Harmonic reducer, mechanical arm and cleaning equipment

Abstract

The embodiment of the utility model discloses a harmonic reducer, a mechanical arm and cleaning equipment, the harmonic reducer comprises a rigid gear, a flexible gear and an output part, and in the working process of the harmonic reducer, the output part can be connected to one of the flexible gear and the rigid gear to output power. The rigid gear of the harmonic reducer comprises the ring part, the flexible gear is meshed with the ring part, and the rigid gear is manufactured through the injection molding process, so that the ring part is manufactured through the injection molding process, the production cost and the weight of the rigid gear can be reduced, the cost and the weight of the harmonic reducer are further reduced, and application and popularization of the harmonic reducer are facilitated; particularly, the harmonic reducer can be conveniently applied to a movable intelligent household appliance, and the intelligent household appliance can move more flexibly while the transmission effect can be guaranteed.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of transmission technology, and in particular to a harmonic reducer, a robotic arm, and a cleaning device. Background Art

[0002] The harmonic reducer is a new type of reduction gear consisting of a wave generator, a flexspline, and a rigid pulley. It uses the controllable elastic deformation of the flexspline to achieve motion and power transmission and achieve the purpose of deceleration.

[0003] In traditional technologies, the rigid wheels of harmonic generators are mostly made by precision machining of metal, which results in high cost and heavy weight of the harmonic generators. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of the present invention provides a harmonic reducer.

[0006] A second aspect of the present invention provides a robotic arm.

[0007] A third aspect of the present invention provides a cleaning device.

[0008] In view of this, according to a first aspect of an embodiment of the present application, a harmonic reducer is proposed, comprising:

[0009] A rigid wheel, the rigid wheel comprising a ring portion, and the rigid wheel is prepared by an injection molding process;

[0010] a flexible spline, the flexible spline being configured to engage with the ring portion;

[0011] an output portion connected to one of the rigid wheel and the flexible wheel;

[0012] Wherein, at least a portion of the flexible spline is located inside the rigid spline.

[0013] In a feasible implementation manner, the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion is in a range of 1 to 1.5.

[0014] In a feasible embodiment, the ring portion is a solid structure.

[0015] In a feasible embodiment, a plug-in portion is provided on the first end surface and / or the second end surface of the ring portion, and the plug-in portion protrudes from the first end surface and / or the second end surface so as to be plugged into the output portion;

[0016] Wherein, the plug-in portion and the ring portion are an integrated structure.

[0017] In a feasible embodiment, the plug-in portion includes at least two first connecting columns and at least two second connecting columns, and the length of the second connecting columns in the axial direction of the ring portion is smaller than the length of the first connecting columns in the axial direction of the ring portion.

[0018] In a feasible embodiment, when a stop is provided on the first end face and / or the second end face, the length of the first connecting column in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting column in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

[0019] In a feasible embodiment, at least part of the first connecting columns and at least part of the second connecting columns are alternately arranged in the circumferential direction of the ring portion.

[0020] In a feasible embodiment, at least two abutting portions are provided on the first end surface and / or the second end surface, and the abutting portions protrude from the first end surface and / or the second end surface so as to abut against the outer wall of the output portion.

[0021] In a feasible embodiment, a plurality of meshing teeth are formed on the inner ring of the ring portion, and the tooth surface of the meshing teeth includes a third arc surface segment and a fourth arc surface segment, and the third arc surface segment and the fourth arc surface segment are arranged in a direction from the tooth root to the tooth top, and the bending direction of the third arc surface segment is different from that of the fourth arc surface segment.

[0022] In a feasible implementation manner, the output unit includes:

[0023] An output disk is connected to the ring portion.

[0024] In a feasible implementation manner, a first plug-in interface is formed on the output disk, and the plug-in portion on the ring portion is used to be plugged into the first plug-in interface.

[0025] In a feasible embodiment, the rigid wheel further includes:

[0026] The ring portion is connected to the seat body.

[0027] In a feasible embodiment, a second plug interface is formed on the base body, and the plug portion on the ring portion is used to be plugged into the second plug interface.

[0028] In a feasible embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion, and the positioning protrusion is used for abutting against the seat body.

[0029] In a feasible embodiment, the ring portion and the fixed carrier have an interference fit and / or a transition fit and / or a clearance fit.

[0030] In a feasible implementation manner, the harmonic reducer further includes: an external connection portion, wherein the external connection portion includes:

[0031] a housing, the housing being sleeved on at least a portion of the rigid wheel, and having a mounting portion formed on the housing;

[0032] A first bearing is provided between the housing and the circular ring.

[0033] In a feasible embodiment, the rigid wheel further includes:

[0034] A limiting member is connected to the seat of the rigid wheel or is an integral structure with the seat, the first bearing is sleeved on the seat, and the limiting member is used to limit the first bearing.

[0035] In a feasible implementation manner, the harmonic reducer further includes:

[0036] A cover plate is connected to the shell.

[0037] In a feasible embodiment, the flexible spline includes:

[0038] A tooth segment, wherein a transmission tooth is provided on an outer wall of the tooth segment, and a tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, wherein the first arc surface segment and the second arc surface segment are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment and the second arc surface segment have different curvature directions;

[0039] a fixing portion connected to the tooth segment;

[0040] Wherein, the fastener passes through the cover plate and the fixing portion and is connected to the shell.

[0041] In a possible implementation, the first bearing includes a rolling bearing.

[0042] In a feasible implementation manner, the harmonic reducer further includes:

[0043] a wave generator, the wave generator being connected to the flexspline;

[0044] an input portion connected to the wave generator;

[0045] The wave generator includes a cam and a second bearing sleeved on the cam.

[0046] In a feasible implementation manner, the harmonic reducer further includes:

[0047] The third bearing is configured such that the output portion is sleeved on a partial area of the input portion, and the third bearing is disposed between the input portion and the output portion.

[0048] In a feasible embodiment, the material for preparing the flexible spline includes injection-molded engineering plastics; and / or

[0049] The material for preparing the rigid wheel includes injection-molded engineering plastics.

[0050] According to a second aspect of an embodiment of the present application, a robotic arm is provided, comprising:

[0051] A harmonic reducer as described in any of the above technical solutions.

[0052] According to a third aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0053] A harmonic reducer as described in any of the above technical solutions or a robotic arm as described in any of the above technical solutions.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects:

[0055] The harmonic reducer provided in the embodiment of the present application includes a rigid wheel, a flexwheel, and an output portion. During operation of the harmonic reducer, the output portion can be connected to one of the flexwheel or the rigid wheel to output power. The rigid wheel of the harmonic reducer includes a ring portion, and the flexwheel is meshed with the ring portion. The rigid wheel is manufactured by an injection molding process. Based on this, the ring portion prepared by the injection molding process can reduce the production cost of the rigid wheel and reduce the weight of the rigid wheel, thereby reducing the cost and weight of the harmonic reducer, which is conducive to the promotion and use of the harmonic reducer, especially facilitating the application of the harmonic reducer in mobile smart home appliances, while ensuring the transmission effect, making the movement of smart home appliances more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0057] Figure 1 A schematic structural diagram of a harmonic reducer according to an embodiment of the present application;

[0058] Figure 2 A schematic structural diagram of a harmonic reducer according to an embodiment of the present application from another angle;

[0059] Figure 3 A schematic structural diagram of the ring portion of a harmonic reducer according to an embodiment of the present application;

[0060] Figure 4A schematic structural diagram of a decomposed state of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0061] Figure 5 A schematic structural diagram of a ring portion of a harmonic reducer according to an embodiment of the present application;

[0062] Figure 6 This is a schematic structural diagram of the ring portion of a harmonic reducer according to an embodiment of the present application from another angle;

[0063] Figure 7 A schematic structural diagram of a rigid wheel seat of a harmonic reducer according to an embodiment of the present application;

[0064] Figure 8 This is a schematic structural diagram of the seat of the rigid wheel of the harmonic reducer according to an embodiment of the present application from another angle;

[0065] Figure 9 A schematic structural diagram of meshing teeth of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0066] Figure 10 A schematic structural diagram of a flexible pulley of a harmonic reducer according to an embodiment of the present application;

[0067] Figure 11 A schematic structural diagram of the transmission teeth of the rigid wheel and the flex spline of a harmonic speed reducer according to an embodiment of the present application;

[0068] Figure 12 This is a schematic structural diagram of the output part of the rigid wheel of a harmonic reducer according to an embodiment of the present application.

[0069] in, Figures 1 to 12 The corresponding relationship between the reference numerals and component names is as follows:

[0070] 110 rigid pulley, 120 flexible pulley, 130 output portion, 140 external connection portion, 150 cover plate, 160 wave generator, 170 input portion, 180 third bearing;

[0071] 111 ring portion, 112 plug-in portion, 113 abutting portion, 114 seat body, 115 second plug-in port, 116 limiter, 117 engaging teeth, 119 first end surface, 1110 second end surface, 1111 stopper, 1121 first connecting column, 1122 second connecting column, 1171 third arc segment, 1172 fourth arc segment;

[0072] 121 tooth segment, 122 transmission tooth, 123 fixing portion, 1221 first arc surface segment, 1222 second arc surface segment;

[0073] 131 output disk, 132 first plug interface;

[0074] 141 housing, 142 first bearing;

[0075] 161 cam, 162 second bearing. DETAILED DESCRIPTION

[0076] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0077] like Figures 1 to 12 As shown, according to a first aspect of an embodiment of the present application, a harmonic reducer is proposed, including: a rigid wheel 110, the rigid wheel 110 includes a ring portion 111, and the rigid wheel 110 is prepared by an injection molding process; a flexible wheel 120, the flexible wheel 120 is used to engage with the ring portion 111; and an output portion 130, the output portion 130 is connected to one of the rigid wheel 110 and the flexible wheel 120.

[0078] The harmonic reducer provided in the embodiment of the present application includes a rigid wheel 110, a flexible wheel 120, and an output portion 130. During operation of the harmonic reducer, the output portion 130 can be connected to one of the flexible wheel 120 or the rigid wheel 110 to output power. The rigid wheel 110 of the harmonic reducer includes a ring portion 111, and the flexible wheel 120 is engaged with the ring portion 111. The rigid wheel 110 is manufactured by an injection molding process. Based on this, the ring portion 111 prepared by the injection molding process can reduce the production cost of the rigid wheel 110 and reduce the weight of the rigid wheel 110, thereby reducing the cost and weight of the harmonic reducer, which is conducive to the promotion and use of the harmonic reducer, especially facilitating the application of the harmonic reducer in mobile smart home appliances, while ensuring the transmission effect, making the movement of smart home appliances more flexible.

[0079] The harmonic reducer provided in the embodiment of the present application takes into account that the structure of the rigid wheel in traditional technology usually needs to be equipped with components to fix the rigid wheel, such as lugs, and the structure of some rigid wheels also serves as the shell of the harmonic reducer. Therefore, the structure of the rigid wheel is relatively complex. Therefore, if the rigid wheel in traditional technology is prepared by injection molding, it will be difficult to ensure the injection molding accuracy, or even impossible to perform injection molding. Based on this, the harmonic reducer provided in the embodiment of the present application includes a ring portion 111 on the rigid wheel 110, that is, the part where the rigid wheel 110 and the flexible wheel 120 engage is prepared by injection molding, and this part is roughly annular. Such a setting makes it easy to set up a mold corresponding to the ring portion 111, facilitates the injection molding of the ring portion 111, can ensure injection molding accuracy, and can make the engagement of the rigid wheel 110 and the flexible wheel 120 more reliable, thereby reducing costs while ensuring transmission accuracy.

[0080] In the harmonic reducer provided in the embodiment of the present application, at least a portion of the flexspline 120 is located inside the rigid wheel 110 . This can improve the meshing effect between the flexspline 120 and the rigid wheel 110 .

[0081] It is understandable that the materials used to prepare the ring portion 111 include but are not limited to injection-molded engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS) and other pure materials and related materials filled with glass fiber and / or carbon fiber and reinforced materials.

[0082] like Figure 3 、 Figure 5 and Figure 6 As shown, in a feasible embodiment, the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 111 ranges from 1 to 1.5.

[0083] In this technical solution, a style of the ring portion 111 is further provided, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 111 is in the range of 1 to 1.5. Based on this, the thickness difference of the ring portion 111 can be controlled within a certain range, which is more convenient for the injection molding preparation of the ring portion 111 and can further ensure the injection molding accuracy.

[0084] It can be understood that, as the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 111 is closer to 1, the mold for preparing the ring portion 111 will be easier to make, and the preparation accuracy of the ring portion 111 will be higher.

[0085] like Figure 3 、 Figure 5 and Figure 6 As shown, in a feasible embodiment, the ring portion 111 is a solid structure.

[0086] In this technical solution, a style of the ring portion 111 is further provided. The ring portion 111 can be a solid structure. Compared with the solution in traditional technology in which holes are left in the rigid wheel 110, by designing the ring portion 111 as a solid structure, on the one hand, the mechanical strength of the ring portion 111 can be improved; on the other hand, it is more convenient for injection molding of the ring portion 111, which can improve the injection molding accuracy.

[0087] like Figures 3 to 9 As shown, in some examples, a stopper 1111 is provided on the first end face 119 and / or the second end face 1110 of the ring portion 111, and corresponding stoppers are also provided on the output portion 130 and / or the base 114. The ring portion 111 is plugged into the stopper of the base 114 or the output portion 130 via the stopper 1111, thereby improving positioning accuracy and connection stability. The stopper 1111 can be provided only on the first end face 119, only on the second end face 1110, or on both the first end face 119 and the second end face 1110. The stopper 1111 extends along the outer circumference of the first end face 119 and the second end face 1110.

[0088] like Figures 3 to 9 As shown, in a feasible embodiment, a plug-in portion 112 is provided on the first end face 119 and / or the second end face 1110 of the ring portion 111, and the plug-in portion 112 protrudes from the first end face 119 and / or the second end face 1110 so as to be plugged into the output portion 130; wherein, the plug-in portion 112 and the ring portion 111 are an integrated structure.

[0089] This technical solution further provides a structural component for the ring portion 111. A protruding plug-in portion 112 can be formed on the first end face 119 or the second end face 1110 of the ring portion 111. The plug-in portion 112 is then plugged into the output portion 130, securing the ring portion 111 to the output portion 130. This allows the ring portion 111 to rotate synchronously with the output portion 130, thereby achieving power output. Replacing the traditional lug-based fixing method with a plug-in connection not only enhances the anti-rotation effect of the ring portion 111, but also makes the structure of the ring portion 111 more regular, facilitating its manufacture via injection molding.

[0090] By providing the plug-in portion 112 on the first end face 119 and / or the second end face 1110, the ring portion 111 can be connected to the output portion 130 via the protruding plug-in portion 112 on the end face, thereby avoiding the prior art method of connecting to a fixed carrier by providing a connection hole in the rigid wheel or providing a connection ear on the outside of the rigid wheel. The design of the rigid wheel 110 in this embodiment allows the ring portion 111 to be manufactured by injection molding, and the injection molding yield is higher, which can meet the process requirements. At the same time, the design of the rigid wheel 110 in this embodiment can also make the various physical properties of the ring portion 111 more consistent, and can maintain good stability during the movement of the flexible wheel 120, thereby improving the operational stability of the harmonic reducer.

[0091] It is understood that the plug-in portion 112 can be provided only on the first end surface 119, and then connected to the output portion 130 via the plug-in portion 112 on the first end surface 119. The plug-in portion 112 can also be provided on the second end surface 1110, and then connected to the base 114 via the plug-in portion 112 on the second end surface 1110. In this embodiment, the plug-in portion 112 is provided on both the first end surface 119 and the second end surface 1110, and is connected to the output portion 130 and the base 114 of the rigid wheel 110 via the plug-in portion 112 on the first end surface 119 and the plug-in portion 112 on the second end surface 1110, respectively, thereby maintaining good connection strength.

[0092] It can be understood that the plug portion 112 protrudes from the first end surface 119 and the second end surface 1110 along the axial direction of the ring portion 111 , that is, along the normal direction of the first end surface 119 and the second end surface 1110 .

[0093] It is understood that the base 114 of the rigid wheel 110 can be used to secure the ring portion 111, thereby securing and supporting the ring portion 111. A second plugging port 115 is provided on the rigid wheel 110 corresponding to the connecting portion, and the plugging portion 112 is inserted into the second plugging port 115, thereby limiting the ring portion 111 in the circumferential direction and preventing the ring portion 111 from rotating relative to the output portion 130 and / or the base 114. A first plugging port 132 can be formed on the output portion 130.

[0094] Among them, the number of first connecting columns 1181 is multiple, and the number of second connecting columns 1182 is also multiple. The multiple first connecting columns 1181 are evenly arranged on the first end face 119 and the second end face 1110 along the circumference of the ring portion 111, and the multiple second connecting columns 1182 are evenly arranged on the first end face 119 and the second end face 1110 along the circumference of the ring portion 111.

[0095] The first end surface 119 is provided with both a first connecting column 1181 and a second connecting column 1182 .

[0096] The first connecting pillars 1181 have the same length, and the second connecting pillars 1182 have the same length.

[0097] like Figures 3 to 9 As shown, the axial length of the first connecting post 1181 in the ring portion 111 is greater than the axial length of the stop 1111 in the ring portion 111. That is, the first connecting post 1181 protrudes from the stop 1111 in the axial direction of the ring portion 111, allowing the first connecting post 1181 to be inserted more deeply into the second plugging port 115 or the first plugging port 132. The axial length of the second connecting post 1182 in the ring portion 111 is equal to the axial length of the stop 1111 in the ring portion 111, which meets the requirements of different plugging depths while facilitating injection molding.

[0098] The first connecting column 1181 and the second connecting column 1182 are both connected to the stopper 1111 , thereby improving the overall strength.

[0099] like Figures 3 to 9 As shown, at least part of the first connecting columns 1181 and at least part of the second connecting columns 1182 are alternately arranged in the circumferential direction of the ring portion 111, which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0100] The first connecting pillar 1181 has two second connecting pillars 1182 on both sides of the ring portion 111 in the circumferential direction, and the second connecting pillar 1182 has two first connecting pillars 1181 on both sides of the ring portion 111 in the circumferential direction.

[0101] Among them, the first connecting column 1181 on the first end face 119 and the first connecting column 1181 on the second end face 1110 are arranged opposite to each other along the axial direction of the ring portion 111, and the second connecting column 1182 on the first end face 119 and the second connecting column 1182 on the second end face 1110 are arranged opposite to each other along the axial direction of the ring portion 111, which further improves the connection reliability and overall balance.

[0102] like Figures 3 to 9 As shown, in a feasible embodiment, at least two abutment portions 113 are provided on the first end face 119 and / or the second end face 1110 , and the abutment portions 113 protrude from the first end face 119 and / or the second end face 1110 to abut against the outer wall of the output portion 130 and / or the seat body 114 .

[0103] In this technical solution, by providing the abutment portion 113, stable abutment with the outer wall of the output portion 130 and / or the seat body 114 can be achieved, thereby ensuring that the rigid wheel 110 has good installation flatness, enhancing the connection stability between the rigid wheel 110 and the output portion 130 and / or the seat body 114, and reducing vibration and noise.

[0104] In some examples, the abutment portion 113 on the first end surface 119 protrudes from the abutment portion 113 by an equal length, thereby achieving a smooth abutment with the end surface of the output portion 130 and / or the base body 114 and ensuring good installation flatness.

[0105] Specifically, the abutting portions 113 on the first end surface 119 have the same shape and size and are evenly arranged along the circumference of the first end surface 119 to ensure that they can function effectively.

[0106] In some examples, the abutment portion 113 on the second end surface 1110 protrudes from the abutment portion 113 by an equal length, thereby achieving a smooth abutment with the end surface of the output portion 130 and / or the base body 114 and ensuring good installation flatness.

[0107] Specifically, the abutting portions 113 on the second end surface 1110 have the same shape and size and are evenly arranged along the circumference of the second end surface 1110 to ensure that they can function effectively.

[0108] In some examples, the number of the abutment portions 113 on the first end surface 119 and / or the second end surface 1110 can be set according to the size of the rigid wheel 110. Providing a reasonable number of abutment portions 113 can ensure a good abutment effect.

[0109] In a feasible example, the abutting portion 113 is only provided on the first end surface 119 and abuts against the output portion 130 opposite to the first end surface 119 .

[0110] In another feasible example, the abutting portion 113 is only provided on the second end surface 1110 and abuts against the seat body 114 opposite to the second end surface 1110 .

[0111] like Figures 3 to 9 As shown, in another feasible example, the abutting portion 113 is respectively provided on the first end surface 119 and the second end surface 1110 , and abuts against the output portion 130 and / or the seat body 114 opposite to the first end surface 119 and the second end surface 1110 .

[0112] The abutting portion 113 on the first end surface 119 and the abutting portion 113 on the second end surface 1110 are arranged opposite to each other along the axial direction of the ring portion 111 , thereby further improving the abutting reliability and the overall balance.

[0113] like Figures 3 to 9As shown, in a feasible embodiment, a plurality of meshing teeth 117 are formed on the inner ring of the ring portion 111, and the tooth surface of the meshing tooth 117 includes a third arc surface segment 1171 and a fourth arc surface segment 1172. The third arc surface segment 1171 and the fourth arc surface segment 1172 are arranged along the direction from the tooth root to the tooth top, and the bending directions of the third arc surface segment 1171 and the fourth arc surface segment 1172 are different.

[0114] In this technical solution, a pattern of the meshing tooth 117 is further provided. The tooth surface of the meshing tooth 117 includes a third arc surface segment 1171 and a fourth arc surface segment 1172. The third arc surface segment 1171 and the fourth arc surface segment 1172 are arranged in the direction from the tooth root to the tooth top. The third arc surface segment 1171 and the fourth arc surface segment 1172 have different bending directions. Based on this, when the transmission tooth 122 on the flexible spline 120 and the meshing tooth 117 on the rigid spline 110 are engaged, the transmission tooth 122 and the meshing tooth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0115] like Figure 9 As shown, in some examples, the third arc surface segment 1171 is concave, and the fourth arc surface segment 1172 is convex. Such an arrangement can further improve the meshing effect.

[0116] In some examples, a second transition surface is formed between the third arc surface segment 1171 and the fourth arc surface segment 1172, and the second transition surface is set tangent to the third arc surface segment 1171 and the fourth arc surface segment 1172. Such a setting can further ensure the meshing effect and facilitate the preparation of the meshing teeth 117.

[0117] like Figure 1 、 Figure 2 and Figure 12 As shown, in a feasible implementation manner, the output portion 130 includes: an output disk 131 , and the output disk 131 is connected to the ring portion 111 .

[0118] This technical solution further provides a configuration for the output portion 130, which can be connected to the rigid pulley 110. The output portion 130 includes an output disc 131, which is in turn connected to the ring portion 111. Therefore, during operation, when the wave generator 160 is installed in the flexspline 120, it forces the flexspline 120 to elastically deform into an elliptical shape. The transmission teeth 122 near the ends of the major axis of the ellipse fully engage with the meshing teeth 117 on the rigid pulley 110, while the transmission teeth 122 near the ends of the minor axis completely disengage from the meshing teeth 117 of the rigid pulley 110. As the wave generator 160 rotates, the deformed portion of the flexspline 120 also rotates, causing the meshing and disengagement between the flexspline 120 and the rigid pulley 110 to continuously change, thereby achieving different rotational speeds for the flexspline 120 and the rigid pulley 110. The output disc 131 is then connected to the wheel body, enabling power output and achieving a deceleration effect.

[0119] like Figure 12 As shown, in a feasible embodiment, a first plugging port 132 is formed on the output disk 131 , and the plugging portion 112 on the ring portion 111 is used to be plugged into the first plugging port 132 .

[0120] In this technical solution, the structure of the output disk 131 is further provided. A first plug-in interface 132 can be formed on the output disk 131. Based on this, the ring portion 111 can be connected to the output disk 131 by plugging, so that the output disk 131 can rotate synchronously with the ring portion 111, thereby ensuring the reliability of the transmission.

[0121] like Figure 2 As shown, in a feasible implementation manner, the rigid wheel 110 further includes: a seat body 114 , and the ring portion 111 is connected to the seat body 114 .

[0122] In this technical solution, the structural composition of the rigid wheel 110 is further provided. The rigid wheel 110 can also include a seat body 114. The setting of the seat body 114 provides an installation position for the ring part 111. The seat body 114 can also serve as a partial shell of the harmonic reducer. The setting of the seat body 114 can further suppress the rotation of the wheel body.

[0123] It is understood that, if process conditions permit, the ring portion 111 can be an integral structure with the seat body 114, that is, the seat body 114 and the ring portion 111 can be simultaneously manufactured through the injection molding process. If, however, the injection molding process is difficult to ensure processing accuracy, in order to ensure the meshing accuracy of the flexible spline 120 and the rigid spline 110, the ring portion 111 and the seat body 114 can be a separate design. Furthermore, when the ring portion 111 and the seat body 114 are a separate structure, considering cost issues, the seat body 114 can also be manufactured through the injection molding process. Of course, if it is difficult to manufacture the seat body 114 through the injection molding process, the seat body 114 and the wheel body can also be manufactured using different materials or processes.

[0124] like Figure 7 As shown, in a feasible embodiment, a second plug-in port 115 is formed on the base body 114 , and the plug-in portion 112 on the ring portion 111 is used to be plugged into the second plug-in port 115 .

[0125] In this technical solution, a style of the seat body 114 is further provided. A second plug-in port 115 can be formed on the seat body 114. The ring portion 111 can be connected to the seat body 114 by plugging. The ring portion 111 and the seat body 114 can rotate together.

[0126] In a feasible embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion 111 , and the positioning protrusion is used for abutting against the seat body 114 .

[0127] In this technical solution, a method for limiting the ring portion 111 and the seat body 114 in the circumferential direction is provided. A positioning protrusion can be set in the circumferential direction of the ring portion 111, and the positioning protrusion abuts against the seat body 114 to fix the ring portion 111.

[0128] In some examples, in order to further improve the connection effect between the base body 114 and the ring portion 111 , the base body 114 may cover a portion of the ring portion 111 .

[0129] In some examples, in order to further improve the connection effect between the base body 114 and the ring portion 111 , a positioning groove may be provided on the base body 114 , and the positioning protrusion may extend into the positioning groove.

[0130] In a feasible embodiment, the ring portion 111 and the seat body 114 are interference fit and / or transition fit and / or clearance fit.

[0131] In this technical solution, another method of fixing the ring portion 111 and the seat body 114 in the circumferential direction is provided. The ring portion 111 and the seat body 114 can also be connected by interference fit or transition fit, based on which the ring portion 111 can also be fixed. When this structure is adopted, the outer wall of the ring portion 111 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 111.

[0132] It is understandable that the ring portion 111 and the seat body 114 can also be matched with a small gap, which can also play the role of fixing the ring portion 111. When adopting this structure, the outer wall of the ring portion 111 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 111.

[0133] like Figure 2 As shown, in a feasible embodiment, the harmonic reducer also includes: an external connection part 140, the external connection part 140 includes: a shell 141, the shell 141 is sleeved on at least a portion of the rigid wheel 110, and a mounting part is formed on the shell 141; a first bearing 142, the first bearing 142 is arranged between the shell 141 and the rigid wheel 110.

[0134] In this technical solution, the harmonic reducer may further include an external connection portion 140, which is used to connect the harmonic reducer to other devices. The provision of the external connection portion 140 facilitates the fixing and assembly of the harmonic reducer.

[0135] In this technical solution, the structural composition of the external connection part 140 is further provided. Considering that when the output part 130 is connected to the rigid wheel 110, the rigid wheel 110 will rotate, the shell 141 of the external connection part 140 is sleeved on at least part of the rigid wheel 110 to play a protective role. At the same time, the first bearing 142 is arranged between the shell 141 and the rigid wheel 110, so that the rotation of the rigid wheel 110 is more stable.

[0136] It is understandable that, in order to facilitate assembly and maintenance of the harmonic reducer, the housing 141 can be sleeved on part of the base 114 , and the first bearing 142 can be sleeved on the base 114 and located between the base 114 and the housing 141 .

[0137] like Figure 2 As shown, in a feasible embodiment, the wheel 110 further includes: a limit member 116, the limit member 116 is connected to the seat body 114 of the wheel 110 or is an integral structure with the seat body 114, the first bearing 142 is sleeved on the seat body 114, and the limit member 116 is used to limit the first bearing 142.

[0138] In this technical solution, the rigid wheel 110 may further include a limiter 116, which is connected to the seat body 114 through the limiter 116. The limiter 116 can limit the first bearing 142, thereby reducing the probability of the first bearing 142 falling off and ensuring the reliability of the harmonic reducer.

[0139] like Figure 2 As shown, in a feasible implementation manner, the harmonic reducer further includes: a cover plate 150 , and the cover plate 150 is connected to the housing 141 .

[0140] In this technical solution, the harmonic reducer may further include a cover plate 150 , which is connected to the housing 141 and may cover the harmonic reducer, thereby making the harmonic reducer more beautiful and more integrated.

[0141] like Figure 10 and Figure 11 As shown, in a feasible embodiment, the flexible spline 120 includes: a tooth segment 121, a transmission tooth 122 is provided on the outer wall of the tooth segment 121, and the tooth surface of the transmission tooth 122 includes a first arc surface segment 1221 and a second arc surface segment 1222. The first arc surface segment 1221 and the second arc surface segment 1222 are arranged in a direction from the tooth root to the tooth top, and the bending directions of the first arc surface segment 1221 and the second arc surface segment 1222 are different.

[0142] In this technical solution, the structural composition of the flexible spline 120 is further provided. The tooth surface of the transmission tooth 122 includes a first arc surface segment 1221 and a second arc surface segment 1222. The first arc surface segment 1221 and the second arc surface segment 1222 are arranged in the direction from the tooth root to the tooth top. The bending directions of the first arc surface segment 1221 and the second arc surface segment 1222 are different. Based on this, when the transmission teeth 122 on the flexible spline 120 are engaged with the meshing teeth 117 on the rigid wheel 110, the transmission teeth 122 and the meshing teeth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0143] In some examples, the first arc surface segment 1221 is concave, and the second arc surface segment 1222 is convex, and a first transition surface segment is formed between the first arc surface and the second arc surface. The first transition surface segment is arranged tangent to the first arc surface segment 1221 and the second arc surface segment 1222. Based on this, when the transmission teeth 122 on the flexible spline 120 and the meshing teeth 117 on the rigid spline 110 are engaged, the transmission teeth 122 and the meshing teeth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0144] like Figure 10 and Figure 11As shown, in a feasible embodiment, the flexible spline 120 includes: a fixing portion 123 connected to the tooth segment 121 ; wherein the fastener passes through the cover plate 150 and the fixing portion 123 and is connected to the housing 141 .

[0145] In this technical solution, the flexible spline 120 may further include a fixing portion 123, which is arranged on the circumferential side of the tooth segment 121, so that the flexible spline 120 is roughly in the shape of a top hat, and the fastener passes through the cover plate 150 and the fixing portion 123 and is then connected to the housing 141, thereby completing the fixation of the flexible spline 120 and making the structure of the harmonic reducer more compact.

[0146] like Figure 2 As shown, in a feasible embodiment, the first bearing 142 includes a rolling bearing, which can further reduce costs.

[0147] It will be appreciated that the rolling bearing may be a deep groove ball bearing.

[0148] like Figure 2 As shown, in a feasible embodiment, the harmonic reducer further includes: a wave generator 160, the wave generator 160 is used to be connected to the flexible wheel 120; an input part 170, the input part 170 is connected to the wave generator 160, and the wave generator 160 includes a cam 161 and a second bearing 162 sleeved on the cam 161.

[0149] This technical solution further provides the structural components of a harmonic reducer, which can include a wave generator 160 and an input unit 170. During operation, the input unit 170 is connected to the wave generator 160. When the wave generator 160 is installed in the flexspline 120, it forces the flexspline 120 to elastically deform into an ellipse. As the input unit 170 drives the wave generator 160 to rotate, the transmission teeth 122 near the ends of the major axis of the ellipse fully engage with the meshing teeth 117 on the rigid pulley 110, while the transmission teeth 122 near the ends of the minor axis completely disengage from the meshing teeth 117 of the rigid pulley 110. As the wave generator 160 rotates, the deformed portion of the flexspline 120 also rotates, causing the meshing and disengagement between the flexspline 120 and the rigid pulley 110 to continuously change, thereby achieving different rotational speeds for the flexspline 120 and the rigid pulley 110. The output disc 131 is then connected to the wheel body, enabling power output and achieving a reduction in speed.

[0150] In this technical solution, the wave generator 160 includes a cam 161 and a second bearing 162 sleeved on the cam 161, which can make the rotation of the wave generator 160 more stable. In order to reduce costs, the second bearing 162 can be an elastic bearing.

[0151] It is understandable that the connection method between the wave generator 160 and the flexspline 120 includes but is not limited to interference fit, transition fit or small clearance fit.

[0152] like Figure 2 As shown, in a feasible embodiment, the harmonic reducer further includes: a third bearing 180, the output part 130 is sleeved on a partial area of the input part 170, and the third bearing 180 is arranged between the input part 170 and the output part 130.

[0153] In this technical solution, the structural composition of the harmonic reducer is further provided. The output part 130 is sleeved on a partial area of the input part 170, which can make the structure of the harmonic reducer more compact. A third bearing 180 is provided between the input part 170 and the output part 130, which can make the rotation of the input part 170 and the output part 130 more stable, and can further ensure the transmission accuracy of the harmonic reducer.

[0154] In a feasible embodiment, the material for preparing the flexible spline 120 includes injection-molded engineering plastics. This configuration facilitates injection molding of the flexible spline 120 while ensuring the mechanical strength of the flexible spline 120.

[0155] In some examples, the materials used to prepare the flexible wheel 120 include but are not limited to injection-molded engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS) and other pure materials and related materials filled with glass fiber and / or carbon fiber and reinforced materials.

[0156] In a feasible embodiment, the material for preparing the rigid wheel 110 includes injection-molded engineering plastics. Such a configuration can ensure the processing accuracy and mechanical strength of the rigid wheel 110.

[0157] In some examples, materials used to prepare the rigid wheel 110 include, but are not limited to, injection-molded engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS), and other pure materials and related materials filled with glass fiber and / or carbon fiber for reinforcement.

[0158] like Figures 1 to 12 As shown, according to the second aspect of an embodiment of the present application, a robotic arm is proposed, comprising: a harmonic reducer as in any of the above technical solutions.

[0159] The robotic arm provided in the embodiment of the present application includes a harmonic reducer as in any of the above technical solutions, so the robotic arm has all the beneficial effects of the harmonic reducer of the above technical solutions.

[0160] In some examples, the robotic arm may include a robotic arm body and a power component. The power component may be connected to the robotic arm body through a harmonic reducer. The harmonic reducer may regulate the rotational speed, making the robotic arm work more stably.

[0161] like Figures 1 to 12 As shown, according to the third aspect of the embodiment of the present application, a cleaning device is proposed, including: a harmonic reducer as any of the above technical solutions or a robotic arm as described above.

[0162] The cleaning device provided in the embodiment of the present application includes a harmonic reducer as in any of the above technical solutions or a robotic arm as described above, so the cleaning device has all the beneficial effects of the harmonic reducer or robotic arm of the above technical solutions.

[0163] In the cleaning equipment provided in the embodiment of the present application, the harmonic reducer can be connected to the main body of the cleaning equipment to perform speed reduction transmission for the power components in the main body of the cleaning equipment. The first cavity formed on the harmonic reducer facilitates the layout of the lines or pipelines of the main body of the cleaning equipment. Further, in combination with the second cavity on the harmonic reducer, the lines and pipelines can pass through the harmonic reducer, which can simplify the layout of the lines and pipelines of the cleaning equipment.

[0164] It is understandable that the cleaning device can be an automatic cleaning device, and the cleaning device can also include a base station, and the cleaning device body can be used to park in the base station. The base station can be used to clean the cleaning parts of the cleaning device body, replenish water and detergent to the cleaning device body, etc., making the use of the cleaning device more convenient. In this case, the cleaning device requires more power components, such as the walking unit of the cleaning device, the cleaning roller, the mechanical arm for grabbing obstacles, etc., which all require power components. When the power components need to be reduced in speed, they can be equipped with a harmonic reducer.

[0165] The harmonic reducer of the cleaning equipment provided in the embodiment of the present application is lighter in weight, which facilitates the flexible movement of the main body of the cleaning equipment. The harmonic reducer has a lower cost, which can reduce the cost of the cleaning equipment.

[0166] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0167] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0168] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0169] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A harmonic reducer, characterized in that: include: A rigid wheel, the rigid wheel comprising a ring portion, and the rigid wheel is prepared by an injection molding process; a flexible spline, the flexible spline being configured to engage with the ring portion; an output portion connected to one of the rigid wheel and the flexible wheel; Wherein, at least a portion of the flexible spline is located inside the rigid spline.

2. The harmonic reducer according to claim 1, characterized in that: The ratio of the maximum radial thickness to the minimum radial thickness of the ring portion is in a range of 1 to 1.

5.

3. The harmonic reducer according to claim 1, characterized in that: The ring portion is a solid structure.

4. The harmonic reducer according to claim 1, characterized in that: The first end surface and / or the second end surface of the ring portion are provided with an inserting portion, and the inserting portion protrudes from the first end surface and / or the second end surface so as to be inserted into the output portion; Wherein, the plug-in portion and the ring portion are an integrated structure.

5. The harmonic reducer according to claim 4, characterized in that: The plug-in portion includes at least two first connecting columns and at least two second connecting columns, and the length of the second connecting columns in the axial direction of the ring portion is smaller than the length of the first connecting columns in the axial direction of the ring portion.

6. The harmonic reducer according to claim 5, characterized in that: When a stop is provided on the first end face and / or the second end face, the length of the first connecting column in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting column in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

7. The harmonic reducer according to claim 5, characterized in that: At least part of the first connecting columns and at least part of the second connecting columns are alternately arranged in the circumferential direction of the ring portion.

8. The harmonic reducer according to claim 1, characterized in that: At least two abutting portions are provided on the first end surface and / or the second end surface of the ring portion. The abutting portions protrude from the first end surface and / or the second end surface to abut against the outer wall of the output portion.

9. The harmonic reducer according to claim 1, characterized in that: A plurality of meshing teeth are formed on the inner ring of the ring portion, and the tooth surface of the meshing teeth includes a third arc surface segment and a fourth arc surface segment. The third arc surface segment and the fourth arc surface segment are arranged in a direction from the tooth root to the tooth top, and the curvature direction of the third arc surface segment is different from that of the fourth arc surface segment.

10. The harmonic reducer according to any one of claims 1 to 9, characterized in that: The output unit includes: An output disk is connected to the ring portion.

11. The harmonic reducer according to claim 10, characterized in that: A first plug-in interface is formed on the output disk, and the plug-in portion on the ring portion is used to be plugged into the first plug-in interface.

12. The harmonic reducer according to any one of claims 1 to 9, characterized in that: The rigid wheel also includes: The ring portion is connected to the seat body.

13. The harmonic reducer according to claim 12, characterized in that: A second plug-in interface is formed on the seat body, and the plug-in portion on the ring portion is used for plugging into the second plug-in interface.

14. The harmonic reducer according to claim 12, characterized in that: A positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion, and the positioning protrusion is used for abutting against the seat body.

15. The harmonic reducer according to claim 12, characterized in that: The ring portion and the seat body are interference fit and / or transition fit and / or clearance fit.

16. The harmonic reducer according to any one of claims 1 to 9, characterized in that: Also includes: The external connection part includes: a housing, the housing being sleeved on at least a portion of the rigid wheel, and having a mounting portion formed on the housing; A first bearing is provided between the housing and the circular ring.

17. The harmonic reducer according to claim 16, characterized in that: The rigid wheel also includes: A limiting member is connected to the seat of the rigid wheel or is an integral structure with the seat, the first bearing is sleeved on the seat, and the limiting member is used to limit the first bearing.

18. The harmonic reducer according to claim 16, characterized in that: Also includes: A cover plate is connected to the shell.

19. The harmonic reducer according to claim 18, characterized in that: The flexible pulley includes: A tooth segment, wherein a transmission tooth is provided on an outer wall of the tooth segment, and a tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, wherein the first arc surface segment and the second arc surface segment are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment and the second arc surface segment have different curvature directions; a fixing portion connected to the tooth segment; Wherein, the fastener passes through the cover plate and the fixing portion and is connected to the shell.

20. The harmonic reducer according to claim 16, characterized in that: The first bearing includes a rolling bearing.

21. The harmonic reducer according to any one of claims 1 to 9, characterized in that: Also includes: a wave generator, the wave generator being connected to the flexspline; an input portion connected to the wave generator; The wave generator includes a cam and a second bearing sleeved on the cam.

22. The harmonic reducer according to claim 21, characterized in that: Also includes: The third bearing is configured such that the output portion is sleeved on a partial area of the input portion, and the third bearing is disposed between the input portion and the output portion.

23. The harmonic reducer according to any one of claims 1 to 9, characterized in that: The material for preparing the flexible wheel includes injection-molded engineering plastics; and / or The material for preparing the rigid wheel includes injection-molded engineering plastics.

24. A robotic arm, characterized in that: include: The harmonic reducer according to any one of claims 1 to 23.

25. A cleaning device, characterized in that: include: The harmonic reducer according to any one of claims 1 to 23 or the robotic arm according to claim 24.

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