Damping device, bearing assembly and harmonic reducer

Abstract

The utility model provides a vibration damping device, a bearing assembly and a harmonic reducer. The vibration damping device comprises a fixing part, the damping unit comprises a coil part, a magnet part and an elastic part, and the coil part is arranged on the fixing part; the magnet component can move relative to the fixed part, and at least part of the magnet component is arranged in the coil component in a penetrating manner; one end of the elastic part is connected with the magnet part, the other end is connected with the coil part and / or the fixing part, the elastic part is used for limiting the position of the magnet part relative to the coil part, and the magnet part is matched with the coil part to generate electric energy. According to the scheme, the problem that a harmonic reducer in the prior art is poor in damping effect can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of harmonic reducers, and in particular, to a vibration damping device, a bearing assembly and a harmonic reducer. Background Art

[0002] A harmonic reducer is a transmission device that uses a wave generator to cause a flexible gear to generate controllable elastic deformation and mesh with a rigid gear to achieve the transmission of motion and power. Due to its advantages such as a large transmission ratio and a simple structure, it is widely used in industrial robots, aerospace and other fields. In a robot, the robotic arm is usually driven by a motor and a harmonic reducer that cooperate with each other.

[0003] A harmonic reducer includes a wave generator, a rigid gear and a flexible gear, and it is very sensitive to vibration. For existing harmonic reducers, their vibration damping effect is poor. During the operation of a robot, the vibration generated by the motor will be transmitted to the robotic arm through the harmonic reducer, affecting the operation effect of the robotic arm. Summary of the Utility Model

[0004] The utility model provides a vibration damping device, a bearing assembly and a harmonic reducer to solve the problem of poor vibration damping effect of the harmonic reducer in the prior art.

[0005] To solve the above problems, according to one aspect of the utility model, a vibration damping device is provided, which includes: a fixing part; a vibration damping unit, including a coil component, a magnet component and an elastic component, the coil component is arranged on the fixing part; the magnet component can move relative to the fixing part, and at least part of the magnet component passes through the coil component; one end of the elastic component is connected to the magnet component, and the other end is connected to the coil component and / or the fixing part, and the elastic component is used to limit the position of the magnet component relative to the coil component, and the magnet component cooperates with the coil component to generate electric energy.

[0006] Further, the elastic component is located inside the coil component, and the end of the elastic component away from the magnet component is arranged on the coil component.

[0007] Further, the magnet component has an N pole and an S pole arranged oppositely, the vibration damping device includes a plurality of vibration damping units, and the directions from the N pole to the S pole of at least two magnet components have an included angle.

[0008] Further, the fixing part is of an annular structure, and the vibration damping unit includes: a first vibration damping unit, the direction from the N pole to the S pole of the magnet component of the first vibration damping unit is the same as the circumferential direction of the fixing part; and / or, a second vibration damping unit, the direction from the N pole to the S pole of the magnet component of the second vibration damping unit is parallel to the axial direction of the fixing part; and / or, a third vibration damping unit, the direction from the N pole to the S pole of the magnet component of the third vibration damping unit is the same as the radial direction of the fixing part.

[0009] Further, the vibration damping device includes: a frame body, and the magnet components of multiple vibration damping units are all arranged on the frame body.

[0010] Further, the frame body is annular, and the frame body is coaxially arranged with the fixing part.

[0011] Further, a receiving groove is arranged on the fixing part, and the frame body and / or multiple vibration damping units are arranged in the receiving groove.

[0012] According to another aspect of the present invention, a bearing assembly is provided, which includes: the above-mentioned vibration damping device; the fixing part of the vibration damping device is of an annular structure; an outer ring component, which is annularly arranged outside the fixing part and is coaxially arranged with the fixing part; a rolling element component, which is annularly arranged along the circumferential direction of the outer ring component between the fixing part and the outer ring component, and the outer ring component and the fixing part rotate relative to each other through the rolling element component.

[0013] According to another aspect of the present invention, a harmonic reducer is provided, which includes: a wave generator; a rigid gear, sleeved on the outer periphery of the wave generator; a flexible gear, sleeved on the outer periphery of the wave generator, the flexible gear meshes with the rigid gear, and the wave generator is drivingly connected to the flexible gear so that the flexible gear and the rigid gear rotate relative to each other; the above-mentioned bearing assembly, the fixing part of the bearing assembly is arranged on the rigid gear, and the outer ring component of the bearing assembly is arranged on the flexible gear.

[0014] Further, a sealed cavity is formed among the rigid gear, the flexible gear and the bearing assembly, and the vibration damping unit of the bearing assembly is located in the sealed cavity.

[0015] Applying the technical solution of the present invention, the device is installed on the harmonic reducer. The vibration of the harmonic reducer drives the vibration of the fixing part of the vibration damping device, and the vibration of the fixing part drives the vibration of the coil component. Under the action of the elastic component and the gravity of the magnet component itself, at the moment when the fixing part vibrates, the magnet component remains in place, the relative position between the magnet component and the fixing part changes, the magnetic flux in the coil component changes to generate an induced current, and the coil component itself has a resistance. When the induced current passes through the resistance of the coil component, part of the energy will be consumed to achieve the effect of vibration damping and energy absorption. The setting of this solution does not require an external power supply and a control module. It uses the magnet component and the coil component for energy absorption and vibration damping, with excellent effects and a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The schematic diagrams in the specification that form a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0017] Figure 1 The structural schematic diagram of the harmonic reducer provided by the embodiment of the present invention is shown;

[0018] Figure 2 shows the partial structural schematic diagram of point A in Figure 1 the one provided in the embodiment of the present utility model;

[0019] Figure 3 shows the cross-sectional view of the vibration damping unit provided in the embodiment of the present utility model;

[0020] Figure 4 shows the structural schematic diagram of the frame body and the vibration damping units of the first quantity provided in the embodiment of the present utility model;

[0021] Figure 5 shows the structural schematic diagram of the frame body and the vibration damping units of the second quantity provided in the embodiment of the present utility model;

[0022] Figure 6 shows the structural schematic diagram of the vibration damping principle of the harmonic reducer under the action of external forces provided in the embodiment of the present utility model.

[0023] Among them, the above-mentioned drawings include the following reference numerals:

[0024] 10, fixing part;

[0025] 101, accommodating groove; 1011, first accommodating groove; 1012, second accommodating groove; 1013, third accommodating groove;

[0026] 11, first ring body; 12, second ring body;

[0027] 20, vibration damping unit;

[0028] 21, coil component; 22, magnet component; 23, elastic component;

[0029] 201, first vibration damping unit; 202, second vibration damping unit; 203, third vibration damping unit;

[0030] 30, frame body;

[0031] 41, outer ring component; 42, rolling element component;

[0032] 50, wave generator;

[0033] 60, rigid gear;

[0034] 70, flexible gear; 71, external tooth section; 72, flexible gear body; 73, outer flange;

[0035] 81, flange; 811, first bending structure; 812, second bending structure; 82, fastener;

[0036] 91, first connecting bearing; 92, second connecting bearing.

[0037] 01, sealing cavity. Detailed implementation mode

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation on the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] As Figures 1 to 3 shown, an embodiment of the present invention provides a vibration damping device, which includes a fixing part 10 and a vibration damping unit 20. Among them, the vibration damping unit 20 includes a coil component 21, a magnet component 22 and an elastic component 23. The coil component 21 is arranged on the fixing part 10; the magnet component 22 can move relative to the fixing part 10, and at least part of the magnet component 22 passes through the coil component 21; one end of the elastic component 23 is connected to the magnet component 22 and the other end is connected to the coil component 21 and / or the fixing part 10. The elastic component 23 is used to limit the position of the magnet component 22 relative to the coil component 21, and the magnet component 22 cooperates with the coil component 21 to generate electric energy. It can be understood that the coil component 21 in this solution is a closed induction coil component.

[0040] Applying the technical solution of the present invention, installing this device on the harmonic reducer, the vibration of the harmonic reducer drives the vibration of the fixing part 10 of the vibration damping device, and the vibration of the fixing part 10 drives the vibration of the coil component 21. The elastic component 23 plays a buffering role during the vibration process. It allows the coil component 21 to vibrate within a certain range, while the magnet component 22 is relatively stable. Under the action of the elastic component 23 and the gravity of the magnet component 22 itself, at the moment when the fixing part 10 vibrates, the magnet component 22 remains in place, the relative position between the magnet component 22 and the fixing part 10 changes, and the magnetic flux in the coil component 21 changes to generate an induced current. The coil component 21 itself has a resistance. When the induced current passes through the resistance of the coil component 21, part of the energy will be consumed to achieve the effect of vibration damping and energy absorption, ensure the transmission accuracy of the reducer, reduce the impact on parts and lower the wear speed of parts, and ensure the stability and service life of the reducer. In addition, after the vibration is reduced, the possibility of the vibration being transmitted from the reducer to the downstream components can be reduced, ensuring the smooth operation of the downstream components. Moreover, with the setting of this solution, the magnet component 22 and the closed coil component 21 are used for energy absorption and vibration damping, without the need for an external power supply and a control module, and the structure is simple, facilitating installation and use.

[0041] In addition, during the operation of the system, due to vibration, the transmission accuracy of the harmonic reducer decreases. Installing this device on the harmonic reducer can ensure the transmission accuracy of the harmonic reducer as much as possible.

[0042] This solution does not limit the specific connection method between the coil component 21 and the fixing part 10. The connection can be achieved by welding, clamping, or using fasteners. In the embodiment of this solution, the coil component 21 is connected to the fixing part 10 by bonding.

[0043] As Figure 3 shown, in the embodiment of this solution, the elastic component 23 is located inside the coil component 21, and one end of the elastic component 23 away from the magnet component 22 is arranged on the coil component 21. This arrangement makes the whole device more compact, and the coil component 21 plays a role in protecting the elastic component 23, improving the service life of the elastic component 23.

[0044] This solution does not limit the number of elastic components 23.

[0045] In the embodiment of this solution, a plurality of elastic components 23 are arranged at intervals along the circumferential direction of the coil component 21. This arrangement can further improve the buffering and energy absorption effect of this device.

[0046] This solution does not limit the specific form of the elastic component 23. The elastic component 23 can be set as a spring, a metal spring sheet, a rubber pad, etc. In this embodiment, the elastic component 23 is a spring.

[0047] Furthermore, the magnet component 22 has an N pole and an S pole arranged oppositely, and the vibration damping device includes a plurality of vibration damping units, and there is an included angle between the directions from the N pole to the S pole of at least two magnet components 22. This arrangement enables this device to respond to vibrations in different directions and provide multi-directional vibration damping effects. Moreover, the synergistic effect of multiple vibration damping units can more effectively consume vibration energy and improve the vibration damping effect.

[0048] As Figures 1 to 3 shown, specifically, the fixing part 10 is of an annular structure, and the vibration damping unit 20 includes at least two of the first vibration damping unit 201, the second vibration damping unit 202, and the third vibration damping unit 203. Among them, the direction from the N pole to the S pole of the magnet component 22 of the first vibration damping unit 201 is the same as the circumferential direction of the fixing part 10; the direction from the N pole to the S pole of the magnet component 22 of the second vibration damping unit 202 is parallel to the axial direction of the fixing part 10; the direction from the N pole to the S pole of the magnet component 22 of the third vibration damping unit 203 is the same as the radial direction of the fixing part 10. Figure 4 In it, the X direction and the Y direction are two mutually perpendicular radial directions of the fixing part 10; the Z direction is the axial direction of the fixing part 10; the R direction is the circumferential direction of the fixing part 10.

[0049] In an embodiment of the present solution, the vibration damping unit 20 includes a first vibration damping unit 201, a second vibration damping unit 202, and a third vibration damping unit 203.

[0050] As Figures 2 to 4 shown, further, the vibration damping device includes a frame body 30, and the magnet components 22 of multiple vibration damping units 20 are all arranged on the frame body 30. With such an arrangement, the frame body 30 can achieve the supporting effect on multiple vibration damping units 20, and moreover, the frame body 30 itself has a certain weight, which can ensure the stability of multiple magnet components 22, reduce the influence of vibration on the magnet components 22, and increase the relative vibration amplitude between the coil component 21 and the magnet component 22.

[0051] Among them, the frame body 30 can be set as an annular structure or a polygonal ring structure.

[0052] In an embodiment of the present solution, the frame body 30 is of an annular structure, and the frame body 30 is coaxially arranged with the fixing part 10. With such an arrangement, the device can have better symmetry and balance, and improve the overall vibration damping effect.

[0053] The present solution does not limit the position of the frame body 30 relative to the fixing part 10.

[0054] In some embodiments of the present solution, along the axis direction of the fixing part 10, the frame body 30 is located on one side of the axis of the fixing part 10.

[0055] In some other embodiments of the present solution, the frame body 30 is annularly arranged on the outer periphery of the fixing part 10.

[0056] In an embodiment of the present solution, the frame body 30 is annularly arranged inside the fixing part 10. With such an arrangement, when the device is applied to a bearing assembly, it is convenient to cooperate the fixing part 10 of the device with other components.

[0057] In addition, the first vibration damping unit 201, the second vibration damping unit 202, and the third vibration damping unit 203 can be respectively set to one or multiple.

[0058] In the present solution, multiple first vibration damping units 201 are provided, and the multiple first vibration damping units 201 are arranged on the frame body 30 at equal intervals along the circumferential direction of the frame body 30.

[0059] Multiple second vibration damping units 202 are provided, and the multiple second vibration damping units 202 are arranged on the frame body 30 at equal intervals along the circumferential direction of the frame body 30.

[0060] Multiple third vibration damping units 203 are provided, and the multiple third vibration damping units 203 are arranged on the frame body at equal intervals along the circumferential direction. With such an arrangement, the balance of the device can be further improved, and a uniform vibration damping effect can be achieved.

[0061] In a specific embodiment of this solution, four first damping units 201, four second damping units 202, and four third damping units 203 are respectively provided. The first damping units 201 are arranged on the frame 30 at intervals along the circumferential direction of the frame 30. The four second damping units 202 are all located on the same side of the plane where the frame 30 is located, and the four third damping units 203 are all located outside the frame 30. One second damping unit 202 and one third damping unit 203 are arranged between two adjacent first damping units 201.

[0062] Among them, specifically as Figure 4 shown, the third damping units 203 are arranged in pairs opposite to each other. The distribution direction of the first pair of third damping units 203 arranged opposite to each other is defined as the X direction; the distribution direction of the second pair of third damping units 203 arranged opposite to each other is defined as the Y direction; the axial direction of the frame 30 is defined as the Z direction; the circumferential direction of the frame 30 is defined as the L direction.

[0063] When an external vibration force is transmitted to the fixing part 10 and a vibration displacement dX in the X direction is generated instantaneously, the frame 30 and the magnet component 22 will remain in place due to inertia. The position of the magnet component 22 in the first group of third damping units 203 and the coil component 21 covering it changes in the X direction, and the magnetic flux in the coil component 21 in the first group of third damping units 203 changes to generate an induced current, and then an induced magnetic field is generated. According to Lenz's law, the frame 30 will receive a driving force in the same direction as the displacement dX, while the fixing part 10 will receive a damping force in the opposite direction to the vibration displacement dX, achieving the effect of energy absorption and vibration damping in the X direction.

[0064] Similarly, when an external vibration force is transmitted to the fixing part 10 and a vibration displacement dY in the Y direction is generated instantaneously, the vibration in the Y direction is absorbed and damped by the magnet component 22 and the coil component 21 covering it in the second group of third damping units 203.

[0065] Similarly, when an external vibration force is transmitted to the fixing part 10 and a vibration displacement dZ in the Z direction is generated instantaneously, the vibration in the Z direction is absorbed and damped by the magnet component 22 and the coil component 21 covering it in the second damping units 202.

[0066] Similarly, when an external vibration force is transmitted to the fixing part 10 and an axial torque is generated instantaneously, the axial torsional vibration of the frame 30 is absorbed and damped by the magnet component 22 and the coil component 21 covering it in the first damping units 201.

[0067] In this solution, through the combination of the above several groups of magnet components 22 and coil components 21, vibrations in multiple directions and angles of the fixing part 10 can be fully buffered and absorbed, and the transmission of vibrations can be reduced to the greatest extent.

[0068] Such asFigure 5 As shown, in another embodiment of the present solution, two first damping units 201, two second damping units 202, and two third damping units 203 are respectively provided. One second damping unit 202 and one third damping unit 203 are provided between two adjacent first damping units 201.

[0069] In some other embodiments of the present solution, the third damping unit 203 is located inside the frame 30.

[0070] In some other embodiments of the present solution, some of the third damping units 203 are located inside the frame 30, and some of the third damping units 203 are located outside the frame 30.

[0071] In some embodiments of the present solution, along the axial direction of the frame 30, some of the second damping units 202 are located on one side of the plane where the frame 30 is located, and some of the second damping units 202 are located on the other side of the plane where the frame is located.

[0072] As Figure 2 shown, further, a receiving groove 101 is provided on the fixing portion 10. The receiving groove 101 is annularly provided on the inner circumferential surface of the fixing portion 10 along the circumferential direction of the fixing portion 10. The frame 30 and / or multiple damping units are provided in the receiving groove 101. With this setting, the integration and protection of the device can be provided, and the stability and reliability of the damping device can be ensured.

[0073] In the embodiment of the present solution, the fixing portion 10 includes a first ring body 11 and a second ring body 12 that are sequentially connected along the axial direction. The outer diameter of the first ring body 11 is smaller than the outer diameter of the second ring body 12, the inner diameter of the first ring body 11 is smaller than the inner diameter of the second ring body 12, and an annular first receiving groove 1011 is formed inside the first ring body 11 and the second ring body 12.

[0074] A second receiving groove 1012 is provided on the side wall of the first receiving groove 1011. The second receiving groove 1012 is annularly provided on the side wall of the first receiving groove 1011 along the circumferential direction of the first receiving groove 1011, that is, the second receiving groove 1012 is provided on the inner circumferential surface of the second ring body 12; a third receiving groove 1013 is provided on the bottom wall of the first receiving groove 1011. The third receiving groove 1013 is annularly provided on the bottom wall of the first receiving groove 1011 along the circumferential direction of the first receiving groove 1011, that is, the third receiving groove 1013 is provided on the end surface of the first ring body 11 close to the second ring body 12. With this setting, the third receiving groove 1013 and the second receiving groove 1012 are respectively communicated with the first receiving groove 1011, and the three together form the receiving groove 101.

[0075] The first receiving groove 1011 is used to receive the frame body 30 and the first damping unit 201, the second receiving groove 1012 is used to receive the third damping unit 203, and the third receiving groove 1013 is used to receive the second damping unit 202.

[0076] Further, the frame body 30 and the plurality of damping units 20 are both located within the receiving groove 101. With such an arrangement, after this device is assembled into other components, the possibility of interference between the damping device and other components can be avoided.

[0077] As Figure 1 and Figure 2 As shown, the embodiment of the present utility model further provides a bearing assembly, which includes an outer ring component 41, a rolling element component 42, and the above-mentioned damping device. The outer ring component 41 is annularly arranged on the outside of the fixed part 10 and is coaxially arranged with the fixed part 10. The rolling element component 42 is annularly arranged along the circumferential direction of the outer ring component 41 between the fixed part 10 and the outer ring component 41, and the outer ring component 41 and the fixed part 10 rotate relative to each other through the rolling element component.

[0078] Specifically, the outer ring component 41 is annularly arranged on the outer periphery of the first ring body 11, the second ring body 12 is located on one side of the outer ring component 41 in the axial direction, and the end surface of the end of the outer ring component 41 away from the second ring body 12 protrudes outward from the first ring body 11. With such an arrangement, the outer ring component 41 and the second ring body 12 are respectively connected to different components, ensuring the smoothness and stability of the operation of the bearing assembly.

[0079] As Figure 1 and Figure 2 As shown, the embodiment of the present utility model further provides a harmonic reducer, which includes a wave generator 50, a rigid gear 60, a flexible gear 70, and the above-mentioned bearing assembly. The rigid gear 60 is sleeved on the outer periphery of the wave generator 50; the flexible gear 70 is sleeved on the outer periphery of the wave generator 50 and meshes with the rigid gear 60, and the wave generator 50 is drivingly connected to the flexible gear 70 to enable the flexible gear 70 and the rigid gear 60 to rotate relative to each other; the bearing assembly is arranged between the flexible gear 70 and the rigid gear 60, the fixed part 10 is arranged on the rigid gear 60, and the outer ring component 41 of the bearing assembly is arranged on the flexible gear 70. Specifically, in application, the flexible gear 70 is arranged on the outer shell of the motor, the motor drives the wave generator 50 to rotate, the wave generator 50 drives the flexible gear 70 to deform, and when the flexible gear 70 deforms, it meshes with the rigid gear 60 to enable the rigid gear 60 to rotate relative to the flexible gear 70.

[0080] In this embodiment, the rigid gear 60 is arranged at one end of the wave generator 50 in the axial direction, and the inner peripheral surface of the rigid gear 60 has an internal gear. The flexible gear 70 includes an external tooth section 71, a flexible gear body 72, and an external flange 73 that are sequentially connected in the axial direction. The external tooth section 71 of the flexible gear 70 is inserted into the rigid gear 60 and meshes with the internal gear of the rigid gear 60; the external flange 73 of the flexible gear 70 is located at one end of the wave generator 50 away from the rigid gear 60. The bearing assembly is annularly arranged on the outer periphery of the flexible gear body 72 and is located between the rigid gear 60 and the external flange 73. With such an arrangement, the compactness and rationality of the structure can be ensured.

[0081] Further, the device further includes a first connecting bearing 91. The first connecting bearing 91 is arranged between the rigid gear 60 and the wave generator 50. The inner ring of the first connecting bearing 91 is arranged on the wave generator 50, and the outer ring of the first connecting bearing 91 is arranged on the rigid gear 60. The arrangement of the first connecting bearing 91 can improve the smoothness and stability of the rotation of the rigid gear 60.

[0082] Further, a sealed cavity 01 is formed between the rigid gear 60, the flexible gear 70, and the bearing assembly, and the damping unit of the bearing assembly is located in the sealed cavity 01. With such an arrangement, the sealed cavity 01 can achieve a protective effect on the damping unit.

[0083] Specifically, the end face of the end of the second ring body 12 away from the first ring body 11 is connected to the end face of the end of the rigid gear 60 close to the external flange 73; the end face of the end of the outer ring component 41 away from the second ring body 12 is connected to the end face of the end of the external flange 73 close to the bearing assembly. With such an arrangement, the structural stability of the harmonic reducer can be ensured.

[0084] In the embodiment of this solution, it further includes a flange 81 and a fastener 82. The flange 81 is annularly arranged on the outer periphery of the wave generator 50 and is located on the side of the flexible gear 70 away from the rigid gear 60. The flange 81, the external flange 73, and the outer ring component 41 are fixedly connected through the fastener 82. With such an arrangement, it is convenient to connect the harmonic reducer to the outer shell of the motor through the flange 81.

[0085] Further, an annular first bending structure 811 is arranged on the outer peripheral edge of the flange 81. The first bending structure 811 is annularly arranged outside the external flange 73 and the outer ring component 41, and the first bending structure 811 abuts against the outer peripheral surface of the external flange 73 and the outer peripheral surface of the outer ring component 41 respectively. With such an arrangement, the connection stability of the flange 81, the flexible gear 70, and the outer ring component 41 can be improved.

[0086] In the embodiment of this solution, the harmonic reducer includes a second connecting bearing 92. The second connecting bearing 92 is arranged between the flange 81 and the wave generator 50. The inner ring of the second connecting bearing 92 is connected to the wave generator 50, and the outer ring of the second connecting bearing 92 is connected to the flange 81.

[0087] Specifically, an annular second bending structure 812 is provided on the inner peripheral edge of the flange 81. The second bending structure 812 is annularly arranged on the outer periphery of the wave generator 50, and the outer ring of the second connecting bearing 92 is arranged in the second bending structure 812 and connected to the second bending structure 812.

[0088] Furthermore, the bending direction of the second bending structure 812 is the same as that of the first bending structure 811, and a part of the second bending structure 812 extends into the space formed by the wave generator 50 and the flexspline 70. With such a setting, the structural compactness of the present device can be further improved.

[0089] When the harmonic reducer of this solution is applied, external sources such as motors and the upper-level robotic arm transfer vibration forces to the harmonic reducer, and these vibration forces are transmitted by the harmonic reducer to the lower-level robotic arm. During the transmission of the vibration forces, the vibration damping device of the harmonic reducer dampens the vibration to achieve the effect of vibration absorption and energy dissipation. Specifically, it is achieved through the cooperation of the magnet components 22 and the coil components 21 of multiple vibration damping units, the elastic force of the elastic components 23, and the frame body 30. Figure 6 The figure shows the schematic diagram of the vibration force transmission. Among them, k represents the stiffness coefficient of the elastic component 23, c represents the damping coefficient of the cooperation between the coil component 21 and the magnet component 22, M represents the mass of the main body of the harmonic reducer, m represents the mass of the frame body 30, F is the vibration force transmitted from the outside to the harmonic reducer, and w represents the vibration displacement finally output by the harmonic reducer.

[0090] In summary, the harmonic reducer equipped with the above vibration damping device can minimize the vibration of the motor at the upper level of the harmonic reducer from being transmitted to the lower-level robotic arm through the harmonic reducer. It can reduce vibration, make the harmonic drive more stable and accurate, and improve the transmission accuracy of the harmonic reducer. At the same time, it can reduce the impact and wear of components caused by vibration, improve the running stability of the harmonic reducer, and extend its service life.

[0091] In addition, integrating the vibration damping device inside the harmonic reducer and setting it close to the vibration source can further improve the vibration damping effect.

[0092] Moreover, for the vibration damping device of this solution, the vibration damping units 20 are configured along three linear degrees of freedom and one circumferential rotational degree of freedom in space. Different vibration damping units 20 independently absorb and dampen the vibration in each direction, and can take into account the vibration damping effects in multiple directions.

[0093] This solution achieves the vibration damping effect through the coil component 21, the magnet component 22, and the elastic component 23. Specifically, the closed coil component 21 converts the kinetic energy of vibration into electrical energy, and then consumes the electrical energy through the resistance of the coil component 21 itself to achieve the vibration damping effect, without the need for any external power supply and control system, and the structure is simple.

[0094] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

[0095] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0096] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0097] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present utility model; the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0098] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations are made for the spatial relative descriptions used herein.

[0099] In addition, it should be noted that the use of terms such as "first", "second" etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present utility model.

Claims

1. A vibration reduction device, characterized in that: include: A fixing portion (10); A vibration reduction unit (20) comprises a coil component (21), a magnet component (22) and an elastic component (23), wherein the coil component (21) is arranged on the fixing part (10); the magnet component (22) can move relative to the fixing part (10), and at least part of the magnet component (22) is inserted into the coil component (21); one end of the elastic component (23) is connected to the magnet component (22), and the other end is connected to the coil component (21) and / or the fixing part (10); the elastic component (23) is used to limit the position of the magnet component (22) relative to the coil component (21); the magnet component (22) cooperates with the coil component (21) to generate electric energy.

2. The vibration reduction device according to claim 1, characterized in that: The elastic component (23) is located inside the coil component (21), and one end of the elastic component (23) away from the magnet component (22) is arranged on the coil component (21).

3. The vibration reduction device according to claim 1, characterized in that: The magnetic component (22) has an N pole and an S pole that are arranged opposite to each other, the vibration reduction device comprises a plurality of vibration reduction units (20), and the directions from the N pole to the S pole of at least two of the magnetic components (22) have an angle.

4. The vibration reduction device according to claim 3, characterized in that: The fixing portion (10) is an annular structure, and the vibration reduction unit (20) comprises: A first vibration damping unit (201), wherein the direction from the N pole to the S pole of the magnet component (22) of the first vibration damping unit (201) is the same as the circumferential direction of the fixing portion (10); and / or A second vibration reduction unit (202), wherein the direction from the N pole to the S pole of the magnetic component (22) of the second vibration reduction unit (202) is parallel to the axial direction of the fixing part (10); and / or, A third vibration reduction unit (203), wherein the direction from the N pole to the S pole of the magnet component (22) of the third vibration reduction unit (203) is the same as the radial direction of the fixing portion (10).

5. The vibration reduction device according to claim 4, characterized in that: The vibration reduction device comprises: A frame (30), on which the magnetic components (22) of the plurality of vibration reduction units (20) are all arranged.

6. The vibration reduction device according to claim 5, characterized in that: The frame body (30) is annular in shape, and the frame body (30) and the fixing portion (10) are coaxially arranged.

7. The vibration reduction device according to claim 5, characterized in that: The fixing portion (10) is provided with a receiving groove (101), and the frame (30) and / or the plurality of vibration reduction units (20) are arranged in the receiving groove (101).

8. A bearing assembly, characterized in that: include: The vibration damping device according to any one of claims 1 to 7, wherein the fixing portion (10) of the vibration damping device is an annular structure; An outer ring component (41) is annularly arranged outside the fixing portion (10) and is coaxial with the fixing portion (10); The rolling element component (42) is annularly arranged between the fixing portion (10) and the outer ring component (41) along the circumference of the outer ring component (41), and the outer ring component (41) and the fixing portion (10) rotate relatively through the rolling element component (42).

9. A harmonic reducer, characterized in that: include: Wave generator (50); A rigid wheel (60) is sleeved on the outer circumference of the wave generator (50); A flexible wheel (70) is sleeved on the outer circumference of the wave generator (50), the flexible wheel (70) is meshed with the rigid wheel (60), and the wave generator (50) is drivingly connected to the flexible wheel (70) so that the flexible wheel (70) and the rigid wheel (60) rotate relative to each other; The bearing assembly described in claim 8 is arranged between the rigid wheel (60) and the flexible wheel (70), the fixing portion (10) of the bearing assembly is arranged on the rigid wheel (60), and the outer ring component (41) of the bearing assembly is arranged on the flexible wheel (70).

10. The harmonic reducer according to claim 9, characterized in that: A sealed cavity (01) is formed between the rigid wheel (60), the flexible wheel (70) and the bearing assembly, and the vibration reduction unit (20) of the bearing assembly is located in the sealed cavity (01).

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