Reinforced harmonic transmission flexible gear and harmonic reducer

Abstract

The harmonic drive flexible gear comprises a cylinder and a flange located at one end of the cylinder, an outer gear ring is arranged on the side, away from the flange, of the side wall of the cylinder, the side, close to the outer gear ring, of the inner wall of the cylinder abuts against a wave generator, a bent part is formed at the joint of the cylinder and the flange, and the outer gear ring abuts against the wave generator. The flexible gear further comprises a flexible rib plate, the flexible rib plate is obliquely fixed between the barrel and the flange, and a deformation space is formed between the flexible rib plate and the bent part. Through the innovative structural design, the performance of the flexible gear when bearing complex stress is enhanced, the buckling torque borne by the bending part of the flexible gear is effectively relieved, and the deformation bearing capacity of the flexible gear is improved, so that the service life of the flexible gear is remarkably prolonged, and stable operation of the harmonic reducer under various working conditions is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the technical field of harmonic reducers, specifically relating to a reinforced harmonic drive flexible wheel and a harmonic reducer. Background Technology

[0002] Harmonic reducers are high-precision, high-ratio transmission devices widely used in industrial automation, robotics, aerospace, and other fields. They consist of a fixed rigid wheel, a flexible wheel located inside the rigid wheel, and a wave generator that causes radial deformation of the flexible wheel. The wave generator produces an elliptical motion trajectory through an eccentric device, which in turn drives the flexible wheel to deform. The flexible wheel generates a controllable elastic deformation wave, causing relative tooth misalignment between the rigid and flexible wheels to transmit power and motion.

[0003] The flex wheel is the core component of a harmonic reducer. Its structure typically includes a cylinder and a flange at one end of the cylinder. An external gear ring is located on the side of the cylinder wall away from the flange, and a bend is formed at the connection between the cylinder and the flange. The wave generator abuts against the inner wall of the cylinder and is located near the external gear ring. When the wave generator is inserted into the inner bore of the flex wheel's cylinder, the cylinder undergoes radial deformation, forcing the external gears of the cylinder to mesh with the internal gears of the flex wheel. The torque is transmitted to the output shaft through the cylinder, the bend, and the flange.

[0004] However, in the actual use of harmonic reducers, especially under frequent impact conditions, the flexure faces severe challenges. The flexure (especially its bending section) is subjected to large buckling torque and torsional stiffness, and this continuous stress can easily lead to tearing failure. As a critical part for torque transmission, the structural strength of the bending section directly affects the performance and lifespan of the entire harmonic reducer. Premature failure of the bending section not only reduces the service life of the flexure but may also lead to the sudden failure of the entire harmonic reducer, causing equipment downtime or even safety accidents.

[0005] Furthermore, existing flexible gear structures often fall short when dealing with high-frequency, high-load operating conditions. Maintaining a balance between the flexible gear's deformability and stiffness is difficult; an overly soft structure may reduce transmission efficiency, while an overly stiff structure may affect the smoothness of harmonic drive. Simultaneously, fatigue issues with the flexible gear material cannot be ignored during long-term use, as this can lead to the generation and propagation of microcracks, ultimately affecting the accuracy and reliability of the harmonic reducer. Utility Model Content

[0006] To address the problems and shortcomings of the existing technology, this utility model provides a reinforced harmonic drive flexure and harmonic reducer, which has the advantages of improving the structural strength of the flexure, extending its service life, and improving transmission efficiency and reliability.

[0007] This utility model is achieved through the following technical solution:

[0008] A reinforced harmonic drive flexure includes a cylinder and a flange at one end of the cylinder. An external gear ring is provided on the side wall of the cylinder away from the flange. The inner wall of the cylinder abuts against a wave generator on the side near the external gear ring. A bend is formed at the connection between the cylinder and the flange. The flexure also includes a flexible rib, which is inclinedly fixed between the cylinder and the flange, forming a deformation space between the flexible rib and the bend. Through this innovative structural design, the performance of the flexure under complex stresses is enhanced, effectively mitigating the buckling torque on the bend of the flexure, improving the deformation resistance of the flexure, thereby significantly increasing the service life of the flexure and ensuring the stable operation of the harmonic reducer under various working conditions.

[0009] Furthermore, multiple flexible ribs are provided, and each flexible rib is evenly distributed along the circumferential direction of the cylinder. The even distribution of multiple flexible ribs further disperses stress evenly, improves the stress balance of the flexible wheel in the circumferential direction, and enhances the overall structural strength and stability of the flexible wheel.

[0010] Furthermore, a first connecting seat is fixed to the side of the flexible rib near the cylinder body. The first connecting seat is tightly fixed to the outer wall of the cylinder body. The side of the first connecting seat near the cylinder body is an arc-shaped surface, and the first connecting seat protrudes from the side wall of the cylinder body. A first rounded corner is provided between the side wall of the first connecting seat and the side wall of the cylinder body. The arc-shaped surface and the first rounded corner design of the first connecting seat increase the connection stability while effectively dispersing the stress at the connection point and preventing stress concentration from causing connection failure.

[0011] Furthermore, a second connecting seat is fixed to the side of the flexible rib near the flange, and each second connecting seat is radially fixed to the surface of the flange. The second connecting seat enhances the connection strength between the flexible rib and the flange, ensuring stable force transmission under complex stress and protecting the structural integrity of the flexible wheel. The radial distribution of the second connecting seats indirectly enhances the structural strength of the flange.

[0012] Furthermore, transition fillets are provided between the flexible rib and the first connecting seat, as well as between the flexible rib and the second connecting seat, and a second rounded corner is provided around the perimeter of the flexible rib. The transition fillets and the second rounded corner optimize stress distribution, reduce stress concentration points, improve the structural strength and fatigue resistance of the flexible rib, and extend the service life of the flexure.

[0013] Furthermore, the flexible rib has a trapezoidal cross-sectional shape, with the upper base close to the cylinder and the lower base close to the flange. This trapezoidal cross-section design helps to evenly distribute forces across the cylinder and flange, enhancing the structural toughness and stability of the flexible wheel.

[0014] Furthermore, a flange ring is fixed to the outer side of the flange, and a connecting hole is provided on the flange ring, which mates with the output shaft. The design of the flange ring and the connecting hole ensures that torque can be transmitted stably and efficiently between the flexspline and the output shaft, meeting the transmission requirements of different equipment.

[0015] A ruggedized harmonic reducer includes a wave generator, a rigid wheel, and a harmonic drive flexure. The rigid wheel is mounted on the outside of the harmonic drive flexure. The rigid wheel contains an internal gear ring that mates with an external gear ring; the number of teeth on the internal gear ring is greater than the number of teeth on the external gear ring. The harmonic drive flexure is mounted on the outside of the wave generator. The overall structure of the ruggedized harmonic reducer is clearly defined, and the components work together to achieve speed reduction. Furthermore, by optimizing the flexure structure, the transmission efficiency, accuracy, and reliability of the harmonic reducer are improved.

[0016] The beneficial effects of this utility model are:

[0017] 1. The overall structural strength of the flexible wheel has been enhanced, especially the bending part has been reinforced, while retaining the necessary deformation space. This not only improves the fatigue resistance of the flexible wheel, but also ensures the smoothness of the harmonic drive. It has the advantages of improving the structural strength of the flexible wheel, extending its service life, and improving transmission efficiency and reliability.

[0018] 2. A first connecting seat is provided between the flexible rib and the cylinder, and a second connecting seat is provided between the flexible rib and the flange, which enhances the connection strength of the flexible rib. Attached Figure Description

[0019] Figure 1 This is a schematic structural diagram illustrating one embodiment of a reinforced harmonic drive flexible wheel in this utility model.

[0020] Figure 2 Used to explain Figure 1 Enlarged view of a portion of point A in the middle;

[0021] Figure 3 Used to explain Figure 1 Enlarged view of a portion of point B in the middle;

[0022] Figure 4 A front view illustrating a schematic embodiment of a reinforced harmonic drive flexible wheel according to this utility model;

[0023] Figure 5 Used to explain Figure 4 Enlarged view of a portion of point C in the middle;

[0024] Figure 6 This is a schematic structural diagram illustrating one embodiment of the flexible rib, the first connecting seat, and the second connecting seat in this utility model.

[0025] Figure 7A side view illustrating an exemplary embodiment of the flexible rib, the first connecting seat, and the second connecting seat in this utility model.

[0026] List of components and reference numerals:

[0027] 1. Cylinder body; 11. External gear ring; 2. Flange; 3. Bending section; 4. Flexible rib; 41. Transition fillet; 42. Second fillet; 5. Deformation space; 6. First connecting seat; 61. Arc surface; 62. First fillet; 7. Second connecting seat; 8. Flange ring; 81. Connecting hole. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] It should be noted that the directional terms such as left, right, up, down, front, and back in the embodiments of this utility model are only relative concepts or are based on the normal use state of the product, i.e., the direction of the product's movement, and should not be considered as limiting.

[0030] In addition, it should be noted that the dynamic terms such as "relative motion" mentioned in the embodiments of this utility model not only refer to changes in position, but also include movements such as rotation and rolling in which the position does not change relative to the position, but the state changes.

[0031] Finally, it should be noted that when a component is said to be "located on" or "set on" another component, it can be on the other component or may have an intervening component at the same time. When a component is said to be "connected to" another component, it can be directly connected to the other component or may have an intervening component at the same time.

[0032] like Figures 1 to 7The diagram illustrates a reinforced harmonic drive flexure, comprising a cylinder 1 and a flange 2 located at one end of the cylinder 1. An external gear ring 11 is provided on the side wall of the cylinder 1 away from the flange 2. The inner wall of the cylinder 1 abuts against a wave generator on the side near the external gear ring 11. A bend 3 is formed at the connection between the cylinder 1 and the flange 2. The flexure also includes a flexible rib 4, which is inclinedly fixed between the cylinder 1 and the flange 2, forming a deformation space 5 between the flexible rib 4 and the bend 3. Through this innovative structural design, the performance of the flexure under complex stresses is enhanced, effectively mitigating the buckling torque on the bend of the flexure, improving the deformation resistance of the flexure, thereby significantly increasing the service life of the flexure and ensuring the stable operation of the harmonic reducer under various working conditions.

[0033] The flexible rib 4 is a key structural element in this invention, used to enhance the strength and durability of the flexible wheel. The flexible rib 4 is obliquely fixed between the cylinder 1 and the flange 2, providing additional support. The design of the deformation space 5 allows the flexible wheel to better absorb and disperse stress when subjected to impact, thereby reducing the risk of tearing failure. This design concept is based on an in-depth analysis of the stress and deformation experienced by the flexible wheel in actual operation.

[0034] The flexible wheel includes a cylinder 1, a flange 2, an external gear ring 11, a wave generator, and a flexible rib 4. The external gear ring 11 is located on the side wall of the cylinder 1 away from the flange 2, and a bend 3 is formed at the connection between the cylinder 1 and the flange 2. The wave generator abuts against the inner wall of the cylinder 1 and is located near the external gear ring 11. The flexible rib 4 is obliquely fixed between the cylinder 1 and the flange 2, forming a deformation space 5 between the flexible rib 4 and the bend 3. The design of the flexible rib 4 increases the structural strength of the flexible wheel, enabling it to better absorb and disperse stress when subjected to impact.

[0035] Compared with existing technologies, this invention significantly enhances the structural strength and durability of the flexible wheel by introducing flexible ribs 4 into it. Traditional flexible wheels are prone to tearing failure when subjected to frequent impacts and large buckling torques. However, this invention, through the design of flexible ribs 4, effectively increases the supporting force of the flexible wheel and provides additional deformation space 5, enabling the flexible wheel to better absorb and disperse stress when subjected to impacts, thus reducing the risk of tearing failure.

[0036] This invention relates to a reinforced harmonic drive flexure. By incorporating a flexible rib 4 between the cylinder 1 and the flange 2, and creating a deformation space 5 between the flexible rib 4 and the bending portion 3, it effectively solves the problem of tearing failure of the flexure under frequent impacts and large buckling torques. The inclined fixing design of the flexible rib 4 increases the structural strength of the flexure, enabling it to better absorb and disperse stress during operation, thereby improving the durability and service life of the flexure. Specifically, an external gear ring 11 is provided on the side wall of the cylinder 1 away from the flange 2, and the wave generator abuts against the inner wall of the cylinder 1 and is located near the external gear ring 11. The flexible rib 4 is inclinedly fixed between the cylinder 1 and the flange 2, and a deformation space 5 is formed between the flexible rib 4 and the bending portion 3, allowing the flexure to better absorb and disperse stress when subjected to impact.

[0037] Furthermore, this application also proposes that multiple flexible ribs 4 are provided, and each flexible rib 4 is evenly distributed along the circumferential direction of the cylinder 1.

[0038] The flexible ribs 4 are designed to enhance the structural strength and stability of the flexure. By uniformly distributing multiple flexible ribs 4 along the circumferential direction of the cylinder 1, stress can be effectively dispersed, reducing load concentration in a single location, thereby improving the fatigue resistance and service life of the flexure. Furthermore, the uniformly distributed flexible ribs 4 can provide better support and cushioning when the flexure is subjected to external forces, thus reducing the risk of deformation and damage to the flexure.

[0039] The flexible rib 4 can be manufactured from various materials, such as high-strength steel, aluminum alloy, or composite materials, which possess excellent mechanical properties and durability. Furthermore, the shape and dimensions of the flexible rib 4 can be optimized according to specific application requirements to achieve the best reinforcement effect. The flexible rib 4 can be installed between the cylinder 1 and the flange 2 through welding, bolting, or other fixing methods to ensure that it will not loosen or fall off during operation.

[0040] By setting multiple flexible ribs 4 and distributing them evenly in the circumferential direction of the cylinder 1, the technical solution of this application effectively solves the problem in the prior art where the flexible wheel is prone to tearing failure due to buckling torque and torsional stiffness during use. This significantly improves the structural strength and service life of the flexible wheel, ensuring the reliability and stability of the harmonic reducer under frequent impact conditions.

[0041] Furthermore, this application also proposes that a first connecting seat 6 is fixedly provided on the side of the flexible rib plate 4 near the cylinder 1. The first connecting seat 6 is tightly fixed to the outer wall of the cylinder 1. The side of the first connecting seat 6 near the cylinder 1 is an arc-shaped surface 61. The first connecting seat 6 protrudes from the side wall of the cylinder 1. A first rounded corner 62 is provided between the side wall of the first connecting seat 6 and the side wall of the cylinder 1.

[0042] During the use of harmonic reducers, especially under frequent impacts, the flexure (particularly the bent portion 3) is subjected to significant buckling torque and torsional stiffness, which can easily lead to tearing failure and reduce its service life. This application addresses this issue by fixing a first connecting seat 6 to the side of the flexible rib 4 near the cylinder 1 and tightly securing it to the outer wall of the cylinder 1. This effectively increases the connection strength between the flexible rib 4 and the cylinder 1, thereby improving the overall rigidity and durability of the flexure. The side of the first connecting seat 6 near the cylinder 1 is an arc-shaped surface 61, allowing it to better conform to the outer wall of the cylinder 1 and further enhancing connection stability. The first connecting seat 6 protrudes from the side wall of the cylinder 1, and a first rounded corner 62 is provided between the side wall of the first connecting seat 6 and the side wall of the cylinder 1. This design reduces stress concentration and prevents cracks and damage caused by stress concentration.

[0043] A first connecting seat 6 is fixedly mounted on the side of the flexible rib 4 near the cylinder 1. The first connecting seat 6 is tightly fixed to the outer wall of the cylinder 1. The side of the first connecting seat 6 near the cylinder 1 is an arc-shaped surface 61. This design ensures a tight fit between the first connecting seat 6 and the outer wall of the cylinder 1, increasing connection strength and stability. The first connecting seat 6 protrudes from the side wall of the cylinder 1, and a first rounded corner 62 is provided between the side wall of the first connecting seat 6 and the side wall of the cylinder 1. This design effectively reduces stress concentration, avoids cracks and damage caused by stress concentration, and thus improves the service life of the flexible wheel. Specifically, the first connecting seat 6 can be fixed to the outer wall of the cylinder 1 by welding, bolting, or gluing. The arc-shaped surface 61 can be achieved by precision machining or mold forming, and the first rounded corner 62 can be achieved by machining or mold forming.

[0044] This application, by fixing a first connecting seat 6 to the side of the flexible rib 4 near the cylinder 1 and tightly securing the first connecting seat 6 to the outer wall of the cylinder 1, effectively increases the connection strength between the flexible rib 4 and the cylinder 1, thereby improving the overall rigidity and durability of the flexible wheel. The side of the first connecting seat 6 near the cylinder 1 is an arc-shaped surface 61, allowing the first connecting seat 6 to better fit the outer wall of the cylinder 1, further enhancing the stability of the connection. The first connecting seat 6 protrudes from the side wall of the cylinder 1, and a first rounded corner 62 is provided between the side wall of the first connecting seat 6 and the side wall of the cylinder 1. This design reduces stress concentration and avoids cracks and damage caused by stress concentration. Therefore, this application effectively solves the problem in the prior art where flexible wheels are easily subjected to buckling torque and torsional stiffness during use, leading to tearing failure, and significantly improves the service life and reliability of the flexible wheel.

[0045] Furthermore, this application also proposes that a second connecting seat 7 is fixed on the side of the flexible rib plate 4 near the flange 2, and each second connecting seat 7 is radially fixed to the surface of the flange 2.

[0046] A second connecting seat 7 is fixed to the side of the flexible rib 4 near the flange 2, and each second connecting seat 7 is radially fixed to the surface of the flange 2. A transition fillet 41 is provided between the flexible rib 4 and the first connecting seat 6, and between the flexible rib 4 and the second connecting seat 7. A second chamfer 42 is provided around the perimeter of the flexible rib 4. The flexible rib 4 effectively alleviates the buckling torque and torsional stiffness experienced by the flexible wheel during use, especially protecting the bent portion 3, preventing tearing failure of the flexible wheel, and extending the service life of the flexible wheel.

[0047] By fixing the second connecting seat 7 to the side of the flexible rib 4 near the flange 2, and fixing each second connecting seat 7 radially to the surface of the flange 2, the structural strength and stability of the flexure can be further enhanced. This design can better distribute the stress on the flexure during use, especially under frequent impacts, effectively reducing damage and failure of the flexure. Compared with the prior art, the design of this application not only improves the service life of the flexure but also enhances the overall performance of the harmonic reducer.

[0048] Furthermore, this application also proposes that transition fillets 41 are provided between the flexible rib 4 and the first connecting seat 6, as well as between the flexible rib 4 and the second connecting seat 7, and second chamfers 42 are provided around the flexible rib 4.

[0049] The technical solution is explained as follows: The transition fillet 41 between the flexible rib 4 and the first connecting seat 6 effectively reduces stress concentration at the connection point, improving the strength and durability of the connection. The transition fillet 41 between the flexible rib 4 and the second connecting seat 7 also reduces stress concentration, thereby enhancing the overall structural strength of the flexible wheel. Furthermore, the second rounded corner 42 around the flexible rib 4 further reduces edge stress concentration, preventing breakage or damage to the flexible rib 4 during use.

[0050] The design of the transition fillet 41 can be achieved in various ways; for example, different fillet radii can be selected to adapt to different application requirements. The size of the fillet radius can be adjusted according to the operating environment and load conditions of the flexible wheel to ensure optimal strength and durability. For the second fillet 42, different chamfer angles and radii can be used to further optimize the structural performance of the flexible rib 4. Specifically, the design of the transition fillet 41 and the second fillet 42 can be optimized through finite element analysis to determine the optimal design parameters.

[0051] This application effectively solves the problem in the prior art where the flexure is prone to breakage or damage under high load and frequent impact by setting a transition fillet 41 between the flexible rib 4 and the connecting seat and a second fillet 42 around the flexible rib 4. This improves the service life and reliability of the flexure and enhances the overall performance of the harmonic reducer.

[0052] Furthermore, this application also proposes that the cross-sectional shape of the flexible rib plate 4 is trapezoidal, with the upper base of the trapezoid close to the cylinder 1 and the lower base close to the flange 2.

[0053] The flexible rib 4 has a trapezoidal cross-sectional shape, with the upper base close to the cylinder 1 and the lower base close to the flange 2. This design can better disperse stress and reduce stress concentration, thereby improving the service life of the flexible wheel.

[0054] The flexible rib 4 has a trapezoidal cross-sectional shape. The mechanical properties of the flexible rib 4 can be adjusted by changing parameters such as the length of the upper and lower bases and the height of the trapezoid. As a preferred embodiment, the flexible rib 4 can be fixed between the cylinder 1 and the flange 2 by welding, bolting, or other methods.

[0055] Furthermore, this application also proposes that a flange ring 8 is fixedly provided on the outer side of the flange 2, and a connecting hole 81 is provided on the flange ring 8, and the flange ring 8 cooperates with the output shaft.

[0056] The technical solution proposed in this application provides a more robust connection structure by fixing a flange ring 8 to the outside of the flange 2 and opening a connecting hole 81 on the flange ring 8, allowing the flange ring 8 to cooperate with the output shaft. This effectively improves the service life of the flexure under high load and frequent impact conditions, and reduces the tearing failure problem of the flexure caused by buckling torque and torsional stiffness.

[0057] Specifically, the flange ring 8 can be fixed to the outside of the flange 2 by welding, bolting, or other methods, or it can be integrally formed with the flange 2. The connecting hole 81 on the flange ring 8 can be set to a circular, elliptical, or other shape according to actual needs, so as to facilitate connection with different types of output shafts. As a preferred embodiment, the flange ring 8 can be made of high-strength material to further improve its load-bearing capacity and impact resistance.

[0058] Therefore, this application provides a harmonic drive flexible gear structure that is simple in structure, has a stable connection, and a long service life by fixing a flange ring 8 to the outside of the flange 2 and opening a connecting hole 81 on the flange ring 8 to cooperate with the output shaft. Compared with the prior art, this application can better adapt to the working environment of high load and frequent impact, and significantly improves the reliability and service life of the harmonic reducer.

[0059] The harmonic reducer includes a wave generator, a rigid wheel, and a harmonic drive flexible wheel as described in this application. The rigid wheel is fitted on the outside of the harmonic drive flexible wheel. The rigid wheel has an internal gear ring that mates with the external gear ring 11. The number of teeth on the internal gear ring is greater than the number of teeth on the external gear ring 11. The harmonic drive flexible wheel is fitted on the outside of the wave generator.

[0060] This technical solution aims to address the problem that during the use of harmonic reducers, especially under frequent impacts, the flexure (particularly the bent portion 3) is subjected to large buckling torque and torsional stiffness, which easily leads to tearing failure of the flexure and reduces its service life. By incorporating flexible ribs 4, first connecting seats 6, second connecting seats 7, transition fillets 41, and rounded corners into the flexure, the impact resistance and service life of the flexure can be effectively improved.

[0061] Specifically, the flexible rib 4 is inclinedly fixed between the cylinder 1 and the flange 2, forming a deformation space 5. Multiple flexible ribs 4 are evenly distributed along the circumferential direction of the cylinder 1. A first connecting seat 6 is fixed to the side closest to the cylinder 1, and the first connecting seat 6 is tightly fixed to the outer wall of the cylinder 1. The side closest to the cylinder 1 is an arc-shaped surface 61, protruding from the side wall of the cylinder 1, and a first rounded corner 62 is provided between the side wall and the side wall of the cylinder 1. A second connecting seat 7 is fixed to the side of the flexible rib 4 closest to the flange 2, and each second connecting seat 7 is radially fixed to the surface of the flange 2. Transition rounded corners 41 are provided between the flexible rib 4 and the first connecting seat 6, and between the flexible rib 4 and the second connecting seat 7. A second rounded corner 42 is provided around the perimeter of the flexible rib 4. The cross-sectional shape of the flexible rib 4 is trapezoidal, with the upper base of the trapezoid close to the cylinder 1 and the lower base close to the flange 2. A flange ring 8 is fixed to the outer side of the flange 2, and a connecting hole 81 is provided on the flange ring 8, which cooperates with the output shaft.

[0062] Through the above technical solution, the reinforced harmonic reducer provided in this application effectively improves the impact resistance and service life of the flexure, avoids the tearing failure of the flexure under frequent impact, and ensures the long-term stable operation of the harmonic reducer.

[0063] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A reinforced harmonic drive flexible wheel, comprising a cylindrical body and a flange located at one end of the cylindrical body, wherein an external gear ring is provided on the side wall of the cylindrical body away from the flange, and the inner wall of the cylindrical body abuts against a wave generator on the side near the external gear ring, wherein a bend is formed at the connection between the cylindrical body and the flange, characterized in that, The flexible wheel also includes a flexible rib, which is inclinedly fixed between the cylinder and the flange, and a deformation space is formed between the flexible rib and the bending portion.

2. The reinforced harmonic drive flexible wheel according to claim 1, characterized in that, Multiple flexible ribs are provided, and each flexible rib is evenly distributed along the circumferential direction of the cylinder.

3. The reinforced harmonic drive flexible wheel according to claim 1, characterized in that, The flexible rib is fixedly provided with a first connecting seat on the side near the cylinder body. The first connecting seat is tightly fixed to the outer wall of the cylinder body, and the side of the first connecting seat near the cylinder body is an arc-shaped surface.

4. A reinforced harmonic drive flexible wheel according to claim 3, characterized in that, The first connecting seat protrudes from the side wall of the cylinder, and a first rounded corner is provided between the side wall of the first connecting seat and the side wall of the cylinder.

5. A reinforced harmonic drive flexible wheel according to claim 4, characterized in that, The flexible rib is fixed with a second connecting seat on the side near the flange, and each of the second connecting seats is radially fixed to the surface of the flange.

6. A reinforced harmonic drive flexible wheel according to claim 5, characterized in that, A transition fillet is provided between the flexible rib and the first connecting seat, as well as between the flexible rib and the second connecting seat.

7. A reinforced harmonic drive flexible wheel according to claim 6, characterized in that, The flexible rib has a second rounded corner around its perimeter.

8. A reinforced harmonic drive flexible wheel according to claim 1, characterized in that, The flexible rib has a trapezoidal cross-sectional shape, with the upper base of the trapezoid close to the cylinder and the lower base close to the flange.

9. A reinforced harmonic drive flexible wheel according to claim 1, characterized in that, A flange ring is fixed to the outer side of the flange, and a connecting hole is provided on the flange ring. The flange ring and the output shaft cooperate with each other.

10. A ruggedized harmonic reducer, characterized in that, The harmonic reducer includes a wave generator, a rigid wheel, and a harmonic drive flexible wheel as described in any one of claims 1-9. The rigid wheel is fitted on the outside of the harmonic drive flexible wheel, and the rigid wheel has an internal gear ring that mates with the external gear ring. The number of teeth on the internal gear ring is greater than the number of teeth on the external gear ring. The harmonic drive flexible wheel is fitted on the outside of the wave generator.

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