Harmonic speed reducer
By innovating with lightweight materials and oil injection/pressure relief channels, the problems of heavy weight and oil leakage in harmonic reducers have been solved, achieving both lightweight design and leak-proof performance.
Patent Information
- Application Number
- CN202520144906.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2035-01-22
AI Technical Summary
Existing harmonic reducers are heavy and prone to oil leakage.
The drive shaft and rigid wheel structure are designed with lightweight materials, and the oil injection channel and pressure relief channel are designed to achieve lightweighting and oil leakage prevention, respectively.
It effectively reduces the overall weight of the harmonic reducer, and the oil filling channel facilitates grease replenishment, while the pressure relief channel reduces the pressure in the meshing space, preventing oil leakage and extending service life.
Smart Images
Figure CN223563410U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a speed reducer, especially a harmonic speed reducer. BACKGROUND
[0002] The existing common harmonic speed reducer has the problems of heavy weight and oil leakage. SUMMARY
[0003] The utility model discloses a harmonic speed reducer which mainly serves to improve the problems of heavy weight and easy oil leakage of the existing harmonic speed reducer.
[0004] One embodiment of the utility model discloses a harmonic speed reducer, it includes: a wave generator, it includes a transmission shaft, the outside of transmission shaft is equipped with a flexible bearing, transmission shaft includes a transmission shaft main part and a transmission shaft cladding structure, transmission shaft cladding structure cladding is in the outside of transmission shaft main part, the material density of transmission shaft main part is lower than the material density of transmission shaft cladding structure, and the unit material weight of transmission shaft main part is less than the unit material weight of transmission shaft cladding structure, transmission shaft cladding structure is connected with flexible bearing, a flexible gear is connected with flexible bearing, and the flexible gear includes a plurality of flexible gear outer tooth structure, a bearing inner ring composite rigid gear has a plurality of inner tooth structure in the inside, and the outside of bearing inner ring composite rigid gear has a plurality of outer tooth structure, a plurality of inner tooth structure is used to engage with a plurality of flexible gear outer tooth structure, a back cover is pivoted with the transmission shaft cladding structure of the outside of transmission shaft, a front cover is pivoted with the transmission shaft cladding structure of the outside of transmission shaft, and the front cover and bearing inner ring composite rigid gear are fixed with each other, a bearing outer ring is fixed with back cover, and the inside of bearing outer ring and the outside of bearing inner ring composite rigid gear jointly form a roller bearing groove, the roller bearing groove is provided with a plurality of rollers, wherein, the bearing outer ring has an oil injection channel, and the oil injection channel forms an oil injection hole in the outside of bearing outer ring, the oil injection channel is communicated with the roller bearing groove, the bearing inner ring composite rigid gear has a pressure relief channel, the pressure relief channel is communicated with the roller bearing groove, one end of the pressure relief channel and a meshing space are communicated with each other, and the space that a plurality of inner tooth structure and a plurality of flexible gear outer tooth structure mesh with each other is defined as the meshing space.
[0005] Optionally, the material density of the transmission shaft main body is between 2500 and 3500 kg / m3, and the material density of the transmission shaft cladding structure is between 6500 and 8000 kg / m3.
[0006] Optionally, the thermal conductivity coefficient of the transmission shaft main body is between 120 and 160 W / mk, and the thermal conductivity coefficient of the transmission shaft cladding structure is between 10 and 90 W / mk.
[0007] Optionally, the transmission shaft main body and the transmission shaft cladding structure are made by pressure casting.
[0008] Optionally, the bearing inner ring composite rigid wheel comprises a rigid wheel body and a rigid wheel coating structure, the rigid wheel coating structure is coated on the outer side of the rigid wheel body, the material density of the rigid wheel body is lower than the material density of the rigid wheel coating structure, and the unit material weight of the rigid wheel body is less than the unit material weight of the rigid wheel coating structure; the plurality of outer tooth structures and the plurality of inner tooth structures are formed by the rigid wheel coating structure.
[0009] Optionally, the material density of the rigid wheel body is between 2500-3500 kg / m3, and the material density of the rigid wheel coating structure is between 6500-8000 kg / m3.
[0010] Optionally, the thermal conductivity coefficient of the rigid wheel body is between 120-160 W / mk, and the thermal conductivity coefficient of the rigid wheel coating structure is between 10-90 W / mk.
[0011] Optionally, the rigid wheel body and the rigid wheel coating structure are made by pressure casting.
[0012] Optionally, the bearing outer ring comprises a bearing outer ring body and a bearing groove coating structure, the roller bearing groove is formed by the bearing groove coating structure, the material density of the bearing outer ring body is lower than the material density of the bearing groove coating structure, and the unit material weight of the bearing outer ring body is less than the unit material weight of the bearing groove coating structure.
[0013] Optionally, the material density of the bearing outer ring body is between 2500-3500 kg / m3, and the material density of the bearing groove coating structure is between 6500-8000 kg / m3.
[0014] Optionally, the thermal conductivity coefficient of the bearing outer ring body is between 120-160 W / mk, and the thermal conductivity coefficient of the bearing groove coating structure is between 10-90 W / mk.
[0015] Optionally, the bearing outer ring body and the bearing groove coating structure are made by pressure casting.
[0016] Optionally, the harmonic reducer further comprises a sealing member, the sealing member is detachably arranged at the oil injection hole.
[0017] Optionally, the transmission shaft rotates around a central shaft; the oil injection channel is arranged through the bearing outer ring along a radial direction, the radial direction is not parallel to the central shaft; and the pressure relief channel is arranged through the bearing inner ring composite rigid wheel along the radial direction.
[0018] Optionally, the inner diameter of the oil injection channel is between 1.2-2 mm.
[0019] Optionally, the inner diameter of the pressure relief channel is between 0.3-0.6 mm.
[0020] Optionally, the flexible gear comprises a ring-shaped fixing part and a cup body, the ring-shaped fixing part is fixedly arranged between the rear cover and the bearing outer ring, the cup body is formed by extending from the inner side of the ring-shaped fixing part to one side, and a plurality of flexible gear structures are formed on the outer side of the cup body; a first oil path is formed between the cup body and the bearing inner ring combined rigid gear, a second oil path is formed between the ring-shaped fixing part and the bearing inner ring combined rigid gear, and the first oil path, the second oil path, the roller bearing groove and the pressure relief channel are communicated with each other; the inner diameter of the first oil path is greater than the inner diameter of the pressure relief channel, and the inner diameter of the second oil path is greater than the inner diameter of the pressure relief channel.
[0021] Optionally, between the bearing outer ring and the bearing inner ring combined rigid gear, an inner gap and an outer gap are formed, the inner gap and the outer gap are located on both sides of the bearing inner ring combined rigid gear, and the inner gap is communicated with the second oil path; the outer gap is communicated with a clamping groove on one side of the roller bearing groove; the clamping groove is provided with an oil seal, and the oil seal is used to block the grease in the roller bearing groove from flowing outward through the outer gap.
[0022] In summary, the harmonic reducer of the utility model, through the design that the material density of the transmission shaft main body is lower than the material density of the transmission shaft coating structure, and the unit material weight of the transmission shaft main body is less than the unit material weight of the transmission shaft coating structure, the overall weight of the harmonic reducer can be effectively reduced, and through the design of the oil injection channel and the oil injection hole, the user can conveniently inject grease into the interior of the harmonic reducer.In addition, through the design of the pressure relief channel, the harmonic reducer can reduce the pressure in the meshing space when the harmonic reducer is running, thereby avoiding the situation that the grease in the meshing space is extruded outward due to high pressure, and further causing oil leakage.
[0023] For further understanding of the features and technical contents of the utility model, please refer to the following detailed description and drawings of the utility model, but these descriptions and drawings are only used to illustrate the utility model, and do not limit the protection scope of the utility model. BRIEF DESCRIPTION OF DRAWINGS
[0024] Figure 1 And Figure 2 The different perspective schematic diagrams of the harmonic reducer of the utility model are respectively shown.
[0025] Figures 3 to 7 The partial exploded schematic diagrams of different components of the harmonic reducer of the utility model are respectively shown.
[0026] Figure 8 The sectional view schematic diagram of the harmonic reducer of the utility model along the section line VIII-VIII of Figure 1 is shown.
[0027] Figure 9 The partial enlarged schematic diagram of Figure 8 is shown. Detailed Implementation
[0028] In the following description, if a specific drawing is indicated or shown in a specific drawing, it is only to emphasize that most of the relevant content mentioned in the following description appears in that specific drawing, but does not limit the following description to refer only to that specific drawing.
[0029] Please refer to the following: Figures 1 to 7 , Figure 1 and Figure 2 These are schematic diagrams of the harmonic reducer of this utility model from different perspectives. Figures 3 to 7 These are partial exploded schematic diagrams of different components of the harmonic reducer of this utility model.
[0030] The harmonic reducer 100 of this utility model includes: a wave generator 1, a front cover 2, a first bearing 3, a flexible wheel 4, a bearing inner ring composite rigid wheel 5, multiple rollers 6, a bearing outer ring 7, a rear cover 8, and a second bearing 9.
[0031] The wave generator 1 includes a drive shaft 11, with a flexible bearing 12 sleeved on the outer side of the drive shaft 11. The front cover 2 is pivotally connected to the outer side of the drive shaft 11 via a first bearing 3. A first oil seal component 100A may be provided between one end of the drive shaft 11 and the front cover 2; a second oil seal component 100B may be provided between the other end of the drive shaft 11 and the rear cover 8. A flexible wheel 4 is connected to the flexible bearing 12, and the flexible wheel 4 includes multiple flexible wheel external tooth structures 41. The inner side of the bearing inner ring composite rigid wheel 5 has multiple internal tooth structures 51. The multiple internal tooth structures 51 are used to mesh with the multiple flexible wheel external tooth structures 41. There is a tooth difference between the number of teeth of the flexible wheel external tooth structure 41 and the number of teeth of the multiple internal tooth structures 51 of the bearing inner ring composite rigid wheel 5. This difference can be designed according to actual needs and is not limited here.
[0032] The outer ring 7 of the bearing is fixed to the rear cover 8. An annular groove 70 on the inner side of the outer ring 7 and an annular groove 50 on the outer side of the inner ring composite rigid wheel 5 of the bearing together form a roller bearing groove A (e.g., Figure 8 and Figure 9 (As shown). The roller bearing groove A is provided with multiple rollers 6. The multiple rollers 6 can be arranged in a cross configuration, and the outer bearing ring 7, the inner bearing ring composite wheel 5, and the multiple rollers 6 can together constitute a cross roller bearing. The rear cover 8 is pivotally connected to the outside of the drive shaft 11 via a second bearing 9.
[0033] Please see Figure 5 , Figure 7 , Figure 8 and Figure 9 ,Figure 8 The harmonic reducer of the utility model is along Figure 1 The sectional view of the sectional line VIII-VIII of the utility model, Figure 9 The sectional view of the sectional line VIII-VIII of the utility model, Figure 8 The transmission shaft 11 is connected with an external power source (for example, a motor), and after the transmission shaft 11 is driven by the power source, the transmission shaft 11 drives the flexspline 4 to elastically deform, the flexspline 4 drives the bearing inner ring compound rigid wheel 5 to rotate, and the bearing inner ring compound rigid wheel 5 drives the front cover 2 to rotate, in the process, the transmission shaft 11 rotates relative to the front cover 2 and the rear cover 8 through the first bearing 3 and the second bearing 9, and the bearing inner ring compound rigid wheel 5 rotates relative to the bearing outer ring 7 through the plurality of rollers 6.
[0034] The transmission shaft 11 comprises a transmission shaft body 111 and a transmission shaft coating structure 112. The transmission shaft body 111 is, for example, a hollow structure, but is not limited thereto. The transmission shaft coating structure 112 is coated on the outside of the transmission shaft body 111. The flexible bearing 12, the first bearing 3 and the second bearing 9 are respectively fixed on the outside of the transmission shaft coating structure 112, and the rear cover 8 and the front cover 2 are pivoted to the outside of the transmission shaft coating structure 112 through the first bearing 3 and the second bearing 9.
[0035] In one embodiment, the transmission shaft coating structure 112 can be fixed on the outside of the transmission shaft body 111 in a die casting manner, so that the transmission shaft coating structure 112 and the transmission shaft body 111 can not need to be fixed by screws, thereby achieving the effects of simple manufacturing, no additional assembly, and weight reduction of the harmonic reducer 100.
[0036] The material density of the transmission shaft body 111 is lower than the material density of the transmission shaft coating structure 112, and the unit material weight of the transmission shaft body 111 is less than the unit material weight of the transmission shaft coating structure 112. In one embodiment, the material density of the transmission shaft body 111 is between 2500 and 3500 kg / m3, and the material density of the transmission shaft coating structure 112 is between 6500 and 8000 kg / m3. For example, the transmission shaft body 111 can be made of ferrous metal, and the transmission shaft coating structure 112 can be made of aluminum alloy or aluminum-magnesium alloy. Through the above, the overall weight of the transmission shaft 11 and the overall weight of the harmonic reducer 100 can be effectively reduced. In addition, by designing the material density of the transmission shaft coating structure 112 to be higher than the material density of the transmission shaft body 111, it can also ensure that the transmission shaft 11 can stably transmit the power of the external power source to the outside through the flexible bearing 12.
[0037] In one of the embodiments, the thermal conductivity of the transmission shaft body 111 can be between 120-160 W / mk, and the thermal conductivity of the transmission shaft coating structure 112 can be between 10-90 W / mk. In this way, the heat dissipation effect of the transmission shaft 11 can be improved.
[0038] Similarly, in one of the embodiments, the bearing inner ring composite rigid wheel 5 can include a rigid wheel body 53 and a rigid wheel coating structure 54. The rigid wheel coating structure 54 is coated on the outer side of the rigid wheel body 53. The material density of the rigid wheel body 53 is lower than that of the rigid wheel coating structure 54, and the unit material weight of the rigid wheel body 53 is less than that of the rigid wheel coating structure 54. The plurality of inner tooth structures 51 are formed by the rigid wheel coating structure 54. In actual application, the rigid wheel body 53 and the rigid wheel coating structure 54 are made by die casting.
[0039] In one of the embodiments, the rigid wheel coating structure 54 can be fixed to the outer side of the rigid wheel body 53 by die casting. In this way, the rigid wheel coating structure 54 and the rigid wheel body 53 can be fixed without screws, thereby achieving the effects of simple manufacturing, no additional assembly, and weight reduction of the harmonic speed reducer 100.
[0040] The material density of the rigid wheel body 53 is lower than that of the transmission shaft coating structure 112, and the unit material weight of the rigid wheel body 53 is less than that of the transmission shaft coating structure 112. In one of the embodiments, the material density of the rigid wheel body 53 is between 2500-3500 kg / m3, and the material density of the transmission shaft coating structure 112 is between 6500-8000 kg / m3. For example, the rigid wheel body 53 can be made of ferrous metal, and the rigid wheel coating structure 54 can be made of aluminum alloy or aluminum-magnesium alloy. In this way, the overall weight of the transmission shaft 11 and the harmonic speed reducer 100 can be effectively reduced. In addition, by designing the material density of the rigid wheel coating structure 54 to be higher than that of the rigid wheel body 53, the transmission shaft 11 can stably transmit the power from the external power source to the outside through the flexible bearing 12.
[0041] In one of the embodiments, the thermal conductivity of the rigid wheel body 53 can be between 120-160 W / mk, and the thermal conductivity of the rigid wheel coating structure 54 can be between 10-90 W / mk. In this way, the heat dissipation effect of the bearing inner ring composite rigid wheel 5 can be improved.
[0042] The bearing outer ring 7 includes a bearing outer ring body 71 and a bearing groove covering structure 72. The roller bearing groove A is composed of the bearing groove covering structure. The material density of the bearing outer ring body 71 is lower than the material density of the bearing groove covering structure 72, and the unit material weight of the bearing outer ring body 71 is less than the unit material weight of the bearing groove covering structure 72.
[0043] In one embodiment, the bearing groove covering structure 72 can be fixed to the outside of the bearing outer ring body 71 by die casting. In this way, the bearing groove covering structure 72 and the bearing outer ring body 71 do not need to be fixed with screws, which can achieve the effect of simple manufacturing and no additional assembly, and can save the weight of screws, thereby reducing the overall weight of the harmonic reducer 100.
[0044] The material density of the bearing outer ring body 71 is lower than that of the drive shaft covering structure 112, and the unit material weight of the bearing outer ring body 71 is less than that of the drive shaft covering structure 112. In one embodiment, the material density of the bearing outer ring body 71 is between 2500 and 3500 kg / m³, and the material density of the drive shaft covering structure 112 is between 6500 and 8000 kg / m³. For example, the bearing outer ring body 71 can be made of ferrous metal, while the bearing groove covering structure 72 can be made of aluminum alloy or aluminum-magnesium alloy. This effectively reduces the overall weight of the drive shaft 11 and the overall weight of the harmonic reducer 100. Furthermore, by designing the material density of the bearing groove covering structure 72 to be higher than that of the bearing outer ring body 71, it can be ensured that the drive shaft 11 can stably transmit power from an external power source through the flexible bearing 12.
[0045] In one embodiment, the thermal conductivity of the bearing outer ring body 71 can be between 120 and 160 W / mk, and the thermal conductivity of the drive shaft covering structure 112 can be between 10 and 90 W / mk. This design can improve the heat dissipation effect of the drive shaft 11.
[0046] like Figure 8 and Figure 8 As shown, the outer ring 7 of the bearing has an oil injection channel 73, and the oil injection channel 73 forms an oil injection hole 731 on the outer side of the outer ring 7. The oil injection channel 73 communicates with the roller bearing groove A. The harmonic reducer 100 also includes a seal 10, which is detachably disposed in the oil injection hole 731. Through the design of the oil injection channel 73, grease (such as various types of lubricating oil) can be injected into the roller bearing groove A through the oil injection hole 731 and the oil injection channel 73 to replenish the grease in the roller bearing groove A, thereby ensuring that the multiple rollers 6 can run smoothly in the roller bearing groove A.
[0047] The bearing inner ring composite rigid wheel 5 has a pressure relief passage 55; the pressure relief passage 55 is communicated with the roller bearing groove A; one end of the pressure relief passage 55 is communicated with an engagement space B; the space where the plurality of inner tooth structures 51 and the plurality of flexible wheel outer tooth structures 41 are engaged with each other is defined as the engagement space B.
[0048] In actual application, the transmission shaft 11 is rotated around a center axis C; the oil injection passage 73 is arranged through the bearing outer ring 7 along a radial direction D, which is not parallel to the center axis C; the pressure relief passage 55 is arranged through the bearing inner ring composite rigid wheel 5 along the radial direction D. In one embodiment, the inner diameter of the oil injection passage 73 can be 1.2-2 mm. In one embodiment, the inner diameter of the pressure relief passage 55 can be 0.3-0.6 mm.
[0049] The bearing outer ring 7 and the bearing inner ring composite rigid wheel 5 form an inner gap 5A and an outer gap 5B on both sides of the bearing inner ring composite rigid wheel 5, respectively. The inner gap 5A is communicated with the roller bearing groove A. The outer gap 5B is communicated with a clamping groove 74 on one side of the roller bearing groove A. The clamping groove 74 is used to arrange an oil seal 75. The oil seal 75 is used to block the grease in the roller bearing groove A from flowing outward through the outer gap 5B.
[0050] The flexible wheel 4 includes a ring-shaped fixed part 42 and a cup body 43. The ring-shaped fixed part 42 is fixedly arranged between the rear cover 8 and the bearing outer ring 7. The cup body 43 is formed by extending from the inner side of the ring-shaped fixed part 42 to one side. The outer side of the cup body 43 is formed with a plurality of flexible wheel outer tooth structures 41. The cup body 43 and the bearing inner ring composite rigid wheel 5 form a first oil passage E, and the ring-shaped fixed part 42 and the bearing inner ring composite rigid wheel 5 form a second oil passage F. The first oil passage E, the second oil passage F, the roller bearing groove A, and the pressure relief passage 55 are communicated with each other, and together form a grease flow circuit, so that the grease in the engagement space B can flow in the grease flow circuit. The inner diameter E1 of the first oil passage E is greater than the inner diameter 55D of the pressure relief passage 55, and the inner diameter F1 of the second oil passage F is greater than the inner diameter 55D of the pressure relief passage 55.
[0051] When the harmonic reducer 100 is in operation, the oil in the meshing space B will flow through the first oil path E and the second oil path F, and the oil will not directly flow from the meshing space B into the pressure relief channel 55. During the operation of the harmonic reducer 100, part of the oil in the meshing space B flows into the roller bearing groove A through the first oil path E and the second oil path F, and part of the oil in the roller bearing groove A will flow back into the first oil path E through the pressure relief channel 55 due to the high pressure in the roller bearing groove A. In other words, through the design of the pressure relief channel 55, the oil flowing into the roller bearing groove A will automatically flow back into the first oil path E and the meshing space B, and the oil in the roller bearing groove A will not flow outwards due to the high pressure in the roller bearing groove A, thereby greatly reducing the oil leakage.
[0052] As shown in Figure 9 If the bearing inner ring compound rigid wheel 5 does not have the pressure relief channel 55, part of the oil in the meshing space B will flow into the roller bearing groove A through the first oil path and the second oil path F during the operation of the harmonic reducer 100. Since the roller bearing groove A is pre-provided with oil, part of the oil will be forced to flow outwards due to the high pressure in the roller bearing groove A after the additional oil flows into the roller bearing groove A. As a result, the oil will accumulate in the oil seal 75 and the engagement groove 74, and oil leakage may occur.
[0053] In summary, the harmonic reducer of the present application can allow relevant personnel to supplement the oil in the internal part of the harmonic reducer without disassembling the harmonic reducer, thereby improving the overall service life of the harmonic reducer. In the conventional harmonic reducer, there is no oil injection channel and oil injection hole, so relevant personnel cannot supplement the oil in the harmonic reducer by themselves, and the harmonic reducer must be sent back to the manufacturer for disassembly and maintenance.
[0054] The harmonic reducer of the present application can reduce the internal pressure of the harmonic reducer through the design of the pressure relief channel, thereby avoiding the oil in the meshing space being extruded outwards and causing oil leakage. In the conventional harmonic reducer, there is no pressure relief channel, so the pressure in the meshing space will rise during the operation of the harmonic reducer, and the oil in the meshing space will flow outwards due to the pressure, thereby causing oil leakage. When the oil is extruded outwards and causes oil leakage, the meshing teeth in the meshing space cannot be effectively lubricated, which may cause damage to the teeth or may produce abnormal noise.
[0055] The above merely describes preferred and feasible embodiments of the present application, and does not limit the patent range of the present application, so equivalent technical changes made by referring to the content of the present application specification and drawings are included in the protection range of the present application.
Claims
1. A harmonic reducer, characterized in that, The harmonic reducer includes: A wave generator includes a drive shaft with a flexible bearing sleeved on its outer side. The drive shaft includes a drive shaft body and a drive shaft covering structure, the drive shaft covering structure covering the outer side of the drive shaft body. The material density of the drive shaft body is lower than that of the drive shaft covering structure, and the unit material weight of the drive shaft body is less than that of the drive shaft covering structure. The drive shaft covering structure is connected to the flexible bearing. A flexible wheel, the flexible wheel being connected to the flexible bearing, the flexible wheel comprising a plurality of external toothed structures; A bearing inner ring composite rigid wheel has multiple internal tooth-like structures on its inner side and multiple external tooth-like structures on its outer side; the multiple internal tooth-like structures are used to mesh with the multiple external tooth-like structures of the flexible wheel. A rear cover, which is pivotally connected to the drive shaft covering structure on the outside of the drive shaft; a front cover, which is pivotally connected to the drive shaft covering structure on the outside of the drive shaft, and the front cover is fixed to the inner ring composite rigid wheel of the bearing. A bearing outer ring is fixed to the rear cover. The inner side of the bearing outer ring and the outer side of the bearing inner ring composite rigid wheel together form a roller bearing groove. The roller bearing groove is provided with multiple rollers. The bearing outer ring has an oil injection channel, and the oil injection channel forms an oil injection hole on the outer side of the bearing outer ring; the oil injection channel is connected to the roller bearing groove; the bearing inner ring composite rigid wheel has a pressure relief channel; the pressure relief channel is connected to the roller bearing groove; one end of the pressure relief channel is connected to a meshing space; the space in which the plurality of internal tooth-like structures and the plurality of flexible wheel external tooth-like structures mesh with each other is defined as the meshing space.
2. The harmonic reducer according to claim 1, characterized in that, The material density of the drive shaft body is between 2500 and 3500 kg / m³. 3 The material density of the drive shaft cladding structure is between 6500 and 8000 kg / m³. 3 .
3. The harmonic reducer according to claim 1, characterized in that, The thermal conductivity of the main body of the drive shaft is between 120 and 160 W / mk, and the thermal conductivity of the drive shaft covering structure is between 10 and 90 W / mk.
4. The harmonic reducer according to claim 1, characterized in that, The drive shaft body and the drive shaft covering structure are manufactured by die casting.
5. The harmonic reducer according to claim 1, characterized in that, The inner ring composite rigid wheel of the bearing includes a rigid wheel body and a rigid wheel coating structure. The rigid wheel coating structure is applied to the outer side of the rigid wheel body. The material density of the rigid wheel body is lower than that of the rigid wheel coating structure, and the unit material weight of the rigid wheel body is less than that of the rigid wheel coating structure. The plurality of external tooth structures and the plurality of internal tooth structures are composed of the rigid wheel coating structure.
6. The harmonic reducer according to claim 5, characterized in that, The material density of the main body of the rigid wheel is between 2500 and 3500 kg / m³. 3 The material density of the rigid wheel coating structure is between 6500 and 8000 kg / m³. 3 .
7. The harmonic reducer according to claim 5, characterized in that, The thermal conductivity of the main body of the rigid wheel is between 120 and 160 W / mk, and the thermal conductivity of the rigid wheel covering structure is between 10 and 90 W / mk.
8. The harmonic reducer according to claim 5, characterized in that, The main body of the rigid wheel and the covered structure of the rigid wheel are manufactured by die casting.
9. The harmonic reducer according to claim 1, characterized in that, The bearing outer ring includes a bearing outer ring body and a bearing groove covering structure. The roller bearing groove is formed by the bearing groove covering structure. The material density of the bearing outer ring body is lower than the material density of the bearing groove covering structure, and the unit material weight of the bearing outer ring body is less than the unit material weight of the bearing groove covering structure.
10. The harmonic reducer according to claim 9, characterized in that, The material density of the outer ring body of the bearing is between 2500 and 3500 kg / m³. 3 The material density of the bearing groove coating structure is between 6500 and 8000 kg / m³. 3 .
11. The harmonic reducer according to claim 9, characterized in that, The thermal conductivity of the outer ring body of the bearing is between 120 and 160 W / mk, and the thermal conductivity of the bearing groove covering structure is between 10 and 90 W / mk.
12. The harmonic reducer according to claim 9, characterized in that, The outer ring body of the bearing and the bearing groove covering structure are manufactured by die casting.
13. The harmonic reducer according to claim 1, characterized in that, The harmonic reducer also includes a seal that is detachably disposed at the oil injection port.
14. The harmonic reducer according to claim 1, characterized in that, The drive shaft rotates around a central axis; the oil injection channel is arranged to pass through the outer ring of the bearing in a radial direction, which is not parallel to the central axis; the pressure relief channel passes through the inner ring of the bearing in the radial direction.
15. The harmonic reducer according to claim 14, characterized in that, The inner diameter of the oil injection channel is between 1.2 and 2 mm.
16. The harmonic reducer according to claim 14, characterized in that, The inner diameter of the pressure relief channel is between 0.3 and 0.6 mm.
17. The harmonic reducer according to claim 1, characterized in that, The flexible wheel includes an annular fixing part and a cup body. The annular fixing part is fixedly disposed between the rear cover and the outer ring of the bearing. The cup body is formed by extending from the inner side of the annular fixing part to one side, and multiple flexible wheel-shaped structures are formed on the outer side of the cup body. A first oil passage is formed between the cup body and the composite rigid wheel of the inner ring of the bearing, and a second oil passage is formed between the annular fixing part and the composite rigid wheel of the inner ring of the bearing. The first oil passage, the second oil passage, the roller bearing groove, and the pressure relief channel are interconnected. The inner diameter of the first oil passage is larger than the inner diameter of the pressure relief channel, and the inner diameter of the second oil passage is larger than the inner diameter of the pressure relief channel.
18. The harmonic reducer according to claim 17, characterized in that, An inner gap and an outer gap are formed between the outer ring of the bearing and the composite rigid wheel of the inner ring of the bearing. The inner gap and the outer gap are located on both sides of the composite rigid wheel of the inner ring of the bearing, and the inner gap is connected to the second oil passage. The outer gap is connected to a locking groove on one side of the roller bearing groove. An oil seal is provided in the locking groove to block the grease located in the roller bearing groove from flowing outward through the outer gap.