Harmonic reducer, motor rotor and joint actuator

Abstract

The utility model provides a harmonic reducer (1), a motor rotor (2) and a joint actuator, and relates to the field of robots. The harmonic reducer (1) comprises a steel wheel (11), a wave generator (12) and a flexible wheel (13); a plurality of first through holes (121) and a plurality of assembly positioning holes (122) are formed in the radial surface of the wave generator (12); and the first through hole (121) is used for inserting a connecting piece to connect the wave generator (12) and a motor rotor (2) fixedly connected with the wave generator (12).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, in particular to a harmonic reducer, a motor rotor and a joint actuator. BACKGROUND

[0002] The harmonic reducer is a new transmission structure in the gear reducer. It mainly consists of three basic components: a steel wheel, a flexible wheel and a wave generator.

[0003] The steel wheel has fixed internal teeth on the inner side, the flexible wheel is a thin-walled sleeve cup located between the wave generator and the steel wheel, and the wave generator is an elliptical structure that can cause the flexible wheel to deform radially. The harmonic reducer uses the flexible wheel to generate a controllable elastic deformation wave to cause the teeth of the steel wheel and the flexible wheel to be relatively misaligned to transmit power and motion.

[0004] This transmission is fundamentally different from general gear transmission and has special properties in terms of meshing theory, set computation and structural design. The harmonic gear reducer has the advantages of high precision and high bearing capacity, and compared with ordinary reducers, it uses 50% less material, and its volume and weight are reduced by at least 1 / 3.

[0005] Based on the advantages of the harmonic reducer, the mainstream solution for the joint actuator of the robot at present is to use the harmonic reducer to obtain large torque output characteristics. CONTENT OF THE INVENTION

[0006] The present disclosure provides a harmonic reducer, a motor rotor and a joint actuator.

[0007] According to a first aspect of the present disclosure, a harmonic reducer is provided, comprising: a steel wheel, a wave generator, a flexible wheel;

[0008] The radial surface of the wave generator is provided with a plurality of first through holes and a plurality of assembly positioning holes; the first through holes are used for inserting connecting pieces to connect the wave generator and the motor rotor fixedly connected thereto.

[0009] Optionally, the first through holes are uniformly arranged on the radial surface of the wave generator; at least one assembly positioning hole is arranged between any two adjacent first through holes.

[0010] Optionally, the steel wheel comprises a first steel wheel and a second steel wheel; the first steel wheel and the second steel wheel are arranged in sequence along the axial direction of the wave generator.

[0011] The harmonic reducer further comprises a sealing ring, a bearing and a housing; the bearing is arranged between the housing and the second steel wheel; the sealing ring is arranged between the housing and the first steel wheel.

[0012] Optionally, the housing is provided with a groove near the circumference of the first steel wheel, and the sealing ring is arranged in the groove.

[0013] Optionally, the steel wheel comprises a first steel wheel and a second steel wheel, and the first steel wheel and the second steel wheel are arranged in sequence along the axial direction of the wave generator.

[0014] The first steel wheel comprises a plurality of first protrusions and a plurality of first recesses distributed in the radial direction, and at least one second through hole is arranged on the first protrusion; the first protrusion and the first recess are arranged alternately.

[0015] Optionally, the harmonic reducer further comprises a housing; the housing comprises a plurality of second protrusions and a plurality of second recesses distributed in the radial direction, and at least one third through hole is arranged on the second protrusion; the second protrusion and the second recess are arranged alternately.

[0016] According to a second aspect of the present disclosure, a motor rotor is provided for fixed connection with the harmonic reducer described above; the motor rotor comprises:

[0017] A connecting hole for corresponding connection with each of the first through holes and a lightening hole for corresponding connection with each of the assembly positioning holes.

[0018] Optionally, the motor rotor comprises a rotor shaft, a central region perpendicular to the rotor shaft, and an edge region.

[0019] The connecting hole and the lightening hole are located in the central region; the central region forms a protrusion for fixed connection with the wave generator.

[0020] Optionally, the edge region is arranged obliquely downward along the axial direction of the central region, and the edge region comprises at least one hollow structure.

[0021] According to a third aspect of the present disclosure, a joint actuator is provided, which comprises the harmonic reducer described above and the motor rotor described above.

[0022] The first through hole of the harmonic reducer and the corresponding connecting hole of the motor rotor are connected by a connecting piece; the assembly positioning hole of the harmonic reducer and the corresponding lightening hole of the motor rotor are connected by a fixing piece.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are used to better understand the present scheme, and do not constitute a limitation on the present disclosure. Among them:

[0025] Figure 1 is a structural schematic diagram of a harmonic reducer in the related art;

[0026] Figure 2 is Figure 1 a corresponding cross-sectional schematic diagram;

[0027] Figure 3 is a structural schematic diagram of a wave generator of a harmonic reducer provided by an embodiment of the present disclosure;

[0028] Figure 4 is a structural schematic diagram of a wave generator of a conventional harmonic reducer in the related art;

[0029] Figure 5 is a structural schematic diagram of a harmonic reducer provided by an embodiment of the present disclosure;

[0030] Figure 6 is an appearance schematic diagram of a harmonic reducer provided by the present disclosure;

[0031] Figure 7 is a structural schematic diagram of a motor rotor provided by an embodiment of the present disclosure;

[0032] Figure 8 is a structural schematic diagram of a joint actuator provided by an embodiment of the present disclosure;

[0033] Figure 9 is Figure 8 a corresponding cross-sectional schematic diagram.

[0034] The reference numerals in the detailed description are as follows:

[0035] Conventional harmonic reducer 0; Steel wheel 01; Wave generator 02; Flexspline 03; Oil seal 04; Housing 05; Bearing 06; First steel wheel 011; Second steel wheel 012; Through hole 0110; Threaded hole 0120; Through hole 021; Through hole 031; Through hole 051.

[0036] Harmonic reducer of the present disclosure 1; Steel wheel 11; Wave generator 12; Flexspline 13; Seal ring 14; Housing 15; Bearing 16; First steel wheel 111; Second steel wheel 112; Through hole 1110; First protrusion 1111; First recess 1112; Connection hole 1120; First through hole 121; Assembly positioning hole 122; Through hole 130; Through hole 151; Second protrusion 152; Second recess 153; Bearing 161; Bearing 162; Motor rotor 2; Connection hole 201; Weight-reducing hole 202; Connection piece 203; Rotor shaft 21; Center region 22; Edge region 23; Hollow structure 231. DETAILED DESCRIPTION

[0037] Exemplary embodiments of the present disclosure are described herein below with reference to the accompanying drawings, in which various specific details are set forth to assist in a thorough understanding of these embodiments. It should be understood, however, that various changes and modifications can be made to the embodiments described herein, without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions can be omitted for clarity and conciseness.

[0038] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0039] It should be noted that the block diagram shown in the drawings is only a functional entity, which does not necessarily correspond to a physically independent entity.

[0040] Figure 1 is a structural schematic diagram of a conventional harmonic reducer 0 in the related art; Figure 2 is Figure 1 The corresponding harmonic reducer 0 is along Figure 1 The cross-sectional view shown by the dashed line is cut open. The conventional harmonic reducer 0 in the related art, as shown in Figure 1 and Figure 2 The conventional harmonic reducer 0 includes a steel wheel 01, specifically a first steel wheel 011 and a second steel wheel 012, a wave generator 02, a flexspline 03 located between the steel wheel and the wave generator, an oil seal 04, an outer shell 05 and a bearing 06.

[0041] Among them, the radial surface of the first steel wheel 011 is distributed with a plurality of through holes 0110, and the second steel wheel 012 is correspondingly distributed with a plurality of threaded holes 0120, and the fixing and installation of the reducer output end can be realized by connecting the threaded holes 0120 through the through holes 0110.

[0042] The radially facing surface of the housing 05 has a plurality of through holes 051, and the flexspline 03 is correspondingly provided with a plurality of through holes 031. Screws (not shown in the figure) pass through the through holes 051 and the through holes 031, so that the overall reducer and the motor housing can be fixedly installed (the motor housing has corresponding threaded holes).

[0043] The oil seal 04 is used to seal and prevent dust in the cavity where the bearing 06 is located. Because the radial length of the oil seal structure is large, the overall radial length of the traditional harmonic reducer is large.

[0044] The wave generator 02 of the traditional harmonic reducer 0 is connected to the input end (such as the motor rotor). There are mainly three connection modes.

[0045] Mode 1: The screws pass through the through holes on the wave generator and are fixedly connected to the input end (such as the motor rotor), so that the wave generator and the input end are connected.

[0046] Mode 2: The screws pass through the through holes on the wave generator and are fixedly connected to the input end (such as the motor rotor), and the motor rotor shaft passes through the input hole on the wave generator and is matched with the key groove structure of the input hole, so that the wave generator and the input end are connected.

[0047] Mode 3: The motor rotor shaft passes through the input hole on the wave generator, and the screws in the threaded holes are used to “tighten” the motor rotor shaft, so that the wave generator and the motor rotor shaft are fixedly connected.

[0048] The wave generator used in mode 1 and mode 2 is a solid metal disc, which has a large mass. After the motor rotor is connected to the wave generator, the rotational inertia of the motor is increased, which is not conducive to the precise control of the motor. At the same time, since the wave generator in mode 1 is a rotating part and the motor rotor is also a rotating part, the mode of fixing the screws through the through holes lacks effective positioning holes, so that during the assembly of the wave generator and the motor rotor, the wave generator will rotate with the motor rotor when the screws are tightened, which is prone to “misalignment” and is not convenient for assembly.

[0049] The harmonic reducer using mode 3 has a large axial length. Due to space problems, the screws used for “tightening” can only be small in size. The fastening ability of small screws is limited, which is prone to cause the screws to slip.

[0050] In summary, the traditional harmonic reducer 0 has the defects of large radial and axial lengths, large rotational inertia of the wave generator 02, and inconvenient positioning and assembly of the wave generator 02 and the input end.

[0051] The harmonic reducer 1, the motor rotor 2, the joint actuator, and the robot provided by the embodiments of the present disclosure aim to solve at least one of the above technical problems in the prior art.

[0052] Figure 3 A structural diagram of a wave generator of a harmonic reducer 1 is shown.

[0053] As shown in Figure 3 , the wave generator 12 has three orthogonal directions, an axial direction (not shown in Figure 3 ), a circumferential direction (as shown by the arrow solid line in Figure 3 ), and a radial direction (as shown by the arrow dashed line in Figure 3 ). Among them, the circumferential direction is the "circumferential direction", the axial direction is the direction of the rotation center axis of the wave generator 12, and the radial direction is perpendicular to the axial direction, that is, the radius or diameter direction of the end face circle of the wave generator 12.

[0054] The radial surface is the surface of the wave generator 12 where the radial direction is located. The circumferential surface is the surface of the wave generator 12 where the circumferential direction is located.

[0055] As shown in Figure 3 , the radial surface of the wave generator 12 of the harmonic reducer 1 is provided with a plurality of first through holes 121 and a plurality of assembly positioning holes 122.

[0056] Specifically, the first through hole 121 provided on the radial surface is a hole passing from one radial surface of the wave generator 12 to another radial surface. That is, the first through hole 121 is an axial hole passing through the wave generator 12.

[0057] The first through hole 121 can be inserted into a connecting piece to connect the wave generator 12 and the motor rotor 2 fixedly connected with the wave generator 12.

[0058] Figure 7 A structural diagram of the motor rotor 2 fixedly connected with the wave generator 12 is shown, as shown in Figure 7 , the motor rotor 2 is provided with a connecting hole 201 (which can be a threaded hole) corresponding to the first through hole 121 one by one, and the connecting piece 203 passes through the first through hole 121 and the connecting hole 201 to realize the connection of the first through hole 121 and the connecting hole 201, thereby realizing the connection of the wave generator 12 and the motor rotor 2.

[0059] In some possible implementation manners, the connecting piece 203 can be a screw. That is, the screw is inserted into the through hole and the threaded hole, and the wave generator and the motor rotor are fixed by tightening the screw.

[0060] In some possible implementation manners, the motor rotor 2 can provide input for the harmonic reducer 1, and through the connection of the wave generator 12 and the motor rotor 2, the rotation of the motor rotor 2 can be transmitted to the wave generator 12 and then transmitted to the flexspline 13 and the steel wheel 11 through the wave generator 12.

[0061] The assembly positioning hole 122 can also be a hole that extends from one radial surface of the wave generator 12 to another radial surface. That is, the assembly positioning hole 122 is a hole that extends through the axial direction of the wave generator 12.

[0062] The mounting positioning hole 122 allows for the insertion of a fixing component, which fixes the relative position of the wave generator 12 and the motor rotor 2 during the connection process through the first through hole 121. Specifically, the motor rotor 2 is provided with weight-reducing holes 202 that correspond one-to-one with the mounting positioning hole 122. The fixing component passes through the mounting positioning hole 122 and the weight-reducing hole 202, thereby fixing the relative position of the mounting positioning hole 122 and the weight-reducing hole 202, and thus fixing the relative position of the wave generator 12 and the motor rotor 2.

[0063] In some possible implementations, the fastener can be a pin. After inserting the pin into the mounting positioning hole 122 and the weight reduction hole 202, the relative position of the wave generator 12 and the motor rotor 2 can be fixed.

[0064] Figure 4 This is a schematic diagram of the wave generator 02 in a traditional harmonic reducer 0. The traditional wave generator 02 is as follows: Figure 4 As shown, a plurality of through holes 021 are provided on the radial surface of the wave generator 02 of the conventional harmonic reducer 0. The function of these through holes is the same as that of the first through hole 121 of the wave generator 12 of the harmonic reducer 1 of this disclosure, that is, to insert a connector and connect the wave generator and the motor rotor.

[0065] However, since the wave generator 02 of the traditional harmonic reducer 0 is a rotating component and the motor rotor is also a rotating component, during the assembly process of the wave generator 02 and the motor rotor, when tightening the connecting parts, the wave generator 02 will rotate with the motor rotor, which can easily cause "misalignment" during assembly and make assembly difficult.

[0066] However, in the harmonic reducer 1 provided in this disclosure, due to the presence of the mounting positioning hole 122 in the wave generator 12, during the assembly process, a pin can be inserted into the mounting positioning hole 122 and the weight reduction hole 202 to fix the relative position of the wave generator 12 and the motor rotor 2. Then, when the connector is inserted into the first through hole 121 and the connecting hole 201, the wave generator 12 will not rotate with the motor rotor 2 during the tightening process, and "misalignment" will not occur during assembly, facilitating the assembly of the wave generator 12 and the motor rotor 2.

[0067] In some possible implementations, after the wave generator 12 and the motor rotor 2 are assembled, the pin can be removed from the assembly positioning hole 122 and the weight reduction hole 202. This, compared to... Figure 4Compared with the wave generator 02 of the traditional harmonic reducer 0, the wave generator 12 provided by the present disclosure can be lighter due to the presence of the assembly positioning hole 122, thereby reducing the moment of inertia of the wave generator 12.

[0068] In some possible implementation manners, as shown in Figure 3 The first through hole 121 is uniformly arranged on the radial surface of the wave generator 12.

[0069] Through the uniform arrangement of the first through hole 121, the uniform fixed connection between the wave generator 12 and the motor rotor 2 can be ensured, and then the uniform transmission of the rotation of the motor rotor 2 to the wave generator 12 can be ensured, so as to avoid the uneven fixed connection, which causes the loss of the side with less fixed connection to increase during the transmission process. That is, through the uniform arrangement of the first through hole 121, the loss during the transmission process can be reduced.

[0070] In some possible implementation manners, as shown in Figure 3 At least one assembly positioning hole 122 is arranged between any two adjacent first through holes 121. That is, the first through hole 121 and the assembly positioning hole 122 are arranged at intervals, and the number of the assembly positioning hole 122 is greater than or equal to the number of the first through hole 121.

[0071] The number of the assembly positioning hole 122 being greater than or equal to the number of the first through hole 121 can ensure that the wave generator 12 can be fixed in all directions with the motor rotor 2 during assembly. At the same time, the more the number of the assembly positioning hole 122, the smaller the weight of the wave generator 12, and the smaller the moment of inertia of the wave generator 12.

[0072] In some possible implementation manners, the wave generator 12 is part of the harmonic reducer 1, which can transmit the rotation of the motor rotor 2 to the flexspline 13, and then utilize the flexspline 13 to generate a controllable elastic wave deformation, so as to cause the relative tooth error between the rigid gear 11 and the flexspline 13 to transmit power and motion.

[0073] Figure 5 A structure schematic diagram of a harmonic reducer 1 provided by an embodiment of the present disclosure is shown, as shown in Figure 5 The harmonic reducer 1 can include a rigid gear 11, a wave generator 12, and a flexspline 13. The wave generator 12 is as shown in Figure 3 The specific structure and function are as shown above, and will not be described here.

[0074] The rigid gear 11 includes a first rigid gear 111 and a second rigid gear 112. The first rigid gear 111 and the second rigid gear 112 are arranged in sequence along the axial direction of the wave generator 12. The flexspline 13 is located between the rigid gear 11 and the wave generator 12.

[0075] The radial surface of the steel wheel 111 is provided with a plurality of through holes 1110, and the steel wheel 112 is correspondingly provided with a plurality of connecting holes 1120 (which can be threaded holes), and the connecting member (such as a screw) passes through the through hole 1110 and connects the connecting hole 1120, so as to realize the fixed installation of the output end of the harmonic reducer 1.

[0076] The harmonic reducer 1 further comprises a shell 15, and the radial surface of the shell 15 is provided with a plurality of through holes 151, and the flexspline 13 is correspondingly provided with a plurality of through holes 130, and the screw passes through the through hole 151 and the through hole 130, so as to realize the fixed installation of the whole reducer and the motor shell.

[0077] The bearing 161 is arranged between the shell 15 and the second steel wheel 112, and the bearing 162 is arranged between the wave generator 12 and the flexspline 13, and the bearings 161 and 162 support the rotating bodies such as the wave generator 12 and the steel wheel 11, reduce friction, and ensure the accuracy of rotation.

[0078] The harmonic reducer 1 further comprises a sealing ring 14, a bearing 161, and a shell 15, wherein the shell 15 and the second steel wheel 112 are provided with the bearing 161, and the shell 15 and the first steel wheel 111 are provided with the sealing ring 14.

[0079] As shown in Figure 5 The sealing ring 14 is not in contact with the bearing 16, and the sealing ring 14 is arranged between the shell 15 and the first steel wheel 111, and is used to fill the gap between the shell 15 and the first steel wheel 111, so that the sealing of the area where the bearing is located can be maintained. The bearing 161 is located between the shell 15 and the second steel wheel 112.

[0080] Specifically, a groove can be formed on the circumferential side of the shell 15 close to the first steel wheel 111, and the sealing ring 14 can be assembled in the groove to fill the gap between the shell 15 and the first steel wheel 111.

[0081] The sealing ring 14 replaces the oil seal structure 04 in the traditional harmonic reducer 0, and the size of the sealing ring 14 is significantly smaller than that of the oil seal structure, so that the structure of the second steel wheel 112 can be optimized, such as reducing the radial thickness and the size of the connecting hole 1120, and moving the connecting hole 1120 away from the shell and close to the wave generator 12, so that the bearing 161 can be moved towards the second steel wheel 112, thereby reducing the diameter of the harmonic reducer 1 and the moment of inertia of the harmonic reducer 1.

[0082] In some possible implementation manners, the sealing ring 14 can be an O-ring.

[0083] O-ring is a kind of rubber sealing ring with circular cross section. Because its cross section is O-shaped, it is called O-ring. O-ring can provide effective sealing in static and dynamic environments through its unique circular cross section design. It is suitable for static sealing and can also play a good role in dynamic environments where there is relative movement between parts. Its dynamic friction is very small, which can effectively save costs. And O-ring can realize bidirectional sealing, which can prevent lubricating oil from leaking from the gap of mechanical equipment and prevent external impurities such as water, chemical liquid, dust and sand from entering the mechanical interior. Because the structure of O-ring is simple, the installation and removal process becomes easy and convenient, and O-ring is usually made of rubber material (such as nitrile rubber), which has low cost.

[0084] Figure 6 The appearance schematic diagram of a harmonic reducer 1 provided by the present disclosure is shown, as shown in Figure 6 The first steel wheel 111 and the shell 15 are in a "concave-convex alternating structure".

[0085] As shown in Figure 6 The steel wheel 11 includes a first steel wheel 111 and a second steel wheel 112. The first steel wheel 111 and the second steel wheel 112 are arranged in sequence along the axial direction of the wave generator 12. The first steel wheel 111 includes a plurality of first convex portions 1111 distributed along the radial direction and a plurality of first concave portions 1112, and at least one second through hole 1110 is arranged on the first convex portion 1111; The first convex portion 1111 and the first concave portion 1112 are arranged alternately.

[0086] Among them, the second through hole 1110 realizes the fixed installation of the output end of the harmonic reducer 1 through the connecting piece and the connecting hole 1120 of the steel wheel 112.

[0087] As shown in Figure 6 The shell 15 includes a plurality of second convex portions 152 distributed along the radial direction and a plurality of second concave portions 153, and at least one third through hole 151 is arranged on the second convex portion 152; The second convex portion 152 and the second concave portion 153 are arranged alternately.

[0088] Among them, the third through hole 151 can realize the fixed installation of the whole reducer and the motor shell through the connecting piece and the through hole 130 of the flexspline 13.

[0089] Compared with the regular structure, the surface area of the "concave-convex alternating structure" is larger, therefore, by designing the steel wheel 111 and the shell 15 as "concave-convex alternating structure", the stress area of the steel wheel 111 and the shell 15 can be increased, and the installation strength of the joint actuator as a whole can be improved.

[0090] Figure 7 The structure schematic diagram of the motor rotor 2 provided by the present disclosure is shown, the motor rotor 2 provided by the present disclosure is used for fixed connection with the harmonic reducer 1 provided by the present disclosure, as shown in Figure 7As shown, the motor rotor 2 comprises a connecting hole 201 corresponding to each first through hole 121 and a lightening hole 202 corresponding to each assembly positioning hole 122.

[0091] The motor rotor 2 is provided with the connecting hole 201 corresponding to the first through hole 121, and the connecting member passes through the first through hole 121 and the connecting hole 201 to realize the connection of the first through hole 121 and the connecting hole 201, thereby realizing the connection of the wave generator 12 and the motor rotor 2.

[0092] In some possible implementation manners, the first through hole 121 and the connecting hole 201 can be threaded holes, and the connecting member can be a screw. That is, the screw is inserted into the threaded hole, and the screw is tightened to realize the fixation of the wave generator 12 and the motor rotor 2.

[0093] In some possible implementation manners, the motor rotor 2 can provide input for the harmonic reducer 1, and through the connection of the wave generator 12 and the motor rotor 2, the rotation of the motor rotor 2 can be transmitted to the wave generator 12 and then transmitted to the flexspline 13 and the steel wheel 11 through the wave generator 12.

[0094] The motor rotor 2 is provided with the lightening hole 202 corresponding to the assembly positioning hole 122, and the fixing member passes through the assembly positioning hole 122 and the lightening hole 202 to realize the fixation of the relative positions of the assembly positioning hole 122 and the lightening hole 202, thereby realizing the fixation of the relative positions of the wave generator 12 and the motor rotor 2.

[0095] In some possible implementation manners, the fixing member can be a pin, and after the pin is inserted into the assembly positioning hole 122 and the lightening hole 202, the relative positions of the wave generator 12 and the motor rotor 2 can be fixed.

[0096] In some specific implementation manners, the connecting member can be a screw, and the connecting hole 201 can be a threaded hole. The screw passes through the through hole of the wave generator and is fixed with the threaded hole of the motor rotor 2. The lightening hole 202 of the motor rotor 2 cooperates with the assembly positioning hole 122 of the wave generator 12, and after the pin is inserted, the positioning of the wave generator 12 and the motor rotor 2 is realized, thereby facilitating the installation of the screw.

[0097] The surface of the conventional motor rotor is provided with a plurality of connecting holes, which have the same function as the connecting hole 201, that is, a connecting member is inserted to connect the wave generator and the motor rotor.

[0098] However, since the conventional wave generator 02 is a rotating part, and the motor rotor 02 is also a rotating part, when the connecting member is tightened during the assembly of the wave generator 02 and the motor rotor 02, the wave generator 02 will rotate with the motor rotor, which causes misalignment during assembly and causes assembly difficulty.

[0099] But the motor rotor 2 provided by the present disclosure due to the existence of the lightening hole 202, in the assembly process, the pin can be inserted into the assembly positioning hole 122 and the lightening hole 202, the relative position of the wave generator 12 and the motor rotor 2 is fixed. Then, the connecting piece is inserted into the first through hole 121 and the connecting hole 201, so that in the tightening process, the wave generator 12 will not rotate with the motor rotor 2, and the "misalignment" will not occur during assembly, which facilitates the assembly of the wave generator 12 and the motor rotor 2.

[0100] In some possible implementations, after the assembly of the wave generator 12 and the motor rotor 2 is completed, the pin can be removed from the assembly positioning hole 122 and the lightening hole 202, so that compared with the traditional motor rotor, the motor rotor 2 provided by the present disclosure can be lighter due to the existence of the lightening hole 202, thereby reducing the moment of inertia of the motor rotor.

[0101] In some possible implementations, as shown in Figure 7 The motor rotor 2 includes a rotor shaft 21, a central region 22 perpendicular to the rotor shaft 21, and an edge region 23.

[0102] The connecting hole 201 and the lightening hole 202 are located in the central region 22; the central region 22 forms a protrusion for fixed connection with the wave generator 12.

[0103] The design of the motor rotor 2 in which a protrusion is formed in the middle and the edge is relatively thin reduces the overall moment of inertia of the motor rotor 2, facilitates the improvement of the response speed and control accuracy of the motor control, and is helpful for the lightweight design of the overall actuator.

[0104] In some possible implementations, as shown in Figure 7 The edge region 23 is inclined downward along the axial direction of the central region 22, and the edge region 23 includes at least one hollow structure 231.

[0105] The hollow design of the rotor shaft of the motor rotor 2 and the hollow lightening design reduce the weight of the motor rotor 2, thereby reducing the moment of inertia of the motor rotor 2, facilitating the improvement of the response speed and control accuracy of the motor control, and being helpful for the lightweight design of the overall actuator.

[0106] In some possible implementations, permanent magnets 1 and 2 are respectively installed at two ends of the motor rotor shaft, wherein the permanent magnet 1 is used to measure the position information of the motor rotor, and the permanent magnet 2 is used to measure the position information of the output end of the actuator.

[0107] Figure 8 The structure schematic diagram of the joint actuator provided by the embodiment of the present disclosure is shown in Figure 9 The cross-sectional schematic diagram of Figure 8 is shown in Figure 8As shown, the joint actuator provided by the embodiments of the present disclosure includes the harmonic reducer 1 and the motor rotor 2 (not shown in the figure) described above. During the assembly of the harmonic reducer and the motor rotor 2, the assembly positioning hole 122 of the harmonic reducer 1 is connected to the weight-reducing hole 202 of the corresponding motor rotor 2 through the fixing member, such as Figure 9 As shown, after the assembly is completed, the first through hole 121 of the harmonic reducer 1 is connected to the connecting hole 201 of the corresponding motor rotor 2 through the connecting member 203.

[0108] The wave generator 12 of the harmonic reducer 1 in the joint actuator provided by the present disclosure can be fixed in position during the assembly process by inserting the pin into the assembly positioning hole 122 and the weight-reducing hole 202 of the motor rotor 2 in the joint actuator, so as to fix the relative position of the wave generator 12 and the motor rotor 2. Then, the connecting member is inserted into the first through hole 121 and the connecting hole 201, so that the wave generator will not rotate with the motor rotor during the tightening process, and the wave generator will not be misaligned during the assembly process, thereby facilitating the assembly of the wave generator and the motor rotor.

[0109] After the assembly of the wave generator 12 and the motor rotor 2 is completed, the pin can be removed from the assembly positioning hole 122 and the weight-reducing hole 202. Due to the presence of the assembly positioning hole 122 and the weight-reducing hole 202, the weight of the wave generator 12 and the motor rotor 2 can be reduced, thereby reducing the moment of inertia of the wave generator 12 and the motor rotor 2, facilitating the improvement of the response speed and control accuracy of the motor control, and helping the lightweight design of the overall actuator.

[0110] It should be understood that the various forms of the flow shown above can be reordered, added, or deleted. For example, each step described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0111] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A harmonic reducer (1), comprising a steel wheel (11), a wave generator (12), and a flexible wheel (13); the harmonic reducer (1) is characterized in that: The radial surface of the wave generator (12) is provided with a plurality of first through holes (121) and a plurality of assembly positioning holes (122); the first through holes (121) are used to insert connectors to connect the wave generator (12) and the motor rotor (2) fixedly connected thereto.

2. The harmonic reducer (1) according to claim 1, characterized in that, The first through holes (121) are uniformly arranged on the radial surface of the wave generator (12); at least one assembly positioning hole (122) is provided between any two adjacent first through holes (121).

3. The harmonic reducer (1) according to claim 1, characterized in that, The steel wheel (11) includes a first steel wheel (111) and a second steel wheel (112); the first steel wheel (111) and the second steel wheel (112) are arranged sequentially along the axial direction of the wave generator (12); The harmonic reducer (1) further includes a sealing ring (14), a bearing (161), and a housing (15); the bearing (161) is provided between the housing (15) and the second steel wheel (112); the sealing ring (14) is provided between the housing (15) and the first steel wheel (111).

4. The harmonic reducer (1) according to claim 3, characterized in that, The outer casing (15) has a groove circumferentially provided near the first steel wheel (111), and the sealing ring (14) is fitted into the groove.

5. The harmonic reducer (1) according to claim 1, characterized in that, The steel wheel (11) includes a first steel wheel (111) and a second steel wheel (112); the first steel wheel (111) and the second steel wheel (112) are arranged sequentially along the axial direction of the wave generator (12); The first steel wheel (111) includes a plurality of radially distributed first protrusions (1111) and a plurality of first recesses (1112), and at least one second through hole (1110) is provided on the first protrusions (1111); the first protrusions (1111) and the first recesses (1112) are alternately arranged.

6. The harmonic reducer (1) according to claim 1, characterized in that, The harmonic reducer (1) also includes a housing (15); The outer casing (15) includes a plurality of second protrusions (152) and a plurality of second recesses (153) distributed radially, wherein at least one third through hole (151) is provided on the second protrusion (152); the second protrusions (152) and the second recesses (153) are alternately arranged.

7. A motor rotor (2), said motor rotor (2) being fixedly connected to the harmonic reducer (1) according to any one of claims 1-6, characterized in that, The motor rotor (2) includes: Connection holes (201) for connecting to each of the first through holes (121) and weight reduction holes (202) for connecting to each of the assembly positioning holes (122).

8. The motor rotor (2) according to claim 7, characterized in that, The motor rotor (2) includes a rotor shaft (21), a central region (22) perpendicular to the rotor shaft (21), and an edge region (23); The connecting hole (201) and the weight reduction hole (202) are located in the central region (22); the central region (22) forms a protrusion for fixed connection with the wave generator (12).

9. The motor rotor (2) according to claim 8, characterized in that, The edge region (23) is inclined downward along the axial direction of the central region (22), and the edge region (23) includes at least one hollow structure (231).

10. A joint actuator comprising a harmonic reducer (1) according to any one of claims 1-6 and a motor rotor (2) according to any one of claims 7-9; The first through hole (121) of the harmonic reducer (1) is connected to the corresponding connecting hole (201) of the motor rotor (2) by a connector; the assembly positioning hole (122) of the harmonic reducer (1) is connected to the corresponding weight reduction hole (202) of the motor rotor (2) by a fastener.

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