propeller angle adjustment, robot (including robots classified according to form such as humanoid robots, robots classified according to use such as mining robots, surgical robots, etc.) or mechanical arms (such as industrial mechanical arms, mechanical arms for robots, etc.) joint movements, turret rotation and elevation adjustment, CNC machine tool tool position adjustment, astronomical telescope star tracking (by adjusting the rotation and elevation of the astronomical telescope, etc.), automatic optical detection equipment camera position adjustment, the movement of corresponding components on the vehicle, crane arm position and angle adjustment, oil well drill bit positioning, loom needle movement, seeding wheel movement of seeding machine, etc.

[0065] Equipment, such as vehicles, robots, robotic arms, servo systems, etc., can achieve corresponding differential transmission by adopting the above-mentioned harmonic reducer or the above-mentioned transmission system, and ensure stable transmission accuracy and efficient power transmission capability, thereby optimizing the performance of the equipment itself.

[0066] Specifically, the harmonic reducer uses one of the first rigid wheel and the second rigid wheel as the driven member 2, so that the flexible wheel 3 does not need to be provided with a flange structure for connecting the output component, and can be provided with a cylindrical structure with simple structure and easy processing. On the one hand, it reduces the processing difficulty and cost of the flexible wheel 3, and reduces the difficulty of assembling and disassembling the flexible wheel 3 in the harmonic reducer, thereby improving the convenience of later maintenance of the flexible wheel 3; on the other hand, it avoids the situation that the flexible wheel 3 is prone to cracking due to the presence of a corresponding transition position and the stress is easily concentrated; on the other hand, the overall structure of the flexible wheel 3 is a cylindrical structure, and there is no need to consider the connection with the flange structure. The thickness of the flexible wheel 3 (wall) can be relatively increased to ensure the function of the flexible wheel 3 (suitable for deformation with the elliptical portion 63) while improving the mechanical strength of the flexible wheel 3 and the overall load-bearing capacity of the flexible wheel 3 and the harmonic reducer. In addition, based on the outer wall of the flexible wheel 3, the positions corresponding to the first rigid wheel and the second rigid wheel are provided with external teeth a, which can further improve the mechanical strength of the flexible wheel 3. Based on the above-mentioned flexible wheel 3, in order to ensure that the harmonic reducer can operate normally and stably, the wave generator 6 of the harmonic reducer is provided with a wheel shaft 61, a circular portion 62 and an elliptical portion 63. The wheel shaft 61 is used to connect the driving component and realize the connection between the circular portion 62 and the elliptical portion 63, so that when the wheel shaft 61 rotates, the circular portion 62 and the elliptical portion 63 are driven to rotate together. The position of the circular portion 62 corresponds to the fixing member 1, that is, the circular portion 62 is rotatably connected to the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1 through the first bearing 4 sleeved on the circular portion 62. In this way, the first bearing 4 and the fixing member 1 stably clamp the flexible wheel 3 at the position corresponding to the flexible wheel 3 and the fixing member 1, so as to ensure that the shape and position of the flexible wheel 3 at the position meshing with the fixing member 1 can be stably supported, thereby ensuring that the flexible wheel 3 maintains its geometric shape and the accuracy of the meshing of the inner teeth b and the outer teeth a during the transmission process, ensuring that the positions of the flexible wheel 3 and the fixing member 1 are relatively fixed, and avoiding the deformation of the corresponding parts of the flexible wheel 3 and the fixing member 1 during the transmission process to cause poor meshing, etc., which causes the flexible wheel 3 to rotate relative to the fixing member 1, causing the transmission accuracy of the harmonic reducer to decrease. The position of the elliptical portion 63 corresponds to the driven member 2, that is, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for accommodating the elliptical portion 63 and the second bearing 5 by deformation, so that the elliptical portion 63 is rotatably connected with the portion corresponding to the flexspline 3 and the driven member 2 through the second bearing 5. In this way, through the second bearing 5, when the position of the flexspline 3 relative to the fixed member 1 remains unchanged, the portion corresponding to the flexspline 3 and the driven member 2 is suitable for corresponding deformation with the rotation of the elliptical portion 63, so that the external teeth a of the portion corresponding to the flexspline 3 and the driven member 2 drive the driven member 2 to rotate accordingly, thereby realizing power transmission and ensuring stable transmission accuracy and efficient power transmission capability of the harmonic reducer.

[0067] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the utility model, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A harmonic reducer, characterized in that: The invention comprises a first rigid wheel, a second rigid wheel, a flexible wheel (3), a first bearing (4), a second bearing (5) and a wave generator (6) which are coaxially arranged. The flexible wheel (3) is in a cylindrical structure, and a plurality of external teeth (a) arranged at intervals along the circumference of the flexible wheel (3) are arranged on the outer side wall of the flexible wheel (3); the first rigid wheel is provided with a first through hole for accommodating the flexible wheel (3), the second rigid wheel is provided with a second through hole for accommodating the flexible wheel (3), and the hole walls of the first through hole and the second through hole are both provided with internal teeth (b) for meshing with the external teeth (a), and the first rigid wheel and the second rigid wheel are arranged in sequence along the axial direction of the flexible wheel (3); the wave generator (6) comprises a wheel shaft (61) coaxially arranged with the flexible wheel (3), and a plurality of external teeth (a) arranged along the circumference of the flexible wheel (3) are arranged on the outer side wall of the flexible wheel (3). A circular portion (62) and an elliptical portion (63) are sequentially arranged in the axial direction, and the circular portion (62) and the elliptical portion (63) are connected via the wheel shaft (61); one of the first rigid wheel and the second rigid wheel is used as a fixed member (1), and the other is used as a driven member (2), the circular portion (62) is arranged correspondingly to the fixed member (1), and the elliptical portion (63) is arranged correspondingly to the driven member (2); the first bearing (4) is sleeved on the circular portion (62), and the circular portion (62) and the flexible wheel (3) are rotatably connected via the first bearing (4); the second bearing (5) is sleeved on the elliptical portion (63), and the elliptical portion (63) and the flexible wheel (3) are rotatably connected via the second bearing (5).

2. The harmonic reducer according to claim 1, characterized in that: Each of the external teeth (a) extends along the axial direction of the flexible wheel (3), the number of the internal teeth (b) of the fixed component (1) is equal to the number of the external teeth (a), and the number of the internal teeth (b) of the driven component (2) is greater than the number of the external teeth (a) by a first preset number.

3. The harmonic reducer according to claim 1, characterized in that: The external teeth (a) include first external teeth and second external teeth extending along the axial direction of the flexible wheel (3); a plurality of the first external teeth are arranged on the outer side wall of the flexible wheel (3) at intervals along the circumference of the flexible wheel (3); a plurality of the second external teeth are arranged on the outer side wall of the flexible wheel (3) at intervals along the circumference of the flexible wheel (3); and the first external teeth and the second external teeth are arranged in sequence along the axial direction of the flexible wheel (3); the first external teeth are arranged corresponding to the fixing member (1) and are used to mesh with the internal teeth (b) of the fixing member (1); the second external teeth are arranged corresponding to the driven member (2) and are used to mesh with the internal teeth (b) of the driven member (2); the number of the first external teeth is equal to the number of the internal teeth (b) of the fixing member (1), and the number of the internal teeth (b) of the driven member (2) is greater than the number of the second external teeth by a first preset number.

4. The harmonic reducer according to any one of claims 1 to 3, characterized in that: The internal teeth (b) of the fixed member (1) and the internal teeth (b) of the driven member (2) are both adapted to the design parameters of the external teeth (a) of the flexible wheel (3), wherein the design parameters include at least one of a module and a pressure angle.

5. The harmonic reducer according to any one of claims 1 to 3, characterized in that: The first rigid wheel serves as the fixing member (1), and the diameter of the second through hole is greater than the diameter of the first through hole; or the first rigid wheel serves as the driven member (2), and the diameter of the first through hole is greater than the diameter of the second through hole.

6. The harmonic reducer according to any one of claims 1 to 3, characterized in that: The second bearing (5) comprises a flexible bearing, the inner ring of the flexible bearing cooperates with the elliptical portion (63), and the corresponding parts of the flexible wheel (3) and the driven member (2) cooperate with the outer ring of the flexible bearing.

7. The harmonic reducer according to any one of claims 1 to 3, characterized in that: It also includes a first support bearing (81) and a second support bearing (82) sleeved on the wheel axle (61), and the circular portion (62) and the elliptical portion (63) are located between the first support bearing (81) and the second support bearing (82).

8. The harmonic reducer according to any one of claims 1 to 3, characterized in that: It also includes a third bearing (7) coaxially arranged with the flexible wheel (3), and the first rigid wheel and the second rigid wheel are rotationally connected via the third bearing (7).

9. A transmission system, characterized in that: It comprises a harmonic reducer as claimed in any one of claims 1 to 8.

10. A device, characterized in that: It comprises the harmonic reducer according to any one of claims 1 to 8 or the transmission system according to claim 9.

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