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 flexible gear, a connecting part and an output part, in the manufacturing process of the harmonic reducer, the protruding connecting part is formed on the surface of the flexible gear, production and machining of the flexible gear and the connecting part are more convenient, the machining precision can be improved, and the machining efficiency is improved. For example, the flexible gear and the connecting part which are integrally formed can be manufactured through an injection molding process, a connecting hole process in the traditional technology is replaced, the probability of deformation of the connecting part can be reduced or eradicated, and then the transmission precision of the harmonic reducer is guaranteed. In the assembling process, the output part is connected with the flexible gear through the connecting part, the connecting part protrudes out of the surface of the flexible gear, at least part of the connecting part can stretch into the output part, or at least part of components of the output part are arranged on the connecting part in a sleeving mode, and therefore rapid assembling of the output part and the connecting part can be facilitated; and the output part is conveniently connected with the flexible gear.

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] Traditionally, connecting holes are often provided on the flexspline, which is then connected to the power output component via bolts or other fasteners. However, during production and processing, the connecting holes can shrink, resulting in defects such as incomplete tooth injection molding, affecting transmission accuracy and reducing the strength of the flexspline. 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] Flexspline;

[0010] A connecting portion is provided on the flexible pulley, and the connecting portion protrudes from the surface of the flexible pulley;

[0011] an output portion, the output portion being connected to the flexible pulley through the connecting portion;

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

[0013] In a feasible embodiment, the connecting portion includes a plurality of connecting columns, and the connecting columns are arranged on the inner surface and / or outer surface of the bottom of the flexible wheel.

[0014] In a feasible embodiment, an assembly hole is provided at the bottom of the flexible wheel, and a plurality of connecting columns are evenly arranged along the circumference of the assembly hole.

[0015] In a feasible embodiment, the flexible spline includes:

[0016] A tooth segment, wherein a transmission tooth is provided on the outer wall of the tooth segment, and the tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, 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 bending direction of the first arc surface segment and the second arc surface segment are different.

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

[0018] A first limiting member is formed with a limiting hole, and the connecting portion is used to pass through the limiting hole.

[0019] An output member is connected to the first limiting member.

[0020] In a feasible implementation manner, the connecting portion is provided on the inner surface of the bottom of the flexible spline, and the first limiting member and the output member are respectively located on two sides of the bottom of the flexible spline.

[0021] In a feasible implementation manner, the harmonic reducer further includes: a bottom of the flexspline is provided with an assembly hole, and at least a portion of the output member is located in the assembly hole.

[0022] In a feasible implementation manner, the harmonic reducer further includes: a first fastener, wherein the first fastener passes through the first limiting member and is connected to the output member.

[0023] In a possible implementation manner, the output member includes an output shaft or an output flange.

[0024] In a feasible embodiment, the flexible pulley and the connecting portion are an integrated structure; and / or

[0025] The flexible wheel and the connecting part are prepared by an injection molding process.

[0026] In a feasible embodiment, the harmonic reducer further includes: a rigid wheel, the flexible wheel being configured to mesh with the rigid wheel;

[0027] The rigid wheel comprises 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;

[0028] Wherein, the rigid wheel is prepared by injection molding process.

[0029] In a feasible embodiment, the tooth surface of the meshing tooth 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 bending direction of the third arc surface segment is different from that of the fourth arc surface segment.

[0030] In a feasible embodiment, a plug-in portion is provided on the first end face and / or the second end face of the ring portion, and the plug-in portion protrudes from the first end face and / or the second end face so as to be plugged into the fixing carrier of the ring portion.

[0031] 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 fixed carrier.

[0032] 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 a fixed carrier of the ring portion.

[0033] In a feasible embodiment, the fixed carrier includes:

[0034] A cover body and a base body, wherein the cover body and the base body are formed with an inserting interface, and the inserting portion is used to be inserted into the inserting interface;

[0035] A rolling bearing or a sliding bearing is sleeved on the output shaft of the output part and is located between the seat body and the output shaft.

[0036] In a feasible embodiment, the seat body is sleeved on a portion of the ring portion, a positioning groove is formed on the seat body, and the positioning protrusion is used to be arranged in the positioning groove.

[0037] 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.

[0038] In a feasible embodiment, the material for preparing the flexible spline includes injection-molded engineering plastics; and / or

[0039] The material for preparing the rigid wheel includes injection-molded engineering plastics.

[0040] In a feasible implementation manner, the harmonic reducer further includes: a first external connection portion, the first external connection portion is connected to the ring portion, and the first external connection portion is used to fix the harmonic reducer.

[0041] In a feasible embodiment, the ring portion is a solid structure.

[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 flexible bearing sleeved on the cam.

[0046] In a feasible implementation manner, a limiting flange is formed on the cam, and the limiting flange is used to limit the flexible bearing.

[0047] In a feasible implementation manner, the harmonic reducer further includes: a second external connection portion, wherein the second external connection portion includes:

[0048] An external end cover, the external end cover being arranged at one end of the housing of the harmonic reducer close to the output portion;

[0049] a second fastener, the second fastener passing through the external end cover and connected to the housing;

[0050] a second limiting member, the second limiting member passing through the external end cover and connected to the housing;

[0051] a twist groove formed on the external connection end cover;

[0052] An external bearing is arranged between the output portion and the external end cover.

[0053] In a feasible implementation manner, the harmonic reducer further includes: a connecting hole, wherein the connecting hole is provided on the flexspline, and the output portion is connected to the flexspline via the connecting portion and the connecting hole.

[0054] According to a second aspect of an embodiment of the present application, a robotic arm is provided, comprising:

[0055] A harmonic reducer as described in any of the above technical solutions.

[0056] According to a third aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0057] A harmonic reducer as described in any of the above technical solutions or a robotic arm as described in the above technical solutions.

[0058] Compared with the prior art, the present invention has at least the following beneficial effects:

[0059] The harmonic reducer provided in the embodiment of the present application includes a flexible spline, a connecting portion and an output portion. During the preparation process of the harmonic reducer, a protruding connecting portion is formed on the surface of the flexible spline, which makes it easier to produce and process the flexible spline and the connecting portion, and can improve the processing accuracy. For example, the flexible spline and the connecting portion can be integrally formed by an injection molding process, replacing the connecting hole process in traditional technology, which can reduce or eliminate the probability of deformation of the connecting portion, thereby ensuring the transmission accuracy of the harmonic reducer. During the assembly process, the output part is connected to the flexible wheel through the connecting part, and the connecting part is protruded from the surface of the flexible wheel. At least part of the connecting part can be extended into the output part, or at least part of the components of the output part are sleeved on the connecting part. Based on this, it is convenient to quickly assemble the output part and the connecting part, and to connect the output part to the flexible wheel. During the operation of the harmonic reducer, after transmission, the flexible wheel is connected to the output part as the source of power output. In the process of the flexible wheel driving the output part to move, the connecting part protruding from the surface of the flexible wheel can play a role in transmitting torque, so that the output part moves more smoothly. At the same time, by forming a protruding connecting part on the flexible wheel, the overall mechanical strength of the flexible wheel can be improved, which can increase the service life of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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:

[0061] Figure 1 A schematic structural diagram of a harmonic reducer according to an embodiment of the present application;

[0062] Figure 2 A schematic structural diagram of a cross section of a harmonic reducer according to an embodiment of the present application;

[0063] Figure 3 A schematic structural diagram of a connection method between a flexible pulley and an output part of a harmonic reducer according to an embodiment of the present application;

[0064] Figure 4 A schematic structural diagram of a flexible pulley of a harmonic speed reducer according to an embodiment of the present application;

[0065] Figure 5 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 6 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 7 A schematic structural diagram of a decomposed state of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0068] Figure 8 This is a schematic structural diagram of the ring portion of a harmonic reducer according to an embodiment of the present application, viewed from a first angle;

[0069] Figure 9 A schematic structural diagram of a ring portion of a harmonic reducer according to an embodiment of the present application, viewed from a second angle;

[0070] Figure 10 A schematic structural diagram of a base of a harmonic reducer according to an embodiment of the present application;

[0071] Figure 11 This is a schematic structural diagram of the base of the harmonic reducer according to an embodiment of the present application from another angle;

[0072] Figure 12 A schematic structural diagram of a cover of a harmonic reducer according to an embodiment of the present application;

[0073] Figure 13 A schematic structural diagram of meshing teeth of a rigid wheel of a harmonic reducer according to an embodiment of the present application;

[0074] Figure 14 A schematic structural diagram of a harmonic reducer according to another embodiment of the present application;

[0075] Figure 15 This is a schematic structural diagram of a cross section of a harmonic reducer according to another embodiment of the present application.

[0076] in, Figures 1 to 15 The corresponding relationship between the reference numerals and component names is as follows:

[0077] 110 flex spline, 120 connecting portion, 130 output portion, 140 first fastener, 150 rigid spline, 160 rolling bearing, 170 wave generator, 180 input portion, 190 second external connecting portion, 200 first external connecting portion, 210 connecting hole;

[0078] 111 assembly hole, 112 tooth segment, 113 transmission tooth, 1131 first arc surface segment, 1132 second arc surface segment;

[0079] 121 connecting column;

[0080] 131 first limiting member, 132 output member, 1311 limiting hole, 1321 output shaft, 1322 output flange;

[0081] 151 ring portion, 152 meshing teeth, 153 plug-in portion, 154 abutting portion, 155 positioning protrusion, 156 fixing carrier, 157 first end surface, 158 second end surface, 1511 stopper, 1521 third arc surface segment, 1522 fourth arc surface segment, 1531 first connecting post, 1532 second connecting post, 1561 cover body, 1562 base body, 1563 plug-in port;

[0082] 171 cam, 172 flexible bearing, 173 limit flange;

[0083] 191 external connection end cover, 192 second fastener, 193 second limiter, 194 torsion groove, 195 external connection bearing. DETAILED DESCRIPTION

[0084] 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.

[0085] like Figures 1 to 15 As shown, according to a first aspect of an embodiment of the present application, a harmonic reducer is proposed, comprising: a flexspline 110; a connecting portion 120, the connecting portion 120 being arranged on the flexspline 110 and protruding from the surface of the flexspline 110; an output portion 130, the output portion 130 being connected to the flexspline 110 through the connecting portion 120; wherein, at least a portion of the output portion 130 is located inside the flexspline 110.

[0086] The harmonic reducer provided in the embodiment of the present application includes a flexible spline 110, a connecting portion 120 and an output portion 130. During the preparation process of the harmonic reducer, by forming a protruding connecting portion 120 on the surface of the flexible spline 110, the production and processing of the flexible spline 110 and the connecting portion 120 are more convenient, and the processing accuracy can be improved. For example, the flexible spline 110 and the connecting portion 120 can be integrally formed by an injection molding process, replacing the connecting hole 210 process in the traditional technology, which can reduce or eliminate the probability of deformation of the connecting portion 120, thereby ensuring the transmission accuracy of the harmonic reducer.

[0087] During the assembly process of the harmonic reducer provided in the embodiment of the present application, the output part 130 is connected to the flexible spline 110 through the connecting part 120. The connecting part 120 protrudes from the surface of the flexible spline 110, and at least part of the connecting part 120 can be inserted into the output part 130, or at least part of the components of the output part 130 are sleeved on the connecting part 120. Based on this, the output part 130 and the connecting part 120 can be quickly assembled, and the output part 130 and the flexible spline 110 can be connected.

[0088] During operation of the harmonic reducer provided in the embodiment of the present application, after transmission, the flexible spline 110 is connected to the output part 130 as the source of power output. In the process of the flexible spline 110 driving the output part 130 to move, the protruding connection part 120 on the surface of the flexible spline 110 can play a role in transmitting torque, so that the output part 130 moves more smoothly. At the same time, by forming the protruding connection part 120 on the flexible spline 110, the overall mechanical strength of the flexible spline 110 can be improved, which can increase the service life of the harmonic reducer.

[0089] In the harmonic reducer provided in the embodiment of the present application, at least part of the output part 130 is located inside the flexspline 110 , which can make the connection between the output part 130 and the flexspline 110 more reliable and reduce the probability of the output part 130 and the flexspline 110 being loose.

[0090] like Figures 2 to 5 In a feasible embodiment, the connecting portion 120 includes a plurality of connecting columns 121 , and the connecting columns 121 are disposed on the inner surface and / or outer surface of the bottom of the flexspline 110 .

[0091] In this technical solution, a setting method of the connecting part 120 is further provided. The connecting part 120 may include multiple connecting columns 121. Based on this, in the first aspect, the output part 130 is connected to the flexible spline 110 through the multiple connecting columns 121, so that there are more connection points between the output part 130 and the flexible spline 110, which can make the connection between the output part 130 and the flexible spline 110 more reliable. At the same time, the output of torque through the multiple connecting columns 121 can ensure the stability of the operation of the output part 130.

[0092] In this technical solution, all the connecting columns 121 can be arranged on the inner surface of the flexible spline 110. Based on this, some components of the output part 130 can be set on the inner surface connecting columns 121 of the flexible spline 110, and other components can be arranged on the outer surface side of the flexible spline 110. In addition to being connected to the flexible spline 110 through the connecting part 120, the output part 130 can also clamp the flexible spline 110, which can further ensure transmission accuracy.

[0093] In this technical solution, all the connecting columns 121 can be arranged on the outer surface of the flexible spline 110 . This arrangement facilitates the alignment of the output portion 130 and the connecting portion 120 , thereby improving assembly efficiency.

[0094] In this technical solution, some of the connecting columns 121 can be distributed on the inner surface of the flexible spline 110, and another part of the connecting columns 121 can be distributed on the outer surface of the flexible spline 110. In other words, the connecting columns 121 can be distributed on both the inner and outer surfaces of the flexible spline 110, which can make the contact between the connecting part 120 and the output part 130 more complete and further ensure the transmission accuracy.

[0095] It is understandable that the connecting post 121 may be cylindrical, truncated cone, truncated pyramid, prism or conical, as long as the output portion 130 and the connecting portion 120 are aligned.

[0096] In some examples, the connecting post 121 is a cylindrical structure. This configuration, on the one hand, facilitates the production and processing of the connecting post 121; on the other hand, it facilitates the connection between the connecting post 121 and the output unit 130, and facilitates the insertion of the connecting post 121 into some components of the output unit 130.

[0097] In some examples, when multiple connecting columns 121 are cylindrical, the diameters of the connecting columns 121 are the same, and the heights of the multiple connecting columns 121 are the same, that is, the structures and styles of the connecting columns 121 can be the same, thereby facilitating rapid alignment of the output portion 130 with the multiple connecting columns 121.

[0098] In some examples, the maximum width of the cross-section of multiple connecting pillars 121 is the same, and the height of multiple connecting pillars 121 is the same, that is, the structure and style of the connecting pillars 121 can be the same, based on which it is convenient to quickly align the output part 130 with the multiple connecting pillars 121.

[0099] In some examples, the plurality of connecting posts 121 are divided into at least a first group and a second group. The maximum width of the cross section of the connecting posts 121 in the first group is different from the maximum width of the cross section of the connecting posts 121 in the second group. The connecting posts 121 in the first group are arranged radially opposite to each other along the flexspline 110, and the connecting posts 121 in the second group are arranged radially opposite to each other along the flexspline 110. The height of the connecting posts 121 in the first group is the same as the height of the connecting posts 121 in the second group. In this technical solution, the diameters of the connecting posts 121 in different groups can be different. Based on this, when assembling the output portion 130 and the connecting portion 120, the different diameters can achieve a foolproof assembly effect, allowing the output portion 130 and the flexspline 110 to be accurately assembled. At the same time, during operation of the harmonic reducer, torque is output through the connecting posts 121 with different maximum cross-sectional widths, making the transmission of the output portion 130 more reliable.

[0100] like Figures 3 to 5 As shown, in a feasible embodiment, a mounting hole 111 is provided at the bottom of the flexible spline 110 , and a plurality of connecting columns 121 are evenly arranged along the circumference of the mounting hole 111 .

[0101] In this technical solution, an assembly hole 111 can also be formed on the flexible wheel 110, and the assembly hole 111 can serve as an installation stop for the flexible wheel 110. The output part 130 is fixed by cooperating with the connecting column 121 through the assembly hole 111. Part of the output part 130 can extend into the assembly hole 111, which facilitates the establishment of a connection relationship between the output part 130 and the flexible wheel 110.

[0102] In some examples, the connecting portion 120 is disposed at the bottom of the flexible spline 110 , and a setting position of the connecting portion 120 is further provided based on this. Such a setting facilitates the injection molding preparation of the connecting portion 120 and the flexible spline 110 , and also facilitates the connection between the output portion 130 and the connecting portion 120 .

[0103] like Figures 3 to 5 As shown, in a feasible embodiment, the flexible spline 110 includes: a tooth segment 112, a transmission tooth 113 is provided on the outer wall of the tooth segment 112, and the tooth surface of the transmission tooth 113 includes a first arc surface segment 1131 and a second arc surface segment 1132. The first arc surface segment 1131 and the second arc surface segment 1132 are arranged in a direction from the tooth root to the tooth top, and the first arc surface segment 1131 and the second arc surface segment 1132 have different bending directions.

[0104] In this technical solution, the flexspline 110 may include a tooth segment 112, on which a plurality of transmission teeth 113 may be formed. Due to the arrangement of the plurality of transmission teeth 113, during operation, when the wave generator 170 is installed in the flexspline 110, the flexspline 110 is forced to elastically deform into an elliptical shape. The transmission teeth 113 near the ends of the major axis of the ellipse fully engage with the meshing teeth 152 on the rigid wheel 150, while the transmission teeth 113 near the ends of the minor axis are completely disengaged from the meshing teeth 152 on the rigid wheel 150. As the wave generator 170 rotates, the deformed portion of the flexspline 110 also rotates, causing the meshing and disengagement states between the flexspline 110 and the rigid wheel 150 to continuously change, thereby achieving a slow rotation of the flexspline 110 relative to the rigid wheel 150, thereby achieving a deceleration effect.

[0105] In this technical solution, a tooth profile structure of the transmission tooth 113 is further provided. The tooth surface of the transmission tooth 113 includes a first arc surface segment 1131 and a second arc surface segment 1132. The first arc surface segment 1131 and the second arc surface segment 1132 are arranged in a direction from the tooth root to the tooth top. The first arc surface segment 1131 and the second arc surface segment 1132 have different bending directions. Based on this, when the transmission tooth 113 on the flexible spline 110 and the meshing tooth 152 on the rigid spline 150 are engaged, the transmission tooth 113 and the meshing tooth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0106] In some examples, the first arc surface segment 1131 is concave, and the second arc surface segment 1132 is convex, and a first transition surface is formed between the first arc surface and the second arc surface. The first transition surface is arranged tangent to the first arc surface segment 1131 and the second arc surface segment 1132. Based on this, when the transmission teeth 113 on the flexible spline 110 and the meshing teeth 152 on the rigid spline 150 are engaged, the transmission teeth 113 and the meshing teeth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0107] like Figure 3 As shown, in a feasible embodiment, the output part 130 includes: a first limiting member 131, a limiting hole 1311 is formed on the first limiting member 131, and the connecting part 120 is used to pass through the limiting hole 1311; an output member 132, and the output member 132 is connected to the first limiting member 131.

[0108] In this technical solution, the structural composition of the output part 130 is further provided. The output part 130 may include a first limiter 131 and an output part 132. Based on this, when the output part 130 is connected to the flexible spline 110, the first limiter 131 may be set on the flexible spline 110, and the connecting part 120 passes through the limiter hole 1311. A limit is formed between the first limiter 131 and the connecting part 120, and then the output part 130 is connected to the first limiter 131. This allows the output part 132 to have a connection relationship with the flexible spline 110. During the operation of the harmonic reducer, the torque will be transmitted to the connecting part 120 through the flexible spline 110. The connecting part 120 is first transmitted to the first limiter 131 and then to the output part 132, which can make the transmission more precise.

[0109] In some examples, the first limiting member 131 may be plate-shaped or gasket-shaped. When the connecting portion 120 includes a plurality of connecting posts 121, the number of the limiting holes 1311 is adapted to the number of the connecting posts 121. By selecting a plate-shaped or gasket-shaped first limiting member 131, the thickness of the first limiting member 131 can be reduced while ensuring the limiting effect, thereby facilitating the connection between the first limiting member 131 and the output member 132 and making the layout of the harmonic reducer more compact.

[0110] In a feasible embodiment, the connecting portion 120 is disposed on the inner surface of the bottom of the flexspline 110 , and the first limiting member 131 and the output member 132 are respectively located on two sides of the bottom of the flexspline 110 .

[0111] In this technical solution, a layout relationship between the connecting portion 120, the first limiting member 131 and the output member 132 is further provided. The flexible wheel 110 is roughly cup-shaped, and the connecting portion 120 is arranged on the inner surface of the bottom of the flexible wheel 110, that is, located inside the cup, and the first limiting member 131 is also arranged inside the cup-shaped structure, and the output member 132 is arranged outside the cup. Based on this, the connecting portion 120 extends into the limiting hole 1311 of the first limiting member 131, and then the first limiting member 131 is connected to the output member 132. The first limiting member 131 and the output member 132 can clamp the bottom of the flexible wheel 110, so that the connection between the output portion 130 and the flexible wheel 110 can be more reliable.

[0112] like Figure 4 and Figure 5 As shown, in a feasible implementation manner, the harmonic reducer further includes: an assembly hole 111 is provided at the bottom of the flexspline 110 , and at least a portion of the output member 132 is located in the assembly hole 111 .

[0113] In this technical solution, the output member 132 can be inserted into the assembly hole 111 at the bottom of the flexible wheel 110. The assembly hole 111 serves as an assembly stop, which can make the coaxiality between the movement of the flexible wheel 110 and the movement of the output member 132 higher, and can further ensure the reliability of the transmission of the flexible wheel 110.

[0114] like Figure 3 As shown, in a feasible implementation manner, the harmonic reducer further includes: a first fastener 140 , and the first fastener 140 passes through the first limiting member 131 and is connected to the output member 132 .

[0115] In this technical solution, the harmonic reducer can also include a first fastener 140, which enables the first limiter 131 to be fixedly connected to the output member 132. Combined with the cooperation between the connecting part 120 and the first limiter 131, the connection between the output part 130 and the flexible wheel 110 is more reliable.

[0116] It is understandable that there may be multiple first fasteners 140 , and the styles and structures of the multiple first fasteners 140 may be the same or different. The first fasteners 140 include but are not limited to bolts, pins, etc.

[0117] like Figure 2 and Figure 15 As shown, in a possible implementation manner, the output member 132 includes an output shaft 1321 or an output flange 1322 .

[0118] In this technical solution, the structural composition of the output member 132 is further provided. The output member 132 may include an output shaft 1321 or an output flange 1322, so that the output member 132 can output in two different ways, which can increase the use scenarios of the harmonic reducer.

[0119] In a feasible embodiment, the flexible spline 110 and the connecting portion 120 are an integrated structure.

[0120] In this technical solution, the flexible spline 110 and the connecting portion 120 are an integrated structure. This arrangement, on the one hand, ensures the mechanical strength of the flexible spline 110 and the connecting portion 120. When the transmission is performed through the harmonic reducer, the connecting portion 120 can serve as the main force point to drive the output portion 130 to rotate. The integrated structural design can extend the service life of the harmonic reducer. On the other hand, it facilitates the preparation of the flexible spline 110 and the connecting portion 120, can ensure processing accuracy, and reduce costs.

[0121] In a feasible embodiment, the flexible spline 110 and the connecting portion 120 are manufactured by an injection molding process.

[0122] This technical solution further provides a manufacturing process for the flexspline 110 and the connecting portion 120. These can be manufactured through an injection molding process. The design of the connecting portion 120 protruding from the flexspline 110 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 120, ensuring the reliability of the flexspline 110 and the connecting portion 120.

[0123] In some examples, the materials used to prepare the flexible wheel 110 and the connecting portion 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 for reinforcement.

[0124] In some examples, the flexspline 110 includes a waist section, the wall thickness of which increases from the opening of the flexspline 110 toward the bottom of the flexspline 110. This arrangement facilitates injection molding of the flexspline 110 and ensures its mechanical strength.

[0125] In some examples, the wall thickness of the waist section is 0.2-3 mm. This configuration further provides a style for the flexible wheel 110. By selecting this range, both meshing efficiency and mechanical strength are guaranteed.

[0126] In some examples, the wall thickness of the waist section is 0.25-1 mm. This configuration further provides a style for the flexible wheel 110. By selecting this range, both meshing efficiency and mechanical strength are guaranteed.

[0127] In some examples, the ratio of the axial length to the radial length of the flexspline 110 is I, and I ranges from 0.2 to 1. This configuration can significantly reduce the axial space and effectively ensure meshing contact of the transmission teeth 113 in the tooth direction. At the same time, the flexspline 110 has low fluctuating creep stress, meeting the life requirements.

[0128] like Figure 2 as well as Figures 7 to 13 As shown, in a feasible embodiment, the harmonic reducer further includes: a rigid wheel 150, and the flexible wheel 110 is used to mesh with the rigid wheel 150; wherein, the rigid wheel 150 includes a ring portion 151 and a plurality of meshing teeth 152, and the plurality of meshing teeth 152 are formed on the inner ring of the ring portion 151, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 151 ranges from 1 to 1.5; wherein, the rigid wheel 150 is prepared by an injection molding process.

[0129] In this technical solution, it is further taken into consideration that the rigid wheel 150 of the harmonic generator 170 in the traditional technology is mostly made by precision processing of metal, which results in high cost and heavy weight of the harmonic generator 170. Based on this, the structural composition of the harmonic reducer is further provided. The harmonic reducer can also include a rigid wheel 150, and the rigid wheel 150 includes a ring portion 151 and meshing teeth 152 formed on the ring portion 151. The rigid wheel 150 is made by an injection molding process. Based on this, the ring portion 151 is prepared by the injection molding process, which can reduce the production cost of the rigid wheel 150 and the weight of the rigid wheel 150, 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 movable smart home appliances, while ensuring the transmission effect, making the movement of smart home appliances more flexible.

[0130] The harmonic reducer provided in this embodiment takes into account that the structure of the rigid wheel 150 in conventional technology usually requires components to fix the rigid wheel 150, such as lugs, and that part of the structure of the rigid wheel 150 also serves as the shell of the harmonic reducer. Therefore, the structure of the rigid wheel 150 is relatively complex. Therefore, if the rigid wheel 150 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 151, that is, the portion where the rigid wheel 150 and the flexible wheel 110 engage is prepared by injection molding, and this component is roughly annular. Such a configuration facilitates the setting of a mold corresponding to the ring portion 151, facilitates the injection molding of the ring portion 151, can ensure injection molding accuracy, and can make the engagement of the rigid wheel 150 and the flexible wheel 110 more reliable, thereby reducing costs while ensuring transmission accuracy.

[0131] like Figure 13 As shown, in a feasible embodiment, the tooth surface of the meshing tooth 152 includes a third arc surface segment 1521 and a fourth arc surface segment 1522, and the third arc surface segment 1521 and the fourth arc surface segment 1522 are arranged along the direction from the tooth root to the tooth top, and the bending direction of the third arc surface segment 1521 and the fourth arc surface segment 1522 are different.

[0132] In this technical solution, a pattern of meshing teeth 152 is further provided. The tooth surface of the meshing teeth 152 includes a third arc surface segment 1521 and a fourth arc surface segment 1522. The third arc surface segment 1521 and the fourth arc surface segment 1522 are arranged in a direction from the tooth root to the tooth top. The third arc surface segment 1521 and the fourth arc surface segment 1522 have different bending directions. Based on this, when the transmission teeth 113 on the flexible spline 110 and the meshing teeth 152 on the rigid spline 150 are engaged, the transmission teeth 113 and the meshing teeth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and can further ensure the transmission and deceleration effects.

[0133] In some examples, the third arc surface segment 1521 is concave, and the fourth arc surface segment 1522 is convex. Such a configuration can further improve the meshing effect.

[0134] 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 152.

[0135] like Figure 8 and Figure 9As shown, in some examples, a stopper 1511 is provided on the first end face 157 and / or the second end face 158 of the ring portion 151, and a corresponding stopper is also provided on the fixed carrier 156. The ring portion 151 is plugged into the stopper of the fixed carrier 156 via the stopper 1511, thereby improving positioning accuracy and connection stability. The stopper 1511 can be provided only on the first end face 157, only on the second end face 158, or on both the first end face 157 and the second end face 158. The stopper 1511 extends along the outer circumference of the first end face 157 and the second end face 158.

[0136] like Figure 8 and Figure 9 As shown, in a feasible embodiment, a plug-in portion 153 is provided on the first end face 157 and / or the second end face 158 of the ring portion 151, and the plug-in portion 153 protrudes from the first end face 157 and / or the second end face 158 so as to be plugged into the fixed carrier 156 of the ring portion 151.

[0137] This technical solution further provides a pattern for the ring portion 151. A protruding plug-in portion 153 can be formed on the first end face 157 or the second end face 158 of the ring portion 151. The plug-in portion 153 can then be plugged into a fixed carrier 156 to secure the ring portion 151 to the fixed carrier 156, preventing the ring portion 151 from rotating on the fixed carrier 156. This provides support for the rigid wheel 150, which in turn supports the rotation of the flexible wheel 110, allowing the flexible wheel 110 to rotate and achieve power output. By replacing the traditional lug fixing method with a plug-in method, the anti-rotation effect of the ring portion 151 can be enhanced, and the structure of the ring portion 151 can be more regular, making it easier to manufacture the ring portion 151 through the injection molding process.

[0138] In this technical solution, by providing the plug-in portion 153 on the first end face 157 and / or the second end face 158, the ring portion 151 can be connected to the fixed carrier 156 through the plug-in portion 153 protruding from the end face, thereby avoiding the prior art method of connecting to the fixed carrier 156 by providing a connection hole 210 in the rigid wheel 150 or providing a connection ear on the outside of the rigid wheel 150. The design of the rigid wheel 150 in this embodiment can achieve injection molding of the rigid wheel 150, and the injection molding yield is higher, which can meet the process requirements. At the same time, the design of the rigid wheel 150 in this embodiment can also make the physical properties of the rigid wheel 150 more consistent in all directions, and can maintain good stability during the movement of the flexible wheel 110, thereby improving the operational stability of the harmonic reducer.

[0139] It is understood that the plug-in portion 153 can be provided only on the first end surface 157, and then connected to the fixed carrier 156 via the plug-in portion 153 on the first end surface 157. The plug-in portion 153 can also be provided only on the second end surface 158, and then connected to the fixed carrier 156 via the plug-in portion 153 on the second end surface 158. In this embodiment, the plug-in portion 153 is provided on both the first end surface 157 and the second end surface 158, and is connected to the fixed carrier 156 via the plug-in portion 153 on the first end surface 157 and the plug-in portion 153 on the second end surface 158, respectively, thereby maintaining good connection strength.

[0140] It can be understood that the plug-in portion 153 protrudes from the first end surface 157 and the second end surface 158 along the axial direction of the ring portion 151 , that is, along the normal direction of the first end surface 157 and the second end surface 158 .

[0141] It is understood that the fixing carrier 156 is used to fix the ring portion 151, thereby fixing and supporting the ring portion 151. The fixing carrier 156 is provided with an insertion port 1563 corresponding to the connecting portion 120. The plug-in portion 153 is inserted into the insertion port 1563, thereby limiting the ring portion 151 in the circumferential direction of the ring portion 151 and preventing the ring portion 151 from rotating relative to the fixing carrier 156.

[0142] like Figure 8 and Figure 9 As shown, in some examples, the connecting portion 120 includes at least two first connecting columns 1531 and at least two second connecting columns 1532, and the axial length of the second connecting columns 1532 in the ring portion 151 is smaller than the axial length of the first connecting columns 1531 in the ring portion 151, which can meet the requirements of different insertion depths.

[0143] In some examples, there are multiple first connecting columns 1531 and multiple second connecting columns 1532. Multiple first connecting columns 1531 are evenly arranged on the first end face 157 and the second end face 158 along the circumference of the ring portion 151, and multiple second connecting columns 1532 are evenly arranged on the first end face 157 and the second end face 158 along the circumference of the ring portion 151.

[0144] In some examples, both the first connecting pillar 1531 and the second connecting pillar 1532 are disposed on the first end surface 157 .

[0145] In some examples, the lengths of the first connecting pillars 1531 are the same, and the lengths of the second connecting pillars 1532 are the same.

[0146] like Figure 8 and Figure 9As shown, in some examples, the axial length of the first connecting post 1531 in the ring portion 151 is greater than the axial length of the stop 1511 in the ring portion 151. That is, the first connecting post 1531 protrudes from the stop 1511 in the axial direction of the ring portion 151, allowing the first connecting post 1531 to be inserted deeper into the insertion port 1563. The axial length of the second connecting post 1532 in the ring portion 151 is equal to the axial length of the stop 1511 in the ring portion 151, which meets the requirements of different insertion depths and facilitates injection molding.

[0147] In some examples, the first connecting post 1531 and the second connecting post 1532 are both connected to the stopper 1511 , thereby improving the overall strength.

[0148] In some examples, at least some of the first connecting columns 1531 and at least some of the second connecting columns 1532 are alternately arranged in the circumferential direction of the ring portion 151, which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0149] The first connecting pillar 1531 has two second connecting pillars 1532 on both sides of the ring portion 151 in the circumferential direction, and the second connecting pillar 1532 has two first connecting pillars 1531 on both sides of the ring portion 151 in the circumferential direction.

[0150] Among them, the first connecting column 1531 on the first end face 157 and the first connecting column 1531 on the second end face 158 are arranged opposite to each other along the axial direction of the ring portion 151, and the second connecting column 1532 on the first end face 157 and the second connecting column 1532 on the second end face 158 are arranged opposite to each other along the axial direction of the ring portion 151, which further improves the connection reliability and overall balance.

[0151] like Figure 8 and Figure 9 As shown, in a feasible embodiment, at least two abutment portions 154 are provided on the first end face 157 and / or the second end face 158 , and the abutment portions 154 protrude from the first end face 157 and / or the second end face 158 to abut against the outer wall of the fixed carrier 156 .

[0152] In this technical solution, by providing the abutment portion 154, stable abutment with the outer wall of the fixed carrier 156 can be achieved, thereby ensuring that the rigid wheel 150 has good installation flatness, enhancing the connection stability between the rigid wheel 150 and the fixed carrier 156, and reducing vibration and noise.

[0153] In some examples, the abutment portion 154 on the first end surface 157 protrudes from the ring portion 151 by an equal length, thereby achieving a smooth abutment with the end surface of the fixed carrier 156 and ensuring good installation flatness.

[0154] Specifically, the abutting portions 154 on the first end surface 157 have the same shape and size and are evenly arranged along the circumference of the first end surface 157 to ensure that they can function effectively.

[0155] In some examples, the abutment portion 154 on the second end surface 158 protrudes from the ring portion 151 by an equal length, thereby achieving a smooth abutment with the end surface of the fixed carrier 156 and ensuring good installation flatness.

[0156] Specifically, the abutting portions 154 on the second end surface 158 have the same shape and size and are evenly arranged along the circumference of the second end surface 158 to ensure that they can function effectively.

[0157] like Figure 8 and Figure 9 As shown, in some examples, the number of abutment portions 154 on the first end surface 157 and / or the second end surface 158 can be set according to the size of the rigid wheel 150. A reasonable number of abutment portions 154 can be set to ensure a good abutment effect.

[0158] In a feasible example, the abutting portion 154 is only provided on the first end surface 157 and abuts against the fixing carrier 156 opposite to the first end surface 157 .

[0159] In another feasible example, the abutting portion 154 is only provided on the second end surface 158 and abuts against the fixing carrier 156 opposite to the second end surface 158 .

[0160] In another feasible example, the abutting portion 154 is respectively provided on the first end surface 157 and the second end surface 158 , and abuts against the fixing carrier 156 opposite to the first end surface 157 and the second end surface 158 .

[0161] The abutting portion 154 on the first end surface 157 and the abutting portion 154 on the second end surface 158 are arranged opposite to each other along the axial direction of the ring portion 151 , thereby further improving the abutting reliability and the overall balance.

[0162] like Figure 8 and Figure 9 As shown, in a feasible embodiment, a positioning protrusion 155 is provided on the circumferential outer wall of the outer ring of the ring portion 151 , and the positioning protrusion 155 is used for abutting against the fixing carrier 156 of the ring portion 151 .

[0163] By providing positioning protrusions 155 on the outer ring of the ring portion 151 and by the concave-convex fit of the positioning protrusions 155 and the fixed carrier 156, good positioning accuracy between the ring portion 151 and the fixed carrier 156 can be ensured, while also facilitating the positioning of the wheel body during installation, thereby improving installation efficiency. Furthermore, the positioning protrusions 155 also play a certain fixing role, allowing the wheel body to be more stably fixed to the fixed carrier 156, thereby preventing the rigid wheel 150 from rotating circumferentially on the fixed carrier 156.

[0164] In some examples, in order to improve the anti-rotation effect of the ring portion 151 , the positioning protrusion 155 and the fixing carrier 156 may also be matched in a concave-convex manner.

[0165] The positioning protrusion 155 protrudes outwardly from the circumferential outer wall of the outer ring of the ring portion 151 in the radial direction of the ring portion 151 , and then forms a concave-convex fit with the positioning groove on the matching surface of the fixed carrier 156 .

[0166] The fixed carrier 156 can be a component such as a seat 1562 that supports and secures the rigid wheel 150. In this embodiment, the fixed carrier 156 is taken as the seat 1562. A positioning groove is provided on the inner circumferential wall of the seat 1562 corresponding to the positioning protrusion 155. The positioning protrusion 155 is inserted into the positioning groove to achieve positioning. The positioning protrusion 155 and the positioning groove, in conjunction with each other, ensure that the rigid wheel 150 has good installation and meshing concentricity.

[0167] The positioning protrusion 155 is adapted to the positioning groove in shape and size to prevent the positioning protrusion 155 from shaking in the positioning groove.

[0168] The positioning protrusion 155 may be integrally formed with the ring portion 151 , or may be connected to the outer ring of the ring portion 151 through other fixed connection forms.

[0169] Specifically, in this embodiment, the ring portion 151 forms a positioning protrusion 155 directly on the circumferential outer wall of the outer ring during injection molding.

[0170] The outer wall of the positioning protrusion 155 away from the central axis of the ring portion 151 is a curved surface.

[0171] There are at least two positioning protrusions 155 , which are arranged along the circumference of the ring portion 151 and extend along the axial direction of the ring portion 151 , thereby ensuring good positioning accuracy and fixing effect.

[0172] Among them, at least two positioning protrusions 155 are evenly arranged along the circumference of the ring portion 151, so as to maintain good consistency in the circumferential direction, so that the force is evenly applied at all points in the circumference and the center of gravity is centered, thereby improving the overall stability.

[0173] Specifically, the positioning protrusions 155 are arranged parallel to each other and extend in a strip shape along the axial direction of the rigid wheel 150 .

[0174] Specifically, the positioning protrusions 155 have the same shape and size. In the axial direction of the ring portion 151, the positioning protrusions 155 are located at the same position.

[0175] The positioning protrusions 155 are arranged in a radial direction of the ring portion 151 corresponding to the connecting portion 120 and the abutting portion 154 , further improving the overall strength and ensuring good balance.

[0176] Each positioning protrusion 155 is arranged corresponding to the first connecting column 1531 or the second connecting column 1532 or the abutting portion 154 in the radial direction of the ring portion 151 .

[0177] Specifically, one-third of the total number of positioning protrusions 155 are arranged in a one-to-one correspondence with the first connecting column 1531 in the radial direction of the ring portion 151, one-third of the total number of positioning protrusions 155 are arranged in a one-to-one correspondence with the second connecting column 1532 in the radial direction of the ring portion 151, and one-third of the total number of positioning protrusions 155 are arranged in a one-to-one correspondence with the abutment portion 154 in the radial direction of the ring portion 151.

[0178] like Figure 8 and Figure 9 As shown, in one feasible embodiment, the positioning protrusion 155 extends to the stop 1511. In this case, the portion of the positioning protrusion 155 located on the stop 1511 is arranged opposite the first connecting post 1531, the second connecting post 1532, or the abutting portion 154 in the radial direction of the ring portion 151. In another feasible embodiment, the positioning protrusion 155 does not extend to the stop 1511. In this case, the positioning protrusion 155 and the corresponding first connecting post 1531, the second connecting post 1532, or the abutting portion 154 are located in the same plane passing through the central axis of the ring portion 151, which can also be understood as being arranged opposite each other in the radial direction.

[0179] like Figures 7 to 12 As shown, in a feasible embodiment, the fixed carrier 156 includes: a cover body 1561 and a seat body 1562, and an insertion port 1563 is formed on the cover body 1561 and the seat body 1562, and the insertion part 153 is used to be inserted into the insertion port 1563; a rolling bearing 160 or a sliding bearing, and the rolling bearing 160 or the sliding bearing is sleeved on the output shaft 1321 of the output part 130, and is located between the seat body 1562 and the output shaft 1321.

[0180] In this technical solution, a structural composition of a fixed carrier 156 is further provided. The fixed carrier 156 may include a cover body 1561 and a seat body 1562. The plug-in portion 153 is plugged into the cover body 1561 and the seat body 1562, which can fix the ring portion 151 and further prevent rotation.

[0181] It can be understood that the rolling bearing 160 can be a deep groove ball bearing.

[0182] In some examples, a portion of the end surface of the cover 1561 is disposed opposite the first end surface 157, and a portion of the end surface of the base 1562 is disposed opposite the second end surface 158. The abutment portion 154 on the first end surface 157 firmly abuts against the end surface of the cover 1561, and the abutment portion 154 on the second end surface 158 firmly abuts against the end surface of the base 1562.

[0183] Specifically, the portion where the end surface of the cover 1561 contacts the contact portion 154 is flat and perpendicular to the axis of the rigid wheel 150. The portion where the end surface of the base 1562 contacts the contact portion 154 is flat and perpendicular to the axis of the rigid wheel 150.

[0184] Specifically, the plane where the contact surface between the abutting portion 154 and the fixed carrier 156 is located is also perpendicular to the axis of the rigid wheel 150 .

[0185] like Figures 7 to 12 As shown, in some examples, at least part of the abutment portion 154 and at least part of the connection portion 120 are alternately arranged in the circumferential direction of the ring portion 151, which can ensure good installation flatness while ensuring the connection strength of the connection portion 120.

[0186] In some examples, when the connecting portion 120 includes only the first connecting pillars 1531 , at least some of the abutting portions 154 and at least some of the first connecting pillars 1531 are alternately arranged in the circumferential direction of the ring portion 151 .

[0187] Specifically, in the circumferential direction of the ring portion 151 , the abutting portions 154 are respectively provided on both sides of a portion of the first connecting pillars 1531 , and the first connecting pillars 1531 are respectively provided on both sides of a portion of the abutting portions 154 .

[0188] like Figures 7 to 12 As shown, in some examples, when the connecting portion 120 includes a first connecting column 1531 and a second connecting column 1532 , at least part of the abutting portion 154 and at least part of the first connecting column 1531 and the second connecting column 1532 are alternately arranged in the circumferential direction of the ring portion 151 .

[0189] Specifically, on the circumference of the ring portion 151, abutment portions 154 are respectively provided on both sides of part of the first connecting column 1531, and abutment portions 154 are respectively provided on both sides of part of the second connecting column 1532, thereby forming a cycle of abutment portion 154, first connecting column 1531, abutment portion 154, second connecting column 1532, and abutment portion 154 in the circumferential direction.

[0190] In some examples, the first end face 157 and the second end face 158 can be provided with positioning marks, and when the positioning marks occupy the position of the abutment 154 or the first connecting column 1531 or the second connecting column 1532, the abutment 154 or the first connecting column 1531 or the second connecting column 1532 at that position is replaced.

[0191] Specifically, when the positioning mark occupies the position of the abutment portion 154, the first connecting post 1531 and the second connecting post 1532 may be located on either side of the positioning mark in the circumferential direction. When the positioning mark occupies the position of the first connecting post 1531, the abutment portion 154 may be located on either side of the positioning mark in the circumferential direction. When the positioning mark occupies the position of the second connecting post 1532, the abutment portion 154 may be located on either side of the positioning mark in the circumferential direction.

[0192] In some examples, the axial length of the abutment portion 154 in the ring portion 151 is smaller than the axial length of the connection portion 120 in the ring portion 151, so that when the abutment portion 154 abuts against the end face of the fixed carrier 156, the connection portion 120 can be inserted into the plug-in port 1563 on the end face of the fixed carrier 156, thereby ensuring good connection strength while also ensuring good installation flatness.

[0193] The hole depth of the plug port 1563 is not less than the length of the corresponding connecting portion 120 , so that the connecting portion 120 is fully inserted into the corresponding plug port 1563 , ensuring that the abutting portion 154 is firmly abutted against the end surface of the fixed carrier 156 .

[0194] In some examples, a portion of the end surface of the cover 1561 is disposed opposite the first end surface 157, and a portion of the end surface of the base 1562 is disposed opposite the second end surface 158. The abutment portion 154 on the first end surface 157 firmly abuts against the end surface of the cover 1561, and the abutment portion 154 on the second end surface 158 firmly abuts against the end surface of the base 1562.

[0195] like Figures 7 to 12 As shown, in a feasible embodiment, the seat body 1562 is sleeved on a portion of the ring portion 151 , a positioning groove is formed on the seat body 1562 , and the positioning protrusion 155 is used to be set in the positioning groove.

[0196] In this technical solution, a structural component of a seat body 1562 is further provided. A positioning groove can be formed on the seat body 1562. The positioning groove cooperates with the positioning protrusion 155 to further prevent the ring portion 151 from rotating.

[0197] In a feasible embodiment, the ring portion 151 and the fixing carrier 156 have an interference fit and / or a transition fit and / or a clearance fit.

[0198] In this technical solution, the ring portion 151 and the fixed carrier 156 can also be connected by interference fit or transition fit, based on which the ring portion 151 can also be prevented from rotating. When this structure is adopted, the outer wall of the ring portion 151 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 151.

[0199] It is understandable that a small gap can be used between the portion 151 and the fixed carrier 156, which can also prevent the ring portion 151 from rotating. When this structure is adopted, the outer wall of the ring portion 151 can be smooth, and there is no need to set other limiting components, which makes it easier to accurately process the ring portion 151.

[0200] In a feasible embodiment, the material for making the flexible spline 110 includes injection-molded engineering plastics. This configuration facilitates injection molding of the flexible spline 110 while ensuring the mechanical strength of the flexible spline 110.

[0201] In some examples, the flexible wheel 110 and the connecting portion 120 can be made of the same material. The materials used to make the flexible wheel 110 and the connecting portion 120 include but are not limited to injection-molded engineering plastics, such as pure materials such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS), and related materials filled with glass fiber and / or carbon fiber for reinforcement.

[0202] In a feasible embodiment, the material for preparing the rigid wheel 150 includes injection-molded engineering plastics. Such a configuration can ensure the processing accuracy and mechanical strength of the rigid wheel 150.

[0203] In some examples, materials used to prepare the rigid wheel 150 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.

[0204] like Figure 15 As shown, in a feasible implementation manner, the harmonic reducer further includes: a first external connection portion 200, the first external connection portion is connected to the ring portion 151, and the first external connection portion 200 is used to fix the harmonic reducer.

[0205] In this technical solution, a method for connecting a harmonic reducer with other external components is further provided. Based on this, the harmonic reducer can include a first external connection part 200. Based on this, during the operation of the harmonic reducer, the ring part 151 of the rigid wheel 150 is fixed, and the harmonic reducer can be connected to other components through the first external connection part 200. The first external connection part 200 may include a lug and a mounting seat formed on the ring part 151, and other components that can fix or assemble the harmonic reducer.

[0206] In a feasible embodiment, the ring portion 151 is a solid structure.

[0207] In this technical solution, a style of the ring portion 151 is further provided. The ring portion 151 can be a solid structure. Compared with the solution in traditional technology in which holes are left in the rigid wheel 150, by designing the ring portion 151 as a solid structure, on the one hand, the mechanical strength of the ring portion 151 can be improved; on the other hand, it is more convenient for injection molding of the ring portion 151 and the injection molding accuracy can be improved.

[0208] like Figure 2 As shown, in a feasible embodiment, the harmonic reducer further includes: a wave generator 170, the wave generator 170 is used to be connected to the flexible wheel 110; an input part 180, the input part 180 is connected to the wave generator 170; the wave generator 170 includes a cam 171 and a flexible bearing 172 sleeved on the cam 171.

[0209] This technical solution further provides the structural composition of a harmonic reducer, which may also include a wave generator 170 and an input unit 180. When the wave generator 170 is installed in the flexspline 110, it forces the flexspline 110 to elastically deform and become elliptical. The transmission teeth 113 near the ends of the major axis of the ellipse fully engage with the meshing teeth 152 on the rigid wheel 150, while the transmission teeth 113 near the ends of the minor axis are completely disengaged from the meshing teeth 152 of the rigid wheel 150. As the wave generator 170 rotates, the deformed portion of the flexspline 110 also rotates, causing the meshing and disengagement states between the flexspline 110 and the rigid wheel 150 to continuously change, thereby achieving a slow rotation of the flexspline 110 relative to the rigid wheel 150, thereby achieving a deceleration effect.

[0210] This technical solution further provides the structural composition of a wave generator 170, which can include a cam 171 and a flexible bearing 172 sleeved on the cam 171. The cam 171 and the flexible bearing 172 adopt a transition and slight interference fit. The flexible bearing 172 is mounted on the cam 171, and the inner and outer rings of the flexible bearing 172 have the same outer profile as the cam 171. The input unit 180 and the cam 171 can be connected by an interference fit, a key, or a pin. Based on this, the rotation of the input unit 180 can drive the rotation of the wave generator 170.

[0211] It is understandable that the shape of the cam 171 may conform to a cosine wave or an elliptical wave, so that a portion of the flex spline 110 can mesh with the rigid spline 150 .

[0212] It is understandable that the connection method between the wave generator 170 and the flexspline 110 includes but is not limited to interference fit, transition fit or small clearance fit.

[0213] In some examples, the cam 171 can be prepared by an injection molding process, or by a powder metallurgy (PM) or metal injection molding (MIM) process, which can reduce the production cost of the convex portion and ensure processing accuracy.

[0214] like Figure 2 As shown, in a feasible embodiment, a limiting flange 173 is formed on the cam 171 , and the limiting flange 173 is used to limit the flexible bearing 172 .

[0215] In this technical solution, the structure of the cam 171 is further provided. A limiting flange 173 can be formed on the cam 171. The limiting flange 173 can limit the flexible bearing 172, which can prevent the flexible bearing 172 from being separated from the cam 171, thereby ensuring the reliability of the harmonic reducer.

[0216] like Figure 2 As shown, in a feasible embodiment, the harmonic reducer also includes: a second external connection part 190, the second external connection part 190 includes: an external connection end cover 191, the external connection end cover 191 is arranged at one end of the housing of the harmonic reducer close to the output part 130; a second fastener 192, the second fastener 192 passes through the external connection end cover 191 and is connected to the housing; a second limit member 193, the second limit member 193 passes through the external connection end cover 191 and is connected to the housing; a twist groove 194, the twist groove 194 is formed on the external connection end cover 191; and an external bearing 195, the external bearing 195 is arranged between the output part 130 and the external connection end cover 191.

[0217] In this technical solution, another method of fixing the external connection of the harmonic reducer is further provided. In addition to setting the first external connection part 200 on the ring part 151 of the rigid wheel 150, the harmonic reducer can also be connected through the second external connection part 190. The second external connection part 190 may include an external connection end cover and a twist groove 194. The external connection end cover can cover the end of the harmonic reducer, and the twist groove 194 is opened on the external connection end cover. The external connection end cover can be limitedly assembled with other external components. Compared with the method of setting the first external connection part 200 on the ring part 151, the end of the harmonic reducer can be connected to other components through the setting of the second external connection part 190.

[0218] In this technical solution, the second external connection part 190 can also include a second fastener 192 and a second limiter 193, based on which the connection between the external connection end cover and the housing of the harmonic reducer can be made more reliable, and the positioning of the external connection end cover is facilitated, thereby reducing the probability of the external connection end cover detaching.

[0219] like Figure 15 As shown, in a feasible implementation manner, the harmonic reducer further includes: a connecting hole 210 , which is provided on the flexspline 110 , and the output portion 130 is connected to the flexspline 110 through the connecting portion 120 and the connecting hole 210 .

[0220] In this technical solution, a connecting hole 210 may also be provided on the flexible wheel 110 of the harmonic reducer, and part of the output part 130 may pass through the connecting hole 210. The output part 130 is fixed together by the connecting hole 210 and the protruding connecting part 120, which can make the fixing method of the output part 130 more diversified, make the fixing of the output part 130 more reliable, and further ensure the transmission accuracy.

[0221] like Figures 1 to 15 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.

[0222] 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.

[0223] 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.

[0224] like Figures 1 to 15 As shown, according to the third aspect of the embodiment of the present application, a cleaning device is proposed, including: a harmonic reducer as described in any of the above technical solutions or a robotic arm as described in the above technical solutions.

[0225] 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.

[0226] The cleaning equipment provided in the embodiments of the present application may further include a cleaning equipment body, and the harmonic reducer may be connected to the cleaning equipment body to reduce the speed of the power components within the cleaning equipment body. The first cavity formed on the harmonic reducer facilitates the layout of the lines or pipelines of the cleaning equipment body. 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. The harmonic reducer provided in the embodiments of the present application has precise transmission, which can make the operation of the cleaning equipment more precise.

[0227] 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., all of which require power components. When the power components need to be reduced in speed, they can be equipped with a harmonic reducer.

[0228] 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.

[0229] 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.

[0230] 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.

[0231] 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: Flexspline; A connecting portion is provided on the flexible pulley, and the connecting portion protrudes from the surface of the flexible pulley; an output portion, the output portion being connected to the flexible pulley through the connecting portion; wherein at least a portion of the output portion is located within the flexible pulley; Wherein, the flexible wheel and the connecting portion are an integrated structure; and / or The flexible wheel and the connecting part are prepared by an injection molding process.

2. The harmonic reducer according to claim 1, characterized in that: The connecting portion includes a plurality of connecting columns, and the connecting columns are arranged on the inner surface and / or outer surface of the bottom of the flexible wheel.

3. The harmonic reducer according to claim 2, characterized in that: The bottom of the flexible wheel is provided with an assembly hole, and the plurality of connecting columns are evenly arranged along the circumference of the assembly hole.

4. The harmonic reducer according to claim 1, characterized in that: The flexible pulley includes: A tooth segment, wherein a transmission tooth is provided on the outer wall of the tooth segment, and the tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, 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 bending direction of the first arc surface segment and the second arc surface segment are different.

5. The harmonic reducer according to claim 1, characterized in that: The output unit includes: a first limiting member, wherein a limiting hole is formed on the first limiting member, and the connecting portion is used to pass through the limiting hole; An output member is connected to the first limiting member.

6. The harmonic reducer according to claim 5, characterized in that: The connecting portion is arranged on the inner surface of the bottom of the flexible spline, and the first limiting member and the output member are respectively located on two sides of the bottom of the flexible spline.

7. The harmonic reducer according to claim 5, characterized in that: Also includes: The bottom of the flexible wheel is provided with an assembly hole, and at least a part of the output member is located in the assembly hole.

8. The harmonic reducer according to claim 5, characterized in that: Also includes: A first fastener passes through the first limiting member and is connected to the output member.

9. The harmonic reducer according to claim 5, characterized in that: The output member includes an output shaft or an output flange.

10. The harmonic reducer according to any one of claims 1 to 9, characterized in that: Also includes: a rigid wheel, the flexible wheel being used for meshing with the rigid wheel; The rigid wheel comprises 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.

11. The harmonic reducer according to claim 10, characterized in that: The tooth surface of the meshing tooth 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.

12. The harmonic reducer according to claim 10, characterized in that: The first end face and / or the second end face of the ring portion is 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 fixing carrier of the ring portion.

13. The harmonic reducer according to claim 12, characterized in that: At least two abutting portions are provided on the first end surface and / or the second end surface. 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 fixed carrier.

14. The harmonic reducer according to claim 13, 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 a fixed carrier of the ring portion.

15. The harmonic reducer according to claim 14, characterized in that: The fixed carrier comprises: A cover body and a base body, wherein the cover body and the base body are formed with an inserting interface, and the inserting portion is used to be inserted into the inserting interface; A rolling bearing or a sliding bearing is sleeved on the output shaft of the output part and is located between the seat body and the output shaft.

16. The harmonic reducer according to claim 15, characterized in that: The seat body is sleeved on a portion of the ring portion, a positioning groove is formed on the seat body, and the positioning protrusion is used to be arranged in the positioning groove.

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

18. The harmonic reducer according to claim 12, 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.

19. The harmonic reducer according to claim 10, characterized in that: Also includes: A first external connection portion is connected to the ring portion and is used to fix the harmonic reducer.

20. The harmonic reducer according to claim 10, characterized in that: The ring portion is a solid structure.

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 flexible bearing sleeved on the cam.

22. The harmonic reducer according to claim 21, characterized in that: A limiting flange is formed on the cam, and the limiting flange is used to limit the flexible bearing.

23. The harmonic reducer according to any one of claims 1 to 9, characterized in that: Also includes: A second external connection portion, wherein the second external connection portion comprises: An external end cover, the external end cover being arranged at one end of the housing of the harmonic reducer close to the output portion; a second fastener, the second fastener passing through the external end cover and connected to the housing; a second limiting member, the second limiting member passing through the external end cover and connected to the housing; a twist groove formed on the external connection end cover; An external bearing is arranged between the output portion and the external end cover.

24. The harmonic reducer according to any one of claims 1 to 9, characterized in that: Also includes: A connecting hole is provided on the flexible pulley, and the output portion is connected to the flexible pulley through the connecting portion and the connecting hole.

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

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

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