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 wave generator and an input assembly, and a first cavity is formed in an input shaft of the input assembly, so that in the working process of the harmonic reducer, power can be input through the input shaft, and the input shaft drives the wave generator to rotate. When a cable or a pipeline needs to be led into the harmonic reducer, the cable or the pipeline can utilize the first cavity in the input shaft, the cable or the pipeline can penetrate through the input shaft through the first cavity to complete cable arrangement, on the basis of full utilization of the internal space of the input assembly, layout of the cable and the pipeline is more convenient, and the practicability is high. The size of the harmonic reducer is reduced, the structure of the harmonic reducer is more compact, meanwhile, a cable or a pipeline penetrates through the input shaft with the first cavity, winding can be avoided, the structure of the harmonic reducer can be simplified, the cost of the harmonic reducer is reduced, and the working reliability of the harmonic reducer is improved.

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] Transmission equipment needs to be equipped with driving parts for power input. When the harmonic reducer is used, it usually needs to be connected to other equipment or devices. When inputting power and connecting with other components, it is often necessary to connect cables, lines or pipes to the harmonic reducer. The wiring of the harmonic reducer in traditional technology is not convenient, resulting in a complex structure of the harmonic reducer, which is not conducive to the promotion of the harmonic reducer. 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] wave generator;

[0010] an input component connected to the wave generator;

[0011] The input assembly includes an input shaft, a first cavity is formed in the input shaft, and the input shaft is connected to the wave generator.

[0012] In a feasible implementation manner, the harmonic reducer further includes:

[0013] a flexible spline, the wave generator being connected to the flexible spline;

[0014] a rigid wheel, the flexible wheel being used for meshing with the rigid wheel;

[0015] an output assembly connected to the flexible pulley, wherein a second cavity is formed on the output assembly;

[0016] The second cavity is connected to the first cavity.

[0017] In a feasible implementation manner, the output component includes:

[0018] an output shaft, wherein the second cavity is formed in the output shaft; or

[0019] An output flange, wherein the second cavity is formed in the output flange.

[0020] In a feasible embodiment, the flexible wheel is prepared by an injection molding process; and / or

[0021] The rigid wheel is prepared by an injection molding process.

[0022] In a feasible implementation manner, the harmonic reducer further includes:

[0023] A connecting portion is provided on the flexible pulley, and the connecting portion protrudes from the surface of the flexible pulley;

[0024] The output assembly is connected to the flexible pulley through the connecting portion.

[0025] In a feasible implementation manner, the connecting portion and the flexible pulley are an integrated structure.

[0026] In a feasible embodiment, the rigid wheel includes a ring portion and a plurality of meshing teeth, the plurality of meshing teeth are formed on an inner ring of the ring portion, and a ratio of a maximum radial thickness to a minimum radial thickness of the ring portion is in a range of 1 to 1.5;

[0027] Wherein, the rigid wheel is prepared by injection molding process.

[0028] In a feasible embodiment, the rigid wheel includes:

[0029] The seat body and the cover plate, the first end face and / or the second end face of the ring portion are provided with an inserting portion, and the inserting portion protrudes from the first end face and / or the second end face so as to be inserted into the seat body and the cover plate.

[0030] 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.

[0031] In a feasible embodiment, the ring portion and the seat body have an interference fit and / or a transition fit and / or a clearance fit.

[0032] In a feasible embodiment, the material for preparing the flexible spline includes injection-molded engineering plastics; and / or

[0033] The material for preparing the rigid wheel includes injection-molded engineering plastics.

[0034] In a feasible implementation manner, the input component further includes:

[0035] A sliding bearing or a rolling bearing, wherein the sliding bearing sleeve or the rolling bearing is arranged on the input shaft.

[0036] In a feasible implementation manner, the input component further includes:

[0037] a rotor connected to the input shaft;

[0038] A locking assembly is used to lock the rotor.

[0039] In a feasible embodiment, the locking assembly includes:

[0040] A driving member connected to the housing of the harmonic reducer;

[0041] The driving member is connected to the pin body and is used to drive the pin body to move closer to or away from the rotor.

[0042] In a feasible embodiment, a plurality of insertion holes are formed on a side of the rotor facing the locking assembly, and the pin bodies are used to be inserted into the insertion holes.

[0043] In a feasible implementation manner, the harmonic reducer further includes:

[0044] a control panel connected to the input assembly and at least used to control the start and stop of the input assembly;

[0045] A detection member is used to detect the state of the input component.

[0046] According to a second aspect of an embodiment of the present application, a robotic arm is provided, comprising:

[0047] A harmonic reducer as described in any of the above technical solutions.

[0048] According to a third aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0049] Clean the main body of the equipment;

[0050] 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.

[0051] In a feasible embodiment, the cleaning device body includes:

[0052] A drive assembly and a first cable, the first cable passing through the first cavity and connected to the drive assembly.

[0053] In a feasible embodiment, the cleaning device body includes:

[0054] A sensor and a second cable, the second cable passing through the first cavity and connected to the sensor.

[0055] In a feasible embodiment, the cleaning device body includes:

[0056] A hydraulic component and a hydraulic pipeline, wherein the hydraulic pipeline passes through the first cavity and is connected to the hydraulic component.

[0057] Compared with the prior art, the present invention has at least the following beneficial effects:

[0058] The harmonic reducer provided in the embodiment of the present application includes a wave generator and an input component, and a first cavity is formed in the input shaft of the input component. Based on this, during the operation of the harmonic reducer, power can be input through the input shaft, and the input shaft drives the wave generator to rotate. When it is necessary to pass a cable or pipeline through the harmonic reducer, the cable or pipeline can utilize the first cavity inside the input shaft, and the cable or pipeline can pass through the input shaft through the first cavity to complete the cable arrangement. Based on this, the space inside the input component is fully utilized, making the layout of the cable and pipeline more convenient, which is conducive to reducing the volume of the harmonic reducer and making the structure of the harmonic reducer more compact. At the same time, the cable or pipeline passes through the input shaft formed with the first cavity, so the harmonic reducer can avoid winding without setting a wiring ring or can reduce the wiring ring, which can simplify the structure of the harmonic reducer, reduce the cost of the harmonic reducer, and improve the reliability of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] 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 accompanying drawings to represent the same components. In the accompanying drawings:

[0060] Figure 1 A schematic structural diagram of a harmonic reducer according to an embodiment of the present application;

[0061] Figure 2 A schematic structural diagram of a cross section of a harmonic reducer according to an embodiment of the present application, taken from a first angle;

[0062] Figure 3 A schematic structural diagram of a cross section of a harmonic reducer according to an embodiment of the present application, taken from a second angle;

[0063] Figure 4A schematic cross-sectional structural diagram of a harmonic reducer according to an embodiment of the present application, taken from a second angle;

[0064] Figure 5 A schematic structural diagram of a flexible pulley of a harmonic speed reducer according to an embodiment of the present application;

[0065] Figure 6 A schematic structural diagram of a flexible pulley of a harmonic speed reducer according to an embodiment of the present application from another angle;

[0066] Figure 7 A schematic structural diagram of the transmission teeth of a flexspline of a harmonic speed reducer according to an embodiment of the present application;

[0067] Figure 8 A schematic structural diagram of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0068] Figure 9 A schematic structural diagram of a harmonic reducer in an embodiment of the present application with the rigid wheel and the base body separated;

[0069] Figure 10 A schematic structural diagram of a rigid wheel of a harmonic reducer according to an embodiment of the present application at a first angle;

[0070] Figure 11 A schematic structural diagram of a second angle of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0071] Figure 12 This is a schematic structural diagram of a base of a harmonic reducer according to an embodiment of the present application, viewed from a first angle;

[0072] Figure 13 A schematic structural diagram of a second angle of a base of a harmonic reducer according to an embodiment of the present application;

[0073] Figure 14 This is a schematic structural diagram of the meshing teeth of a rigid wheel of a harmonic reducer according to an embodiment of the present application.

[0074] in, Figures 1 to 14 The corresponding relationship between the reference numerals and component names is as follows:

[0075] 110 wave generator, 120 input assembly, 130 flexible pulley, 140 rigid pulley, 150 output assembly, 160 connection part, 170 sliding bearing, 180 control board, 190 detection part;

[0076] 121 input shaft, 122 first cavity, 123 rotor, 124 locking assembly, 1231 socket, 1241 driving member, 1242 pin body;

[0077] 131 assembly hole, 132 tooth segment, 133 transmission tooth, 1331 first arc surface segment, 1332 second arc surface segment;

[0078] 141 ring portion, 142 meshing teeth, 143 seat body, 144 cover body; 145 plug-in portion, 146 abutting portion, 147 plug-in port, 148 first end surface, 149 second end surface, 1410 stopper, 1421 third arc surface segment, 1422 fourth arc surface segment, 1451 first connecting post, 1452 second connecting post;

[0079] 151 second cavity, 152 output flange;

[0080] 161 connecting column. DETAILED DESCRIPTION

[0081] 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.

[0082] like Figures 1 to 14 As shown, according to a first aspect of an embodiment of the present application, a harmonic reducer is proposed, including: a wave generator 110; an input component 120, the input component 120 being connected to the wave generator 110; wherein the input component 120 includes an input shaft 121, a first cavity 122 is formed in the input shaft 121, and the input shaft 121 is connected to the wave generator 110.

[0083] The harmonic reducer provided in the embodiment of the present application includes a wave generator 110 and an input component 120, and a first cavity 122 is formed in the input shaft 121 of the input component 120. Based on this, during the operation of the harmonic reducer, power can be input through the input shaft, and the input shaft drives the wave generator 110 to rotate. When it is necessary to pass a cable or pipeline through the harmonic reducer, the cable or pipeline can utilize the first cavity 122 inside the input shaft. The cable or pipeline can pass through the input shaft through the first cavity 122 to complete the cable arrangement. Based on this, the space inside the input component 120 is fully utilized, making the layout of the cable and pipeline more convenient, which is conducive to reducing the volume of the harmonic reducer and making the structure of the harmonic reducer more compact. At the same time, the cable or pipeline passes through the input shaft formed with the first cavity 122. Then, when the harmonic reducer does not need to set a wiring ring or can reduce the wiring ring, it can avoid winding, simplify the structure of the harmonic reducer, reduce the cost of the harmonic reducer, and improve the reliability of the harmonic reducer.

[0084] like Figures 1 to 4As shown, in a feasible embodiment, the harmonic reducer further includes: a flexspline 130, the wave generator 110 is used to be connected to the flexspline 130; a rigid wheel 140, the flexspline 130 is used to engage with the rigid wheel 140; an output component 150, the output component 150 is connected to the flexspline 130, and a second cavity 151 is formed on the output component 150; wherein the second cavity 151 is connected to the first cavity 122.

[0085] In this technical solution, the harmonic reducer may further include a flexspline 130, a rigid wheel 140, and an output assembly 150. During use, when the wave generator 110 is installed in the flexspline 130, the flexspline 130 is forced to undergo elastic deformation and become an ellipse. When the input assembly 120 is turned on, the transmission teeth 133 near the ends of the major axis of the ellipse fully engage with the meshing teeth 142 on the rigid wheel 140, while the transmission teeth 133 near the ends of the minor axis are completely disengaged from the meshing teeth 142 of the rigid wheel 140. As the wave generator 110 rotates, the deformed portion of the flexspline 130 also rotates, causing the meshing and disengagement states between the flexspline 130 and the rigid wheel 140 to continuously change, thereby achieving a slow rotation of the flexspline 130 relative to the rigid wheel 140, thereby achieving a deceleration effect.

[0086] In this technical solution, a second cavity 151 is formed on the output component 150. Based on this, when the output component 150 of the harmonic reducer needs to connect to or disconnect pipes and lines, the lines or pipes pass through the output component 150 through the second cavity 151. Based on this, the space inside the output component 150 is fully utilized, making the layout of cables and pipes more convenient, which is conducive to reducing the volume of the harmonic reducer and making the structure of the harmonic reducer more compact. At the same time, the cables or pipes pass through the output component 150 with the second cavity 151. Then, the harmonic reducer can avoid winding without setting a wiring ring or reducing the wiring ring, thereby simplifying the structure of the harmonic reducer, reducing the cost of the harmonic reducer, and improving the reliability of the harmonic reducer.

[0087] In this technical solution, the second cavity 151 is connected to the first cavity 122. Based on this, when the harmonic reducer needs to be connected to or contacted with lines and pipelines, or when lines or pipelines need to pass through the harmonic reducer, the lines and pipelines can use the first cavity 122 and the second cavity 151 to pass through the harmonic reducer, which is more convenient for the layout of the lines and pipelines.

[0088] It is understandable that the connection method between the wave generator 110 and the flexspline 130 includes but is not limited to interference fit, transition fit or small clearance fit.

[0089] like Figures 1 to 4As shown, in a feasible embodiment, the output assembly 150 includes: an output shaft, in which the second cavity 151 is formed; or an output flange 152, in which the second cavity 151 is formed.

[0090] This technical solution further provides the structural composition of the output component. The output assembly 150 can include an output shaft or an output flange 152, allowing the output assembly 150 to output in two different ways, expanding the use cases of the harmonic reducer. Furthermore, both the output shaft and the output flange 152 can be hollow structures, forming a second cavity 151 for wiring or piping to pass through.

[0091] In one feasible embodiment, the flexible spline 130 is manufactured by injection molding. This configuration can, firstly, improve the processing accuracy of the flexible spline 130, thereby ensuring the transmission accuracy of the harmonic reducer; and secondly, reduce the cost of the harmonic reducer.

[0092] It is understood that the materials used to prepare the flexible wheel 130 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.

[0093] In one feasible embodiment, the rigid wheel 140 is manufactured by injection molding. This configuration can, firstly, improve the processing accuracy of the rigid wheel 140, thereby ensuring the transmission accuracy of the harmonic reducer; and secondly, reduce the cost of the harmonic reducer.

[0094] It is understandable that the materials used to prepare the rigid wheel 140 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.

[0095] like Figures 5 to 7 As shown, in a feasible embodiment, the harmonic reducer further includes: a connecting portion 160 provided on the flexspline 130 , the connecting portion 160 protruding from the surface of the flexspline 130 ; the output assembly 150 is connected to the flexspline 130 via the connecting portion 160 .

[0096] In this technical solution, it is considered that in conventional technology, a connection hole is mostly provided on the flexible wheel 130, and then a connection portion 160 such as a bolt is passed through the connection hole to connect to the power output assembly 150. However, during production and processing, the connection hole may shrink, resulting in defects such as insufficient filling of the tooth shape during injection molding, affecting the transmission accuracy, and also reducing the strength of the flexible wheel 130. Based on this, the harmonic reducer provided in the embodiment of the present application includes a flexible wheel 130, a connection portion 160 and an output assembly 150. During the preparation of the harmonic reducer, a protruding connection portion 160 is formed on the surface of the flexible wheel 130, which makes it easier to produce and process the flexible wheel 130 and the connection portion 160, and can improve the processing accuracy. For example, the flexible wheel 130 and the connection portion 160 can be prepared as an integral part through an injection molding process, replacing the connection hole process in conventional technology, which can reduce or eliminate the probability of deformation of the connection portion 160, thereby ensuring the transmission accuracy of the harmonic reducer.

[0097] During the assembly process of the harmonic reducer provided in the embodiment of the present application, the output component 150 is connected to the flexible spline 130 through the connecting portion 160, and the connecting portion 160 protrudes from the surface of the flexible spline 130. At least part of the connecting portion 160 can be inserted into the output component 150, or at least part of the components of the output component 150 are sleeved on the connecting portion 160. Based on this, the output component 150 and the connecting portion 160 can be quickly assembled, and the output component 150 and the flexible spline 130 can be connected.

[0098] During operation of the harmonic reducer provided in the embodiment of the present application, after transmission, the flexible spline 130 is connected to the output assembly 150 as the source of power output. In the process of the flexible spline 130 driving the output assembly 150 to move, the protruding connection portion 160 on the surface of the flexible spline 130 can transmit torque, making the output assembly 150 move more smoothly. At the same time, by forming the protruding connection portion 160 on the flexible spline 130, the overall mechanical strength of the flexible spline 130 can be improved, thereby increasing the service life of the harmonic reducer.

[0099] like Figures 5 to 7 As shown, in a feasible embodiment, the connecting portion 160 includes a plurality of connecting columns 161 , and the connecting columns 161 are disposed on the inner surface and / or outer surface of the bottom of the flexspline 130 .

[0100] In this technical solution, the connecting portion 160 may include a plurality of connecting columns 161. Based on this, in a first aspect, the output component 150 is connected to the flexible spline 130 through the plurality of connecting columns 161, so that there are multiple connection points between the output component 150 and the flexible spline 130, which can make the connection between the output component 150 and the flexible spline 130 more reliable. At the same time, the output of torque through the plurality of connecting columns 161 can ensure the stability of the operation of the output component 150.

[0101] In this technical solution, all the connecting parts 160 can be arranged on the inner surface of the flexible spline 130. Based on this, some components of the output assembly 150 can be set on the inner surface connecting column 161 of the flexible spline 130, and other components can be arranged on the outer surface side of the flexible spline 130. In addition to being connected to the flexible spline 130 through the connecting part 160, the output assembly 150 can also clamp the flexible spline 130, which can further ensure transmission accuracy.

[0102] In this technical solution, all the connecting columns 161 can be arranged on the outer surface of the flexible wheel 130. Such an arrangement facilitates the alignment of the output assembly 150 and the connecting portion 160, thereby improving assembly efficiency.

[0103] In this technical solution, some connecting columns 161 can be distributed on the inner surface of the flexible spline 130, and another part of the connecting columns 161 can be distributed on the outer surface of the flexible spline 130. That is to say, the inner and outer surfaces of the flexible spline 130 can be distributed with connecting columns 161, which can make the contact between the connecting part 160 and the output component 150 more complete, and can further ensure the transmission accuracy.

[0104] It is understandable that the connecting post 161 may be cylindrical, truncated cone, truncated pyramid, prismatic, or conical, as long as the output assembly 150 and the connecting portion 160 are aligned.

[0105] In some examples, the connecting post 161 is a cylindrical structure. This configuration not only facilitates the production and processing of the connecting post 161 but also facilitates the connection between the connecting post 161 and the output assembly 150, such as facilitating the insertion of the connecting post 161 into certain components of the output assembly 150.

[0106] In some examples, when multiple connecting columns 161 are cylindrical, the diameters of the multiple connecting columns 161 are the same, and the heights of the multiple connecting columns 161 are the same, that is, the structures and styles of the connecting columns 161 can be the same, thereby facilitating rapid alignment of the output component 150 with the multiple connecting columns 161.

[0107] In some examples, the maximum width of the cross-section of multiple connecting pillars 161 is the same, and the height of multiple connecting pillars 161 is the same, that is, the structure and style of the connecting pillars 161 can be the same, based on which it is convenient to quickly align the output component 150 with the multiple connecting pillars 161.

[0108] like Figures 5 to 7As shown, in some examples, the plurality of connecting posts 161 are divided into at least a first group and a second group. The maximum width of the cross-section of the connecting posts 161 in the first group is the same as the maximum width of the cross-section of the connecting posts 161 in the second group. The connecting posts 161 in the first group are arranged radially opposite to each other along the flexspline 130, while the connecting posts 161 in the second group are arranged radially opposite to each other along the flexspline 130. The height of the connecting posts 161 in the first group is the same as the height of the connecting posts 161 in the second group. In this technical solution, the diameters of the connecting posts 161 in different groups can be different. Based on this, when assembling the output assembly 150 and the connecting portion 160, the different diameters can achieve a fool-proof assembly effect, allowing the output assembly 150 and the flexspline 130 to be accurately assembled. At the same time, during operation of the harmonic reducer, torque is output through the connecting posts 161 with the same maximum width, which can make the transmission of the output assembly 150 more reliable.

[0109] In a feasible embodiment, a mounting hole 131 is provided at the bottom of the flexible spline 130 , and a plurality of connecting columns 161 are evenly arranged along the circumference of the mounting hole 131 .

[0110] In this technical solution, an assembly hole 131 can also be formed on the flexible wheel 130, and the assembly hole 131 can serve as an installation stop for the flexible wheel 130. The output component 150 is fixed by cooperating with the connecting column 161 through the assembly hole 131. Part of the output component 150 can extend into the assembly hole 131, which facilitates the establishment of a connection relationship between the output component 150 and the flexible wheel 130.

[0111] In some examples, the connecting portion 160 is disposed at the bottom of the flexible wheel 130 , and a setting position of the connecting portion 160 is further provided based on this. Such a setting facilitates the injection molding preparation of the connecting portion 160 and the flexible wheel 130 , and also facilitates the connection between the output component 150 and the connecting portion 160 .

[0112] like Figures 5 to 7 As shown, in a feasible embodiment, the flexible spline 130 includes: a tooth segment 132, a transmission tooth 133 is provided on the outer wall of the tooth segment 132, and the tooth surface of the transmission tooth 133 includes a first arc surface segment 1331 and a second arc surface segment 1332. The first arc surface segment 1331 and the second arc surface segment 1332 are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment 1331 and the second arc surface segment 1332 have different bending directions.

[0113] In this technical solution, the flexspline 130 may include a tooth segment 132, on which a plurality of transmission teeth 133 may be formed. Due to the arrangement of the plurality of transmission teeth 133, during operation, when the wave generator 110 is installed in the flexspline 130, the flexspline 130 is forced to elastically deform into an elliptical shape. The transmission teeth 133 near the ends of the major axis of the ellipse fully engage with the meshing teeth 142 on the rigid wheel 140, while the transmission teeth 133 near the ends of the minor axis are completely disengaged from the meshing teeth 142 of the rigid wheel 140. As the wave generator 110 rotates, the deformed portion of the flexspline 130 also rotates, causing the meshing and disengagement between the flexspline 130 and the rigid wheel 140 to continuously change, thereby achieving a slow rotation of the flexspline 130 relative to the rigid wheel 140, thereby achieving a deceleration effect.

[0114] In this technical solution, a tooth profile structure of a transmission tooth 133 is further provided. The tooth surface of the transmission tooth 133 includes a first arc surface segment 1331 and a second arc surface segment 1332. The first arc surface segment 1331 and the second arc surface segment 1332 are arranged in a direction from the tooth root to the tooth top. The first arc surface segment 1331 and the second arc surface segment 1332 have different bending directions. Based on this, when the transmission tooth 133 on the flexible spline 130 and the meshing tooth 142 on the rigid spline 140 are engaged, the transmission tooth 133 and the meshing tooth 142 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 Figures 5 to 7 As shown, in some examples, the first arc surface segment 1331 is concave, and the second arc surface segment 1332 is convex, and a transition surface segment is formed between the first arc surface and the second arc surface. The transition surface segment is arranged tangent to the first arc surface segment 1331 and the second arc surface segment 1332. Based on this, when the transmission teeth 133 on the flexible spline 130 and the meshing teeth 142 on the rigid spline 140 are engaged, the transmission teeth 133 and the meshing teeth 142 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0116] like Figures 5 to 7 As shown, in a feasible implementation manner, the harmonic reducer further includes: an assembly hole 131 is provided at the bottom of the flexspline 130 , and at least part of the output member is located in the assembly hole 131 .

[0117] In this technical solution, the output member can be inserted into the assembly hole 131 at the bottom of the flexible wheel 130. The assembly hole 131 serves as an assembly stop, which can make the coaxiality between the movement of the flexible wheel 130 and the movement of the output member higher, and can further ensure the reliability of the transmission of the flexible wheel 130.

[0118] In a feasible embodiment, the flexible spline 130 and the connecting portion 160 are an integrated structure.

[0119] In this technical solution, the flexible wheel 130 and the connecting portion 160 are an integrated structure. This arrangement, on the one hand, ensures the mechanical strength of the flexible wheel 130 and the connecting portion 160. When the transmission is performed through the harmonic reducer, the connecting portion 160 can serve as the main force point to drive the output component 150 to rotate. The integrated structural design can extend the service life of the harmonic reducer. On the other hand, it is convenient to facilitate the preparation of the flexible wheel 130 and the connecting portion 160, which can ensure processing accuracy and reduce costs.

[0120] In a feasible embodiment, the flexible spline 130 and the connecting portion 160 are manufactured by an injection molding process.

[0121] This technical solution further provides a manufacturing process for the flexspline 130 and the connecting portion 160. These can be manufactured through an injection molding process. The design of the connecting portion 160 protrudes from the flexspline 130 facilitates the manufacture of the injection mold while ensuring manufacturing accuracy. Compared to conventional hole-drilling solutions, this prevents hole shrinkage in the connecting portion 160, ensuring the reliability of the flexspline 130 and the connecting portion 160.

[0122] like Figures 8 to 14 As shown, in a feasible embodiment, the harmonic reducer further includes: a rigid wheel 140, and the flexible wheel 130 is used to engage with the rigid wheel 140; wherein, the rigid wheel 140 includes a ring portion 141 and a plurality of meshing teeth 142, and the plurality of meshing teeth 142 are formed on the inner ring of the ring portion 141, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 141 is in the range of 1 to 1.5; wherein, the rigid wheel 140 is prepared by an injection molding process.

[0123] In this technical solution, it is further taken into consideration that the rigid wheel 140 of the harmonic generator 110 in the traditional technology is mostly made by precision processing of metal, which results in high cost and heavy weight of the harmonic generator 110. Based on this, the structural composition of the harmonic reducer is further provided. The harmonic reducer can also include a rigid wheel 140, and the rigid wheel 140 includes a ring portion 141 and meshing teeth 142 formed on the ring portion 141. The rigid wheel 140 is made by an injection molding process. Based on this, preparing the ring portion 141 by the injection molding process can reduce the production cost of the rigid wheel 140, reduce the weight of the rigid wheel 140, and thus reduce 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 movable smart home appliances, while ensuring the transmission effect, making the movement of smart home appliances more flexible.

[0124] The harmonic reducer provided in this embodiment takes into account that the structure of the rigid wheel 140 in conventional technology usually requires components to fix the rigid wheel 140, such as lugs, and that part of the structure of the rigid wheel 140 also serves as the shell of the harmonic reducer. Therefore, the structure of the rigid wheel 140 is relatively complex. Therefore, if the rigid wheel 140 in conventional technology is prepared by injection molding, it will be difficult to ensure 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 141, that is, the portion where the rigid wheel 140 and the flexible wheel 130 engage is prepared by injection molding, and this component is roughly annular. Such a configuration makes it easy to set up a mold corresponding to the ring portion 141, facilitates the injection molding of the ring portion 141, can ensure injection molding accuracy, and can make the engagement of the rigid wheel 140 and the flexible wheel 130 more reliable, thereby reducing costs while ensuring transmission accuracy.

[0125] like Figures 8 to 14 As shown, in a feasible embodiment, the tooth surface of the meshing tooth 142 includes a third arc surface segment 1421 and a fourth arc surface segment 1422, and the third arc surface segment 1421 and the fourth arc surface segment 1422 are arranged in a direction from the tooth root to the tooth top, and the bending directions of the third arc surface segment 1421 and the fourth arc surface segment 1422 are different.

[0126] In this technical solution, a pattern of meshing teeth 142 is further provided. The tooth surface of the meshing teeth 142 includes a third arc surface segment 1421 and a fourth arc surface segment 1422. The third arc surface segment 1421 and the fourth arc surface segment 1422 are arranged in a direction from the tooth root to the tooth top. The third arc surface segment 1421 and the fourth arc surface segment 1422 have different bending directions. Based on this, when the transmission teeth 133 on the flexible spline 130 and the meshing teeth 142 on the rigid spline 140 are engaged, the transmission teeth 133 and the meshing teeth 142 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0127] In some examples, the third arc surface segment 1421 is concave, and the fourth arc surface segment 1422 is convex. Such a configuration can further improve the meshing effect.

[0128] In some examples, a second transition surface is formed between the third arc surface and the fourth arc surface, and the second transition surface is tangent to the third arc surface and the fourth arc surface. Such a setting can further ensure the meshing effect and facilitate the preparation of the meshing teeth 142.

[0129] like Figures 8 to 14As shown, in some examples, a stopper 1410 is provided on the first end face 148 and / or the second end face 149 of the ring portion 141, and corresponding stoppers are also provided on the base body 143 and the cover body 144. The ring portion 141 is plugged into the stoppers of the base body 143 and the cover body 144 through the stopper 1410, thereby improving positioning accuracy and connection stability. The stopper 1410 can be provided only on the first end face 148, only on the second end face 149, or on both the first end face 148 and the second end face 149. The stopper 1410 extends along the outer circumference of the first end face 148 and the second end face 149.

[0130] In a feasible embodiment, a plug-in portion 145 is provided on the first end face 148 and / or the second end face 149 of the ring portion 141, and the plug-in portion 145 protrudes from the first end face 148 and / or the second end face 149 so as to be plugged into the base body 143 and the cover body 144 of the ring portion 141.

[0131] This technical solution further provides a pattern for the ring portion 141. A protruding plug-in portion 145 can be formed on the first end face 148 or the second end face 149 of the ring portion 141. The plug-in portion 145 is then plugged into the base 143 and the cover 144, thereby securing the ring portion 141 to the base 143 and the cover 144, preventing the ring portion 141 from rotating on the base 143 and the cover 144. This provides support for the rigid wheel 140, which in turn allows the rigid wheel 140 to support the rotation of the flexible wheel 130, allowing the flexible wheel 130 to rotate and thereby achieve power output. By replacing the traditional fixing method of the lugs with plug-in connection, on the one hand, the anti-rotation effect of the ring portion 141 can be enhanced, and on the other hand, the structure of the ring portion 141 can be made more regular, facilitating the preparation of the ring portion 141 by the injection molding process.

[0132] In this technical solution, by providing the plug-in portion 145 on the first end face 148 and / or the second end face 149, the ring portion 141 can be connected to the base 143 and the cover 144 through the plug-in portion 145 protruding from the end face, thereby avoiding the prior art method of connecting the base 143 and the cover 144 by providing a connection hole in the rigid wheel 140 or providing a connection ear on the outside of the rigid wheel 140. The design of the rigid wheel 140 in this embodiment can realize the manufacture of the rigid wheel 140 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 140 in this embodiment can also make the physical properties of the rigid wheel 140 in all directions more consistent, and can maintain good stability during the movement of the flexible wheel 130, thereby improving the operational stability of the harmonic reducer.

[0133] It is understood that the plug-in portion 145 can be provided only on the first end surface 148, and then connected to the base body 143 and the cover body 144 via the plug-in portion 145 on the first end surface 148. The plug-in portion 145 can also be provided only on the second end surface 149, and then connected to the base body 143 and the cover body 144 via the plug-in portion 145 on the second end surface 149. In this embodiment, the plug-in portion 145 is provided on both the first end surface 148 and the second end surface 149, and is connected to the base body 143 and the cover body 144 via the plug-in portion 145 on the first end surface 148 and the plug-in portion 145 on the second end surface 149, respectively, thereby ensuring good connection strength.

[0134] It can be understood that the plug-in portion 145 protrudes from the first end surface 148 and the second end surface 149 along the axial direction of the ring portion 141 , that is, along the normal direction of the first end surface 148 and the second end surface 149 .

[0135] It is understood that the base 143 and the cover 144 are used to fix the ring portion 141, thereby fixing and supporting the ring portion 141. The base 143 and the cover 144 are provided with an insertion port 147 corresponding to the connection portion 160. The insertion portion 145 is inserted into the insertion port 147, thereby limiting the ring portion 141 in the circumferential direction of the ring portion 141 and preventing the ring portion 141 from rotating relative to the base 143 and the cover 144.

[0136] like Figures 8 to 14 As shown, in some examples, the connecting portion 160 includes at least two first connecting columns 1451 and at least two second connecting columns 1452, and the axial length of the second connecting columns 1452 in the ring portion 141 is smaller than the axial length of the first connecting columns 1451 in the ring portion 141, which can meet the requirements of different insertion depths.

[0137] In some examples, there are multiple first connecting columns 1451 and multiple second connecting columns 1452. The multiple first connecting columns 1451 are evenly arranged on the first end face 148 and the second end face 149 along the circumference of the ring portion 141, and the multiple second connecting columns 1452 are evenly arranged on the first end face 148 and the second end face 149 along the circumference of the ring portion 141.

[0138] In some examples, both a first connecting pillar 1451 and a second connecting pillar 1452 are disposed on the first end surface 148 .

[0139] In some examples, the lengths of the first connecting pillars 1451 are the same, and the lengths of the second connecting pillars 1452 are the same.

[0140] In some examples, the axial length of the first connecting post 1451 in the ring portion 141 is greater than the axial length of the stop 1410 in the ring portion 141. That is, the first connecting post 1451 protrudes from the stop 1410 in the axial direction of the ring portion 141, allowing the first connecting post 1451 to be inserted deeper into the insertion port 147. The axial length of the second connecting post 1452 in the ring portion 141 is equal to the axial length of the stop 1410 in the ring portion 141. This meets the requirements of different insertion depths and facilitates injection molding.

[0141] like Figures 8 to 14 As shown, in some examples, the first connecting column 1451 and the second connecting column 1452 are both connected to the stopper 1410, thereby improving the overall strength.

[0142] In some examples, at least some of the first connecting columns 1451 and at least some of the second connecting columns 1452 are alternately arranged in the circumferential direction of the ring portion 141 , which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0143] The first connecting pillar 1451 has two second connecting pillars 1452 on both sides in the circumferential direction of the ring portion 141 , and the second connecting pillar 1452 has two first connecting pillars 1451 on both sides in the circumferential direction of the ring portion 141 .

[0144] Among them, the first connecting column 1451 on the first end face 148 and the first connecting column 1451 on the second end face 149 are arranged opposite to each other along the axial direction of the ring portion 141, and the second connecting column 1452 on the first end face 148 and the second connecting column 1452 on the second end face 149 are arranged opposite to each other along the axial direction of the ring portion 141, further improving the connection reliability and overall balance.

[0145] like Figures 8 to 14 As shown, in a feasible embodiment, at least two abutment portions 146 are provided on the first end face 148 and / or the second end face 149 , and the abutment portions 146 protrude from the first end face 148 and / or the second end face 149 to abut against the outer walls of the base body 143 and the cover body 144 .

[0146] In this technical solution, by setting the abutment portion 146, it is possible to achieve stable abutment with the outer walls of the seat body 143 and the cover body 144, thereby ensuring that the rigid wheel 140 has good installation flatness, enhancing the connection stability between the rigid wheel 140 and the seat body 143 and the cover body 144, and reducing vibration and noise.

[0147] In some examples, the abutment portion 146 on the first end surface 148 protrudes from the abutment portion 146 by an equal length, thereby achieving a smooth abutment with the end surfaces of the base body 143 and the cover body 144 and ensuring good installation flatness.

[0148] Specifically, the abutting portions 146 on the first end surface 148 have the same shape and size and are evenly arranged along the circumference of the first end surface 148 to ensure that they can function effectively.

[0149] like Figures 8 to 14 As shown, in some examples, the abutment portion 146 on the second end surface 149 protrudes from the ring portion 141 by an equal length, thereby achieving stable abutment with the end surfaces of the seat body 143 and the cover body 144, ensuring good installation flatness.

[0150] Specifically, the abutting portions 146 on the second end surface 149 have the same shape and size and are evenly arranged along the circumference of the second end surface 149 to ensure that they can function effectively.

[0151] like Figures 8 to 14 As shown, in some examples, the number of abutment portions 146 on the first end surface 148 and / or the second end surface 149 can be set according to the size of the rigid wheel 140. Setting a reasonable number of abutment portions 146 ensures a good abutment effect.

[0152] In a feasible example, the abutting portion 146 is only provided on the first end surface 148 , and abuts against the base 143 and the cover 144 opposite to the first end surface 148 .

[0153] In another feasible example, the abutting portion 146 is only provided on the second end surface 149 and abuts against the base 143 and the cover 144 opposite to the second end surface 149 .

[0154] In another feasible example, the abutting portion 146 is respectively provided on the first end surface 148 and the second end surface 149 , and abuts against the base 143 and the cover 144 opposite to the first end surface 148 and the second end surface 149 .

[0155] The abutting portion 146 on the first end surface 148 and the abutting portion 146 on the second end surface 149 are arranged opposite to each other along the axial direction of the ring portion 141 , thereby further improving the abutting reliability and the overall balance.

[0156] like Figures 8 to 14 As shown, in a feasible embodiment, the rigid wheel 140 includes: a cover body 144 and a base body 143, a plug-in port 147 is formed on the cover body 144 and the base body 143, and the plug-in portion 145 is used to be plugged into the plug-in port 147; a rolling bearing, the rolling bearing is sleeved on the input shaft 121 of the input component 120, and is located between the base body 143 and the input shaft 121.

[0157] In this technical solution, a structural composition of a seat body 143 and a cover body 144 is further provided. The rigid wheel 140 may include a cover body 144 and a seat body 143. The plug-in portion 145 is plugged into the cover body 144 and the seat body 143, which can fix the ring portion 141 and further prevent rotation.

[0158] In some examples, a portion of the end surface of the cover 144 is disposed opposite the first end surface 148, and a portion of the end surface of the base 143 is disposed opposite the second end surface 149. The abutment post on the first end surface 148 firmly abuts against the end surface of the cover 144, and the abutment post on the second end surface 149 firmly abuts against the end surface of the base 143.

[0159] Specifically, the portion where the end surface of the cover 144 contacts the abutting post is flat and perpendicular to the axis of the rigid wheel 140 . The portion where the end surface of the base 143 contacts the abutting post is flat and perpendicular to the axis of the rigid wheel 140 .

[0160] Specifically, the plane where the contact surface between the abutting column, the seat body 143 and the cover body 144 is located is also perpendicular to the axis of the rigid wheel 140 .

[0161] In some examples, at least some of the abutment columns and at least some of the connecting portions 160 are alternately arranged in the circumferential direction of the ring portion 141 , which can ensure good installation flatness while ensuring the connection strength of the connecting portions 160 .

[0162] In some examples, when the connecting portion 160 includes only the first connecting columns 1451 , at least some of the abutting columns and at least some of the first connecting columns 1451 are alternately arranged in the circumferential direction of the ring portion 141 .

[0163] Specifically, in the circumferential direction of the ring portion 141 , abutting posts are respectively provided on both sides of some of the first connecting posts 1451 , and first connecting posts 1451 are respectively provided on both sides of some of the abutting posts.

[0164] In some examples, when the connecting portion 160 includes the first connecting pillars 1451 and the second connecting pillars 1452 , at least some of the abutting pillars and at least some of the first connecting pillars 1451 and the second connecting pillars 1452 are alternately arranged in the circumferential direction of the ring portion 141 .

[0165] Specifically, on the circumference of the ring portion 141, abutment columns are respectively provided on both sides of some of the first connecting columns 1451, and abutment columns are respectively provided on both sides of some of the second connecting columns 1452, thereby forming a cycle of abutment columns, first connecting columns 1451, abutment columns, second connecting columns 1452, and abutment columns in the circumferential direction.

[0166] In some examples, the first end face 148 and the second end face 149 can be provided with positioning marks, and when the positioning marks occupy the position of the abutment column or the first connecting column 1451 or the second connecting column 1452, the abutment column or the first connecting column 1451 or the second connecting column 1452 at that position is replaced.

[0167] Specifically, when the positioning mark occupies the position of the abutment post, the first connecting post 1451 and the second connecting post 1452 may be located on either side of the positioning mark. When the positioning mark occupies the position of the first connecting post 1451, the abutment posts may be located on either side of the positioning mark. When the positioning mark occupies the position of the second connecting post 1452, the abutment posts may be located on either side of the positioning mark.

[0168] In some examples, the axial length of the abutment portion 146 in the ring portion 141 is smaller than the axial length of the connection portion 160 in the ring portion 141, so that when the abutment portion 146 abuts against the end faces of the seat body 143 and the cover body 144, the connection portion 160 can be inserted into the plug-in interface 147 on the end faces of the seat body 143 and the cover body 144, thereby ensuring good connection strength while also ensuring good installation flatness.

[0169] The hole depth of the plug port 147 is not less than the length of the corresponding connecting portion 160 , so that the connecting portion 160 is fully inserted into the corresponding plug port 147 , ensuring that the abutting portion 146 is firmly abutted against the end surfaces of the base 143 and the cover 144 .

[0170] In some examples, a portion of the end surface of the cover 144 is disposed opposite the first end surface 148, and a portion of the end surface of the base 143 is disposed opposite the second end surface 149. The abutment post on the first end surface 148 firmly abuts against the end surface of the cover 144, and the abutment post on the second end surface 149 firmly abuts against the end surface of the base 143.

[0171] In a feasible embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion 141 , and the positioning protrusion is used for abutting against the seat body 143 .

[0172] In this technical solution, a method for limiting the ring portion 141 and the seat body 143 in the circumferential direction is provided. A positioning protrusion can be set in the circumferential direction of the ring portion 141, and the positioning protrusion abuts against the seat body 143 to fix the ring portion 141.

[0173] In some examples, in order to further improve the connection effect between the base body 143 and the ring portion 141 , the base body 143 may cover a portion of the ring portion 141 .

[0174] In some examples, in order to further improve the connection effect between the base body 143 and the ring portion 141 , a positioning groove may be provided on the base body 143 , and the positioning protrusion may extend into the positioning groove.

[0175] In a feasible embodiment, the ring portion 141 and the seat body 143 are interference fit and / or transition fit and / or clearance fit.

[0176] In this technical solution, another method of fixing the ring portion 141 and the seat body 143 in the circumferential direction is provided. The ring portion 141 and the seat body 143 can also be connected by interference fit or transition fit, based on which the ring portion 141 can also be fixed. When this structure is adopted, the outer wall of the ring portion 141 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 141.

[0177] It is understandable that the ring portion 141 and the seat body 143 can also be connected by a small gap fit, based on which the ring portion 141 can also be fixed. When this structure is adopted, the outer wall of the ring portion 141 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 141.

[0178] In a feasible embodiment, the material for preparing the flexible wheel 130 includes injection-molded engineering plastics. This configuration facilitates injection molding of the flexible wheel 130 while ensuring the mechanical strength of the flexible wheel 130.

[0179] In some examples, the flexible wheel 130 and the connecting portion 160 can be made of the same material. The materials used to make the flexible wheel 130 and the connecting portion 160 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.

[0180] In a feasible embodiment, the material for preparing the rigid wheel 140 includes injection-molded engineering plastics. Such a configuration can ensure the processing accuracy and mechanical strength of the rigid wheel 140.

[0181] In some examples, materials used to prepare the rigid wheel 140 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.

[0182] In a feasible embodiment, the seat body 143 is sleeved on a portion of the ring portion 141 , a positioning groove is formed on the seat body 143 , and the positioning protrusion is used to be arranged in the positioning groove.

[0183] In this technical solution, a structural component of the seat body 143 is further provided. A positioning groove can be formed on the seat body 143. The positioning groove cooperates with the positioning protrusion to further prevent the ring portion 141 from rotating.

[0184] In a feasible embodiment, the ring portion 141 is a solid structure.

[0185] In this technical solution, a style of the ring portion 141 is further provided. The ring portion 141 can be a solid structure. Compared with the solution in traditional technology in which holes are left in the rigid wheel 140, by designing the ring portion 141 as a solid structure, on the one hand, the mechanical strength of the ring portion 141 can be improved; on the other hand, it is more convenient for injection molding of the ring portion 141 and the injection molding accuracy can be improved.

[0186] like Figures 1 to 4 As shown, in a feasible implementation manner, the input assembly 120 further includes: a sliding bearing 170 or a rolling bearing, and the sliding bearing 170 or the rolling bearing is sleeved on the input shaft 121 .

[0187] In this technical solution, the input assembly 120 may further include a sliding bearing 170. By sleeved on the sliding bearing 170 on the input shaft 121, the smooth rotation of the input shaft 121 is facilitated. At the same time, the thin-walled structure of the sliding bearing 170 can be utilized to allow the input shaft 121 to have a larger inner cavity, thereby facilitating the increase in the volume of the first inner cavity, making it easier for lines or pipelines to pass through the input shaft 121, and facilitating the passage of more lines and pipelines through the input shaft 121.

[0188] It is understandable that the provision of rolling bearings can also reduce the wall thickness, so that the input shaft 121 can have a larger inner cavity, thereby facilitating the increase of the volume of the first inner cavity, enabling lines or pipelines to pass through the input shaft 121 more easily, and facilitating the passage of more lines and pipelines through the input shaft 121.

[0189] It is understood that the sliding bearing 170 may include an oil-containing bearing.

[0190] like Figures 1 to 4 As shown, in a feasible implementation manner, the input assembly 120 further includes: a rotor 123 , the rotor 123 being connected to the input shaft; and a locking assembly 124 , the locking assembly 124 being used to lock the rotor 123 .

[0191] This technical solution further provides the structural composition of an input assembly 120, which may include a rotor 123 connected to an input shaft 121. Rotation of the rotor 123 drives the input shaft, which in turn drives the wave generator 110. Furthermore, through the provision of a locking assembly 124, when the rotor 123 is locked by the locking assembly 124, the rotor 123 stops rotating, which in turn drives the input shaft to stop rotating, facilitating the rapid shutdown of the harmonic reducer.

[0192] In some examples, to facilitate the layout of the locking assembly 124 , the rotor 123 of the input assembly 120 may be arranged outside the stator, so that the input assembly 120 forms an outer rotor 123 driving structure.

[0193] like Figure 4 As shown, in a feasible embodiment, the locking assembly 124 includes: a driving member 1241, the driving member 1241 is connected to the housing of the harmonic reducer; a pin body 1242, the driving member 1241 is connected to the pin body 1242, and is used to drive the pin body 1242 to move closer to or away from the rotor 123.

[0194] In this technical solution, the structural composition of the locking assembly 124 is further provided. The locking assembly 124 may include a driving member 1241 and a pin body 1242. The driving member 1241 is used to drive the pin body 1242 closer to or away from the rotor 123. When it is necessary to lock the rotor 123 through the locking assembly 124, the driving member 1241 can be turned on to make the driving member 1241 drive the pin body 1242 close to the rotor 123, so that the pin body 1242 abuts or is inserted into the rotor 123. By limiting the freedom of the rotor 123 through the pin body 1242, the rotor 123 can be locked, thereby facilitating the rapid shutdown of the harmonic reducer.

[0195] It is understandable that the specific style of the driving member 1241 is not limited in this application. The driving member 1241 may include any structure that can drive the pin body 1242 to move, such as electromagnetic drive, cylinder, electric push rod, hydraulic cylinder, worm gear, gear rack, etc.

[0196] like Figure 4 As shown, in a feasible embodiment, a plurality of insertion holes 1231 are formed on a side of the rotor 123 facing the locking assembly 124 , and the pins 1242 are used to be inserted into the insertion holes 1231 .

[0197] In this technical solution, a style of the rotor 123 is further provided, and a plurality of sockets 1231 can be formed on the rotor 123. Based on this, when the driving member 1241 drives the pin body 1242 to move in the direction of the rotor 123, the pin body 1242 can be inserted into the socket 1231 to lock the rotor 123, which can improve the locking strength.

[0198] like Figures 1 to 4 As shown, in a feasible embodiment, the harmonic reducer also includes: a control board 180, which is connected to the input component 120 and is at least used to control the start and stop of the input component 120; and a detection component 190, which is used to detect the status of the input component 120.

[0199] In this technical solution, the structural composition of the harmonic reducer is further provided. The harmonic reducer may include a control board 180. The setting of the control board 180 facilitates the control of the start and stop and rotation speed of the input component 120, and the setting of the detection component 190 can determine the rotation state of the input component 120, making the control of the harmonic reducer more convenient.

[0200] It is understandable that the detection member 190 may include an encoder, and the control board 180 may be connected to the driving member 1241 of the locking assembly 124 to control the movement of the pin body 1242.

[0201] like Figures 1 to 14 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.

[0202] 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.

[0203] 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.

[0204] like Figures 1 to 14 As shown, according to the third aspect of the embodiment of the present application, a cleaning device is proposed, including: a cleaning device body; a harmonic reducer such as any of the above technical solutions or a robotic arm such as any of the above technical solutions.

[0205] The cleaning device provided in the embodiment of the present application includes a harmonic reducer or a robotic arm as in any of the above technical solutions, so the cleaning device has all the beneficial effects of the harmonic reducer or the robotic arm of the above technical solutions.

[0206] 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.

[0207] 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.

[0208] In a feasible embodiment, the cleaning device body includes: a driving assembly and a first cable, and the first cable passes through the first cavity 122 and is connected to the driving assembly.

[0209] In this technical solution, the cleaning device body may include a driving component, which may serve as a power source for moving or cleaning the cleaning device body, and a first cable adapted to the driving component may be connected to the driving component through the first cavity 122, making the circuit layout more convenient and simpler.

[0210] In a feasible embodiment, the cleaning device body includes: a sensor and a second cable, and the second cable passes through the first cavity 122 and is connected to the sensor.

[0211] In this technical solution, in order to ensure cleaning efficiency and improve cleaning effects, the cleaning device body may include multiple sensors, and a second cable adapted to the sensor may pass through the first cavity 122 to connect with the sensor, making the circuit layout more convenient and simpler.

[0212] It is understandable that the sensors include but are not limited to position sensors, temperature sensors, liquid level sensors, infrared sensors, and visual sensors.

[0213] In a feasible embodiment, the cleaning device body includes: a hydraulic component and a hydraulic pipeline, and the hydraulic pipeline passes through the first cavity 122 and is connected to the hydraulic component.

[0214] In this technical solution, in some cases, in order to enable the cleaning equipment body to have sufficient power, hydraulic parts can also be equipped inside the cleaning equipment body, and the hydraulic pipeline used to supply hydraulic oil to the hydraulic parts can also pass through the first cavity 122 and be connected to the drive assembly. The hydraulic pipeline is more convenient and simpler.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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: wave generator; an input component connected to the wave generator; The input assembly includes an input shaft, a first cavity is formed in the input shaft, and the input shaft is connected to the wave generator.

2. The harmonic reducer according to claim 1, characterized in that: Also includes: a flexible spline, the wave generator being connected to the flexible spline; a rigid wheel, the flexible wheel being used for meshing with the rigid wheel; an output assembly connected to the flexible pulley, wherein a second cavity is formed on the output assembly; The second cavity is connected to the first cavity.

3. The harmonic reducer according to claim 2, characterized in that: The output component includes: an output shaft, wherein the second cavity is formed in the output shaft; or An output flange, wherein the second cavity is formed in the output flange.

4. The harmonic reducer according to claim 2, characterized in that: The flexible wheel is prepared by injection molding; and / or The rigid wheel is prepared by an injection molding process.

5. The harmonic reducer according to claim 2, characterized in that: Also includes: A connecting portion is provided on the flexible pulley, and the connecting portion protrudes from the surface of the flexible pulley; The output assembly is connected to the flexible pulley through the connecting portion.

6. The harmonic reducer according to claim 5, characterized in that: The connecting portion and the flexible pulley are an integrated structure.

7. The harmonic reducer according to claim 2, characterized in that: The rigid wheel includes a ring portion and a plurality of meshing teeth, wherein the plurality of meshing teeth are formed on an inner ring of the ring portion, and a ratio of a maximum radial thickness to a minimum radial thickness of the ring portion is in a range of 1 to 1.5; Wherein, the rigid wheel is prepared by injection molding process.

8. The harmonic reducer according to claim 7, characterized in that: The rigid wheel comprises: The seat body and the cover plate, the first end face and / or the second end face of the ring portion are provided with an inserting portion, and the inserting portion protrudes from the first end face and / or the second end face so as to be inserted into the seat body and the cover plate.

9. The harmonic reducer according to claim 8, 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.

10. The harmonic reducer according to claim 9, characterized in that: The ring portion and the seat body are interference fit and / or transition fit and / or clearance fit.

11. The harmonic reducer according to any one of claims 2 to 10, 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.

12. The harmonic reducer according to any one of claims 1 to 10, characterized in that: The input component also includes: A sliding bearing or a rolling bearing is sleeved on the input shaft.

13. The harmonic reducer according to any one of claims 1 to 10, characterized in that: The input component also includes: a rotor connected to the input shaft; A locking assembly is used to lock the rotor.

14. The harmonic reducer according to claim 13, characterized in that: The locking assembly comprises: A driving member connected to the housing of the harmonic reducer; The driving member is connected to the pin body and is used to drive the pin body to move closer to or away from the rotor.

15. The harmonic reducer according to claim 14, characterized in that: A plurality of insertion holes are formed on a side of the rotor facing the locking assembly, and the pin bodies are used to be inserted into the insertion holes.

16. The harmonic reducer according to any one of claims 1 to 10, characterized in that: Also includes: a control panel connected to the input assembly and at least used to control the start and stop of the input assembly; A detection member is used to detect the state of the input component.

17. A robotic arm, characterized in that: include: The harmonic reducer according to any one of claims 1 to 16.

18. A cleaning device, characterized in that: include: Clean the main body of the equipment; The harmonic reducer according to any one of claims 1 to 16 or the robotic arm according to claim 17.

19. The cleaning device according to claim 18, characterized in that The cleaning device body comprises: A drive assembly and a first cable, the first cable passing through the first cavity and connected to the drive assembly.

20. The cleaning device according to claim 18, characterized in that The cleaning device body comprises: A sensor and a second cable, the second cable passing through the first cavity and connected to the sensor.

21. The cleaning device according to claim 18, characterized in that The cleaning device body comprises: A hydraulic component and a hydraulic pipeline, wherein the hydraulic pipeline passes through the first cavity and is connected to the hydraulic component.

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