Flexible gear, harmonic reducer, mechanical arm and cleaning equipment

Abstract

The utility model provides a flexible gear, a harmonic reducer, a mechanical arm and cleaning equipment, the flexible gear is manufactured through injection molding, the flexible gear comprises a power input part, a waist part and a power output part, the waist part is connected with the power input part and the power output part, and the minimum wall thickness of the waist part is 0.2 mm-3 mm. The flexible gear is manufactured through the injection molding process, the manufacturing process is simple and efficient, and the flexible gear can be rapidly produced in a large-batch mode. And the number of machining procedures is reduced, and meanwhile, the number of used machining equipment is reduced, so that the manufacturing cost is reduced, and the production efficiency is improved. Materials used during injection molding are generally light in weight, and therefore the overall weight of the flexible gear is reduced. When the flexible gear is applied to the harmonic reducer, the light weight of the harmonic reducer can be achieved easily due to the light weight of the flexible gear. The minimum wall thickness of the waist part is set between 0.2 mm and 3mm, so that the weight of the flexible gear is effectively reduced while the structural strength of the flexible gear is ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of transmission equipment, and particularly relates to a flexspline, a harmonic reducer, a mechanical arm and a cleaning device. BACKGROUND

[0002] The harmonic reducer mainly comprises a wave generator, a flexspline and a rigid wheel. The harmonic reducer transmits motion and power through controllable elastic deformation of the flexspline, and thus realizes the function of deceleration.

[0003] When the wave generator is installed in the flexspline, the flexspline is elastically deformed to form an approximately elliptical structure. The flexspline has fewer teeth than the rigid wheel, the flexspline teeth near the two ends of the long axis of the ellipse are completely engaged with the rigid wheel teeth, and the flexspline teeth near the two ends of the short axis are completely disengaged from the rigid wheel teeth. With rotation of the wave generator, the deformed part of the flexspline also rotates, so that the engagement and disengagement states between the flexspline and the rigid wheel change constantly, thereby realizing slow rotation of the flexspline relative to the rigid wheel and achieving the effect of deceleration.

[0004] In the prior art, 40Cr alloy steel is usually used as the material for manufacturing the flexspline, specifically including 40CrMoNiA, 40CrA, 30CrMoNiA, 38Cr2Mo2VA and the like. However, the 40Cr alloy steel has a large processing difficulty, and the weight of the 40Cr alloy steel is also large, which is difficult to meet the lightweight requirement of the harmonic reducer. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the technical problem to be solved by the application is to provide a flexspline, a harmonic reducer, a mechanical arm and a cleaning device, which can reduce the manufacturing difficulty of the flexspline and reduce the weight of the flexspline.

[0006] In order to solve the above problems, the first aspect of the application provides a flexspline, which is injection molded, and comprises a power input part, a waist part and a power output part, the waist part is connected to the power input part and the power output part respectively, the waist part is between the power input part and the power output part, and the wall thickness of the waist part is 0.2mm to 3mm.

[0007] Optionally, the inner diameter of the power input part of the flexspline is 12mm to 80mm.

[0008] Optionally, the inner diameter of the power input part of the flexspline is 18mm to 35mm.

[0009] Optionally, a transmission tooth is arranged on the outer peripheral wall of the power input part, the transmission tooth is arranged along the circumferential direction of the flexspline, and the diameter of the addendum circle of the transmission tooth is 13mm to 85mm.

[0010] Optionally, a transmission tooth is arranged on the outer circumferential wall of the power input part, the transmission tooth is arranged along the circumferential direction of the flexible gear, and the diameter of the addendum circle of the transmission tooth is 20-38 mm.

[0011] Optionally, a boss is arranged on the side of the power output part away from the power input part, the boss protrudes from the waist part along the axial direction of the flexible gear, and a first stop is arranged on the top surface of the boss, the first stop protrudes from the top surface along the direction away from the power input part.

[0012] Optionally, the axial distance between the top surface and the end of the power input part away from the power output part is 6-30 mm along the axial direction of the flexible gear.

[0013] Optionally, the axial distance between the top surface and the end of the power input part away from the power output part is 6-20 mm along the axial direction of the flexible gear.

[0014] Optionally, the ratio of the axial distance to the diameter of the addendum circle is 0.2-1.

[0015] Optionally, the ratio of the axial distance to the diameter of the addendum circle is 0.25-0.6.

[0016] Optionally, the length of the power input part along the axial direction of the flexible gear is 2-15 mm.

[0017] Optionally, the length of the power input part along the axial direction of the flexible gear is 3-8 mm.

[0018] Optionally, the power input part and the waist part are arranged along the axial direction of the flexible gear, one end of the waist part is connected to the power input part, the power output part and the waist part are arranged along the radial direction of the flexible gear, and one end of the power output part and the waist part is connected away from the power input part.

[0019] Optionally, the waist part comprises a first section, a second section and a third section, the first section, the second section and the third section are sequentially connected in the direction from the power input part to the power output part, the wall thickness of the first section decreases in the direction from the power input part to the power output part, the wall thickness of the second section is the same, and the wall thickness of the third section increases.

[0020] Optionally, the wall thickness of the second section is 0.2-3 mm.

[0021] Optionally, a connecting structure is arranged on the power output part, the connecting structure protrudes from the surface of the power output part.

[0022] Optionally, the connecting structure comprises a plurality of connecting columns, and the plurality of connecting columns are arranged on the inner surface and / or the outer surface of the power output part; the power output part is provided with an assembly hole, and the plurality of connecting columns are uniformly arranged along the circumference of the assembly hole.

[0023] Optionally, the outer peripheral wall of the power input part is provided with a transmission tooth, the tooth surface of the transmission tooth comprises a first arc surface segment and a second arc surface segment, the first arc surface segment and the second arc surface segment are arranged along the direction from the tooth root to the tooth top, the bending directions of the first arc surface segment and the second arc surface segment are different; the first arc surface segment is concave, and the second arc surface segment is convex.

[0024] Optionally, the material for preparing the flexible gear comprises an injection molded engineering plastic.

[0025] In a second aspect of the present application, a harmonic reducer is provided, comprising the flexible gear, the rigid gear and the wave generator as described above, and the rigid gear and the wave generator are respectively matched with the power input part.

[0026] Optionally, the outer peripheral wall of the power input part is provided with a transmission tooth, the transmission tooth is arranged along the circumference of the flexible gear, the flexible gear is engaged with the rigid gear through the transmission tooth; the power input part comprises an opening opposite to the power output part and an inner hole communicating with the opening, the wave generator is embedded in the inner hole through the opening and connected with the inner wall of the inner hole.

[0027] Optionally, the torque output carrier of the harmonic reducer comprises an output part, when the flexible gear is provided with a first stopper, the output part is provided with a second stopper, and the first stopper and the second stopper are inserted.

[0028] Optionally, the output part comprises a limiting piece and a power output piece, a limiting hole is formed in the limiting piece, the connecting structure passes through the limiting hole, and the power output piece is connected to the limiting piece; the connecting structure is arranged on the inner surface of the power output part, and the limiting piece and the power output piece are respectively located on the two sides of the power output part; the power output part is provided with an assembly hole, and at least part of the power output piece is located in the assembly hole; the harmonic reducer comprises a fastener, and the fastener is connected to the power output piece through the limiting piece.

[0029] In a third aspect of the present application, a mechanical arm is provided, comprising the flexible gear or the harmonic reducer as described above; the mechanical arm comprises a moving arm, and when the mechanical arm comprises the harmonic reducer, the harmonic reducer is connected to the moving arm.

[0030] In a fourth aspect of the present application, a cleaning device is provided, comprising the flexspline as described above or the harmonic reducer as described above or the mechanical arm as described above; when the cleaning device comprises the harmonic reducer, the harmonic reducer is arranged on a traveling part and / or a cleaning part of the cleaning device.

[0031] Advantages

[0032] The flexspline, the harmonic reducer, the mechanical arm and the cleaning device (such as a cleaning robot, a sweeping robot, etc.) provided in the embodiments of the present application are manufactured by using an injection molding process, which is simple and efficient, and can quickly and mass-produce the flexspline. At the same time of reducing the processing procedures, the processing equipment used is also reduced, thereby reducing the manufacturing cost and improving the production efficiency. The weight of the material used during injection molding is usually light, thereby reducing the overall weight of the flexspline. When the flexspline is applied in the harmonic reducer, the light weight of the flexspline helps to realize the light weight of the harmonic reducer. For example, when the harmonic reducer is applied in the mechanical arm, the flexspline with light weight can reduce the motion inertia of the mechanical arm, and improve the motion speed and response accuracy. By setting the waist wall thickness between 0.2mm and 3mm, the structure strength of the flexspline is ensured, and the weight of the flexspline is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 FIG. 1 is a first perspective view of a flexspline according to an embodiment of the present application;

[0034] Figure 2 FIG. 2 is a second perspective view of the flexspline according to the embodiment of the present application;

[0035] Figure 3 FIG. 3 is a sectional view of the flexspline according to the embodiment of the present application;

[0036] Figure 4 FIG. 4 is a front view of the flexspline according to the embodiment of the present application;

[0037] Figure 5 FIG. 5 is a top view of the flexspline according to the embodiment of the present application;

[0038] Figure 6 FIG. 6 is a perspective view of a harmonic reducer according to an embodiment of the present application; Figure 5 FIG. 7 is an enlarged view of position A in FIG. 6;

[0039] Figure 7 FIG. 8 is a perspective view of a flexspline in the harmonic reducer according to the embodiment of the present application;

[0040] Figure 8 FIG. 9 is a sectional view of the harmonic reducer according to the embodiment of the present application.

[0041] The reference signs are represented as:

[0042] 1, flexible gear; 11, power input part; 111, first camber section; 112, second camber section; 12, waist part; 121, first section; 122, second section; 123, third section; 13, power output part; 131, boss; 132, first stop; 133, connecting column; 134, assembly hole; 2, fastener; 3, limiting piece; 31, limiting hole; 4, power output piece. DETAILED DESCRIPTION

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "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.

[0044] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0045] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0047] For a better understanding of the present application, reference should be made to the following Figures 1 to 5As shown, according to the first aspect of the embodiments of the present application, a flexible gear is provided, the flexible gear 1 is injection molded, the flexible gear 1 comprises a power input part 11, a waist part 12 and a power output part 13, the power input part 11 is used to be connected with a rigid gear, the power output part 13 is used to be connected with a power output part 4, the waist part 12 is connected with the power input part 11 and the power output part 13 respectively, the waist part 12 is between the power input part 11 and the power output part 13, and the minimum wall thickness of the waist part 12 is 0.2mm to 3mm.

[0048] By using the injection molding process to manufacture the flexible gear 1, the injection molding process can realize automatic production, the forming processing period is short, the production efficiency is high, the manufacturing process is simple and efficient, and the flexible gear 1 can be quickly mass-produced; in addition, the injection molding can ensure that the shape of the flexible gear 1 can be diversified, the size is accurate, the quality is stable, and the inner wall and other surfaces are smooth without scratches; at the same time, no waste is generated in the production process. At the same time of reducing the processing procedures, the used processing equipment is also reduced, thereby reducing the manufacturing cost and improving the production efficiency. The weight of the material used in injection molding is usually light, thereby reducing the overall weight of the flexible gear 1. When the flexible gear 1 is applied in a harmonic reducer, the lighter weight of the flexible gear 1 helps to realize the lightweight of the harmonic reducer. For example, when the harmonic reducer is applied in a mechanical arm, the lighter weight of the flexible gear 1 can reduce the motion inertia of the mechanical arm, improve the motion speed and response accuracy.

[0049] The material for manufacturing the flexible gear 1 includes injection molding type engineering plastics, and the material for manufacturing the flexible gear 1 includes but is not limited to injection molding type engineering plastics, such as polyoxymethylene (POM), polyamide (PA), nylon, polyether ether ketone (PEEK), polyphenylene sulfide (PPS), and other pure materials and glass fiber and / or carbon fiber filled reinforced related materials.

[0050] Specifically, the power input part 11, the waist part 12 and the power output part 13 are integrally formed by injection molding. That is, the power input part 11, the waist part 12 and the power output part 13 constituting the flexible gear 1 are integrally manufactured at one time by the injection molding process, rather than using subsequent splicing, assembling and other methods to form a complete flexible gear 1. In terms of structural integrity, the connection interface between the power input part 11, the waist part 12 and the power output part 13 is eliminated, the overall structural strength and stability of the flexible gear 1 are enhanced, the reliability under heavy load and complex alternating stress is higher, and the stability of the harmonic reducer is ensured.

[0051] The power input section 11 has transmission teeth on its outer peripheral wall, which are arranged circumferentially along the flexible wheel 1. The flexible wheel 1 meshes with the rigid wheel teeth through the transmission teeth. The power input section 11 includes an opening on the side opposite to the power output section 13 and an inner hole communicating with the opening. The wave generator is embedded in the inner hole through the opening and connected to the inner wall of the inner hole. The power input section 11 and the waist section 12 are flexible. During operation, the power input section 11 and the power output section 13 move under the action of the wave generator and the rigid wheel. The waist section 12 transmits harmonic motion to the power output section 13, which is rigid.

[0052] It is worth noting that the dimensional tests mentioned in the embodiments of this application were all measured under normal temperature and pressure conditions.

[0053] Among them, such as Figure 3 As shown, the minimum wall thickness in the waist 12 is δ, which ranges from 0.2 mm to 3 mm.

[0054] Specifically, by setting the minimum wall thickness of the waist section 12 between 0.2mm and 3mm, on the one hand, the wall thickness of the waist section 12 is greater than or equal to 0.2mm, which can ensure the torsional stiffness and service life of the waist section 12; on the other hand, the wall thickness of the waist section 12 is less than or equal to 3mm, which avoids the waist section 12 being too stiff and unable to achieve harmonic transmission, and effectively reduces the weight of the flexible wheel 1 while ensuring the structural strength of the flexible wheel 1.

[0055] The power input section 11 and the waist section 12 are arranged along the axial direction of the flexible wheel 1. One end of the waist section 12 is connected to the power input section 11. The power output section 13 and the waist section 12 are arranged along the radial direction of the flexible wheel 1. The ends of the power output section 13 and the waist section 12 opposite to the power input section 11 are connected.

[0056] The power input section 11 is a part of the flexible wheel 1 that meshes with the rigid wheel. The power output section 13 is a part of the flexible wheel 1 that connects to the power output component 4. The waist section 12 is the part between the power input section 11 and the power output section 13, that is, the power input section 11, the waist section 12 and the power output section 13 are connected in sequence.

[0057] Specifically, the flexible wheel 1 is roughly cup-shaped, the power input part 11 is the rim of the cup-shaped structure formed by the flexible wheel 1, the power output part 13 is the bottom of the cup-shaped structure, and the waist part 12 is the part of the cup wall near the bottom of the cup, that is, the lower half of the cup wall.

[0058] The axial direction of the flexible wheel 1 is also the direction of extension of the central axis of the cup-shaped structure. The radial direction of the flexible wheel 1 is also the direction of extension of the diameter of the cup-shaped structure.

[0059] The waist portion 12 comprises a first section 121, a second section 122 and a third section 123, which are sequentially connected in the direction from the power input portion 11 to the power output portion 13; in the direction from the power input portion 11 to the power output portion 13, the wall thickness of the first section 121 decreases, the wall thickness of the second section 122 is constant, and the wall thickness of the third section 123 increases.

[0060] By setting the first section 121, the second section 122 and the third section 123, and making the wall thickness of the first section 121 decrease, the wall thickness of the second section 122 constant and the wall thickness of the third section 123 increase, the waist portion 12 of the flexspline 1 is more in line with the stress characteristics in transmission. Specifically, the stress at the joint of the first section 121 and the power input portion 11 is more concentrated, and the wall thickness at this position is set to be tapered, which can buffer the stress. The wall thickness of the second section 122 is constant, which can maintain stable support. The wall thickness of the third section 123 is set to increase, which can strengthen the connection strength with the power output portion 13. By setting the wall thickness of the first section 121, the second section 122 and the third section 123, the overall strength and stability of the flexspline 1 can be improved, the alternating stress can be effectively resisted, the service life can be prolonged, the reliable transmission of the harmonic reducer can be ensured under long-term complex working conditions, and the accurate control of the mechanical arm is ensured.

[0061] The first section 121 is a section of the waist portion 12 near the power input portion 11 with a decreasing wall thickness. The third section 123 is a section of the waist portion 12 near the power output portion 13 with an increasing wall thickness. The second section 122 is a section between the first section 121 and the third section 123 with a constant wall thickness, and the wall thickness of the second section 122 is the same as the minimum wall thickness of the first section 121 and the minimum wall thickness of the third section 123. It should be noted that the above-mentioned increasing and decreasing are in the direction from the power input portion 11 to the power output portion 13.

[0062] The wall thickness of the second section 122 is 0.2mm to 3mm.

[0063] In the direction from the power input portion 11 to the power output portion 13, the third section 123 is curved towards the central axis of the flexspline 1.

[0064] By setting the third section 123 to be curved, the stress can be evenly spread, thereby reducing the local stress peak value, avoiding hidden troubles such as material fatigue and cracks caused by excessive stress accumulation, enhancing the fatigue resistance of the flexspline 1, prolonging the service life, ensuring the long-term stable operation of the harmonic reducer, reducing equipment maintenance and replacement costs, and improving the overall reliability and durability of the equipment.

[0065] The second section 122 extends in the axial direction of the flexspline 1, and the part of the third section 123 away from the second section 122 is bent to be perpendicular to the central axis of the flexspline 1, that is, the third section 123 is bent at 90 degrees.

[0066] The third segment, 123, is a curved surface.

[0067] Specifically, one end of the third segment 123 is connected to the second segment 122, and the other end is connected to the power output section 13, with the middle part forming a smooth arc transition.

[0068] As a possible implementation example, such as Figure 3 As shown, the inner diameter of the power input section 11 of the flexible wheel 1 is D1, which ranges from 12mm to 80mm.

[0069] The inner wall of the power input part 11 of the flexible wheel 1 can be a smooth circumferential surface. The power input part 11 is sleeved on the outer peripheral side of the wave generator. The inner wall of the power input part 11 is tightly fitted and fixed to the outer peripheral wall of the wave generator, so that the wave generator can drive the flexible wheel 1 to rotate. During the rotation, the power input part 11 meshes with the rigid wheel for transmission.

[0070] As a feasible embodiment, the inner diameter of the power input section 11 of the flexible wheel 1 is 18 mm to 35 mm.

[0071] As a possible implementation example, such as Figure 3 As shown, transmission teeth are provided on the outer peripheral wall of the power input section 11. The transmission teeth are arranged circumferentially along the flexible wheel 1. The diameter of the tooth tip circle of the transmission teeth is D2, which is 13mm to 85mm.

[0072] By setting the tip circle diameter of the transmission teeth to between 13mm and 85mm, the flexure 1 can be guaranteed to have good transmission performance. When the flexure 1 is applied to the joint of a robotic arm, the smaller tip circle diameter of the transmission teeth can reduce the meshing inertia and friction loss, achieving agile response, precise transmission, and improved energy utilization efficiency.

[0073] The device comprises multiple transmission teeth, each extending axially along the flexible wheel 1. These teeth are evenly distributed circumferentially on the outer peripheral wall of the power input section 11. During operation, when the wave generator is inserted into the flexible wheel 1, it forces the flexure to undergo elastic deformation, transforming it into an ellipse. The transmission teeth near the major axis of the ellipse fully mesh with the meshing teeth on the steel wheel, while the transmission teeth near the minor axis completely disengage from the meshing teeth on the steel wheel. As the wave generator rotates, the deformed portion of the flexible wheel 1 also rotates, causing the meshing and disengagement states between the flexible wheel 1 and the steel wheel to continuously change. This results in the flexure 1 rotating slowly relative to the steel wheel, achieving a deceleration effect.

[0074] As a feasible embodiment, the diameter of the tip circle of the transmission tooth is 20mm to 38mm, which can also ensure that the flexible wheel 1 has good transmission performance.

[0075] As a possible implementation example, such as Figure 3As shown, the length of the power input portion 11 in the axial direction of the flexspline 1 is L1, and L1 is 2mm to 15mm.

[0076] By setting the length of the power input portion 11 in the axial direction of the flexspline 1 to be 2mm to 15mm, the stability of the engagement of the flexspline 1 with the rigid gear is ensured, and while ensuring good engagement stability, by reasonably setting the length of the power input portion 11, the overall weight and moment of inertia of the flexspline 1 can also be reduced, and the response speed can be improved.

[0077] The power input portion 11 is substantially a straight cylindrical structure, and the length of the power input portion 11 in the axial direction of the flexspline 1 can also be regarded as the generatrix length of the power input portion 11.

[0078] As a feasible embodiment, the length of the power input portion 11 in the axial direction of the flexspline 1 is 3mm to 8mm, which can also ensure that the flexspline 1 and the rigid gear have good engagement stability, and at the same time, the flexspline 1 can also have a lighter weight and good response speed.

[0079] As shown, Figure 3 The power output portion 13 is formed with a boss 131 on the side away from the power input portion 11, the boss 131 protrudes from the waist portion 12 along the axial direction of the flexspline 1, and the boss 131 is formed with a first stop 132 on the surface of the boss 131, and the first stop 132 protrudes from the surface in the direction away from the power input portion 11.

[0080] By setting the boss 131, the boss 131 can be in abutment or insertion with the carrier during assembly, thereby ensuring good connection stability. By setting the first stop 132, the flexspline 1 can be matched with the carrier during assembly, improving assembly accuracy, eliminating axial and radial assembly deviations, ensuring that the flexspline 1 has good assembly coaxiality, and ensuring good rotation accuracy.

[0081] The boss 131 extends away from the power input portion 11 along the axial direction of the flexspline 1, and protrudes from the outer wall of the waist portion 12 away from the power input portion 11.

[0082] The boss 131 is substantially a circular ring structure, and the central axis of the boss 131 is collinear with the central axis of the flexspline 1.

[0083] The first stop 132 is formed on the outer wall of the boss 131 away from the power input portion 11, that is, on the surface of the boss 131. The surface of the boss 131 is a plane, and the extension direction of the surface is perpendicular to the extension direction of the central axis of the flexspline 1.

[0084] Specifically, the first stop 132 is also a circular ring structure, and is formed at the inner circle of the circular ring structure of the boss 131, and extends away from the power input portion 11 along the central axis of the flexspline 1.

[0085] As a feasible embodiment, as shown in Figure 3 In the axial direction of the flexspline 1, the axial distance between the platform and the end of the power input portion 11 away from the power output portion 13 is L2, and L2 is 6mm to 30mm.

[0086] By setting the axial distance between the platform and the power input portion 11 to 6mm to 30mm, the flexspline 1 can have a good supporting effect, effectively disperse stress in the operation of the harmonic reducer, prevent the problem of local overload stress caused by improper length from causing the flexspline 1 to deform and damage, ensure that the overall structure of the flexspline 1 has good stability, protect the reliable operation of the transmission system, reduce the risk of equipment failure, and prolong the service life of the equipment.

[0087] The axial distance refers to the distance in the axial extension direction. Specifically, the axial distance between the platform and the end of the power input portion 11 away from the power output portion 13, that is, the vertical distance between the plane where the opening of the power input portion 11 is located and the plane where the platform is located. The plane where the opening of the power input portion 11 is located and the plane where the platform is located are both perpendicular to the central axis of the flexspline 1.

[0088] As a feasible embodiment, in the axial direction of the flexspline 1, the axial distance between the platform and the end of the power input portion 11 away from the power output portion 13 is 6mm to 20mm, which can also make the flexspline 1 have a good supporting effect.

[0089] As a feasible embodiment, the ratio of the axial distance to the diameter of the addendum circle is 0.2 to 1.

[0090] By setting the ratio of the axial distance to the diameter of the addendum circle to 0.2 to 1, the stress on the flexspline 1 is more balanced and coordinated, and the stress generated by meshing transmission is effectively dispersed. During power transmission, local fatigue damage caused by stress concentration is inhibited, the risk of deformation of the flexspline 1 is reduced, the structural reliability and stability are enhanced, the durability of the harmonic reducer is improved, the maintenance cost is reduced, and the long-term stable operation of the equipment is ensured.

[0091] The axial distance refers to the axial distance between the platform and the end of the power input portion 11 away from the power output portion 13.

[0092] As a feasible embodiment, the ratio of the axial distance to the diameter of the addendum circle is 0.25 to 0.6, which can make the stress on the flexspline 1 more balanced and coordinated.

[0093] As shown in Figure 1 The connecting structure protrudes from the surface of the power output portion 13.

[0094] By setting the connecting structure protruding from the surface of the power output portion 13, the slot hole for connecting with the output carrier can be avoided on the power output portion 13, and further, the shrinkage problem generated during injection molding is avoided, thereby improving the transmission accuracy of the flexible gear 1, ensuring that the flexible gear 1 can stably and accurately transmit power during transmission, and also making the flexible gear 1 more easily integrated by the injection molding process, thereby improving the yield.

[0095] The power output portion 13 and the connecting structure are in an integrated structure, that is, the connecting structure is integrally formed during injection molding of the flexible gear 1. Specifically, the power output portion 13 and the connecting structure are integrally formed by the injection molding process.

[0096] The surface of the power output portion 13 includes an inner surface and an outer surface.

[0097] Specifically, the flexible gear 1 is generally in a cup-shaped structure, and an accommodation space is formed in the inside of the flexible gear 1, which is used to accommodate the wave generator. The inner wall of the cup-shaped structure of the flexible gear 1 is the inner surface, and the outer wall is the outer surface. The inner surface of the power output portion 13 is the inner surface of the bottom of the cup-shaped structure, and the outer surface of the power output portion 13 is the inner and outer surfaces of the bottom of the cup-shaped structure.

[0098] The position of the power output portion 13 in the flexible gear 1 can be referred to as the bottom of the flexible gear 1. The connecting structure is arranged on the power output portion 13 at the bottom of the flexible gear 1, so that the flexible gear 1 is connected with the torque output carrier through the bottom, and then the power is output from the bottom of the flexible gear 1, so that the torque is more evenly distributed, which is beneficial to optimize the stress distribution and improve the stability and reliability of the flexible gear 1 during work. Moreover, the connection stability between the flexible gear 1 and the torque output carrier is also improved, thereby enhancing the stability of transmission and reducing energy loss and transmission error caused by unstable connection. By arranging the connecting structure at the bottom of the flexible gear 1, the structure of the flexible gear 1 is more compact, and the overall layout is more reasonable.

[0099] As shown in Figure 1 and Figure 5 The connecting structure includes a plurality of connecting columns 133, which are arranged on the inner surface and / or the outer surface of the power output portion 13.

[0100] By arranging a plurality of connecting columns 133, the stress can be dispersed, so that the connection between the flexible gear 1 and the torque output carrier is more stable and reliable.

[0101] As a feasible embodiment, the connecting columns 133 are arranged only on the inner surface of the power output part 13. Based on this, part of components of the torque output carrier can be arranged on the connecting columns 133 on the inner surface of the flexspline 1, and other components of the torque output carrier can be arranged on the outer surface side of the flexspline 1, and the torque output carrier can clamp the flexspline 1 in addition to being connected to the flexspline 1, which can further guarantee transmission accuracy.

[0102] As a feasible embodiment, the connecting columns 133 are arranged only on the outer surface of the power output part 13, which facilitates the alignment of the torque output carrier and the connecting columns 133, and can improve assembly efficiency.

[0103] As a feasible embodiment, part of the connecting columns 133 can be distributed on the inner surface of the power output part 13, and the other part of the connecting columns 133 can be distributed on the outer surface of the power output part 13, that is, the inner surface and the outer surface of the power output part 13 can both be distributed with connecting columns 133, which can make the contact between the connecting columns 133 and the torque output carrier more sufficient, and can further guarantee transmission accuracy.

[0104] As shown in Figure 5 The power output part 13 is provided with an assembly hole 134, and a plurality of connecting columns 133 are uniformly arranged along the circumference of the assembly hole 134.

[0105] By arranging the assembly hole 134, at least part of the torque output carrier can enter the accommodating space of the flexspline 1 through the assembly hole 134, and then be connected to the connecting columns 133 on the inner surface of the power output part 13, and then clamp the power output part 13, which can further guarantee transmission accuracy. The size and shape of the assembly hole 134 need to be designed according to the structure and assembly requirements of the torque output carrier. For example, the diameter of the assembly hole 134 is slightly larger than the size of the corresponding component of the torque output carrier, so as to facilitate its smooth passing. At the same time, the edge of the assembly hole 134 can be chamfered to avoid scratching the component during assembly.

[0106] Among them, by uniformly arranging a plurality of connecting columns 133 along the circumference of the assembly hole 134, the force borne by each connecting column 133 can be more uniform when the flexspline 1 bears torque, avoiding the case that the local force is too large, thereby improving the overall stability and service life of the flexspline 1, and reducing the risk of loosening or failure of the connecting structure. Also makes the structure of the flexspline 1 more balanced, reduces the deformation or vibration caused by uneven force, further improves the working performance and reliability of the flexspline 1. The uniformly arranged connecting columns 133 make it easier to accurately align with the corresponding components during assembly, ensuring the assembly accuracy and reducing the influence of assembly error on the performance of the flexspline 1.

[0107] The assembly hole 134 can be a circular hole, which is arranged on the power output part 13 and penetrates the power output part 13 along the axial direction of the flexible gear 1, and the axis of the assembly hole 134 coincides with the central axis of the power output part 13 and the central axis of the flexible gear 1.

[0108] The connecting column 133 can be a cylindrical structure, a prism structure or a conical structure.

[0109] As a feasible embodiment, as shown in Figure 1 and Figure 5 The connecting column 133 is a cylinder. On the one hand, it is convenient for the production and processing of the connecting column 133. On the other hand, it is convenient for the connecting column 133 to cooperate with the torque output carrier and for the connecting column 133 to be inserted into part of the components of the torque output carrier.

[0110] The outer edge of the part of the connecting column 133 away from the power output part 13 is provided with a guide surface, which is more convenient for the connecting column 133 to be inserted into part of the components of the torque output carrier. The guide surface can be an inclined surface or a circular arc surface, and the angle and size thereof need to be optimized according to actual assembly requirements. The guide surface can play a guiding role in the assembly process, so that the connecting column 133 can be smoothly inserted into the corresponding components, reduce the assembly resistance, improve the assembly efficiency, and also avoid damage to the connecting column 133 and other components during the assembly process.

[0111] As a feasible embodiment, the connecting column 133 is a prism structure, which can be a regular prism structure, such as a rhombic column, a square column, etc. It also has the effect of being convenient for production and processing and being convenient for cooperating with the torque output carrier.

[0112] As a feasible embodiment, the connecting column 133 is a conical structure, which also has the effect of being convenient for production and processing and being convenient for cooperating with the torque output carrier.

[0113] The plurality of connecting columns 133 are arranged in parallel, which is more convenient for disassembly and assembly, and also makes the connection between the flexible gear 1 and the torque output carrier more stable and reliable. The parallel arrangement of the connecting columns 133 can ensure that each connecting column 133 is uniformly stressed during assembly, thereby improving the stability and reliability of the connection. At the same time, when designing the mold, the parallel arrangement of the connecting columns 133 is also easier to realize, which can reduce the manufacturing difficulty and cost of the mold.

[0114] As a feasible embodiment, the maximum width of the cross section of each connecting column 133 is the same, and the height of each connecting column 133 is the same.

[0115] In this embodiment, the connecting columns 133 can have the same structure and style, and the same diameter and height, so that the connecting columns 133 have better consistency during assembly, facilitate the quick alignment of the torque output carrier with the plurality of connecting columns 133, and improve the load bearing capacity and service life of the connecting columns 133.

[0116] The cross section of the connecting column 133 refers to a cross section perpendicular to the central axis of the connecting column 133. When the connecting column 133 is a cylindrical structure or a conical structure, the maximum width of the cross section is the diameter of the circle formed by the cross section. When the connecting column 133 is a prism structure, the maximum width is the diagonal of the cross section.

[0117] As a feasible embodiment, the plurality of connecting columns 133 are divided into at least a first connecting group and a second connecting group, the maximum width of the cross section of the connecting column 133 in the first connecting group is different from the maximum width of the cross section of the connecting column 133 in the second connecting group, the connecting columns 133 in the first connecting group are arranged opposite to each other along the radial direction of the power output portion 13, and the connecting columns 133 in the second connecting group are arranged opposite to each other along the radial direction of the power output portion 13; the height of the connecting column 133 in the first connecting group is the same as the height of the connecting column 133 in the second connecting group.

[0118] By setting different diameters of the connecting columns 133 in different groups, during assembly of the torque output carrier and the connecting structure, the different diameters can prevent incorrect assembly and enable accurate assembly of the torque output carrier and the flexspline 1. When the flexspline 1 is applied to a harmonic reducer, the harmonic reducer outputs torque through the connecting columns 133 with different diameters during operation, which can make the transmission of the torque output carrier more reliable. In actual application, the diameter difference and layout mode of different connecting groups need to be determined according to specific assembly process and transmission requirements. For example, the optimal diameter combination and radial opposite position can be determined through experiments and simulation analysis to achieve optimal assembly effect and transmission performance.

[0119] The first connecting group includes at least two connecting columns 133, and the second connecting group includes at least two connecting columns 133. Such a design can ensure that each connecting group can effectively share the load and improve the stability and reliability of the connection.

[0120] The connecting columns 133 in the same group have the same diameter, which ensures the consistency of the connecting columns 133 in the same group during loading and transmission, and reduces stress concentration and transmission errors caused by diameter differences.

[0121] Specifically, the diameter of the connecting column 133 in the first connecting group is greater than the diameter of the connecting column 133 in the second connecting group.

[0122] More specifically, the first connecting group includes six connecting posts 133, and the second connecting group includes two connecting posts 133. The two connecting posts 133 in the second connecting group are arranged radially opposite each other along the power output section 13. The six connecting posts 133 in the first connecting group are arranged in pairs radially opposite each other along the power output section 13. This layout can fully utilize the space where the power output section 13 in the flexible wheel 1 is located while ensuring connection stability, thus achieving a reasonable force distribution. At the same time, the radially opposite connecting posts 133 can better resist torque and radial force, improving the overall performance of the flexible wheel 1.

[0123] The central axes of all connecting posts 133 are evenly distributed around the central axis of the flexible wheel 1. This even distribution ensures that the force distributed among the connecting posts 133 is more even when the flexible wheel 1 is subjected to torque, thereby further improving the stability and reliability of the flexible wheel 1.

[0124] like Figure 6 As shown, the tooth surface of the transmission tooth includes a first arc surface segment 111 and a second arc surface segment 112. The first arc surface segment 111 and the second arc surface segment 112 are arranged along the direction from the tooth root to the tooth tip. The bending directions of the first arc surface segment 111 and the second arc surface segment 112 are different.

[0125] In this design, by setting multiple transmission teeth, during operation, when the wave generator is inserted into the flexible wheel 1, it is forced to undergo elastic deformation into an ellipse. The transmission teeth near the ends of the major axis of the ellipse are fully engaged with the meshing teeth on the steel wheel, while the transmission teeth near the ends of the minor axis are completely disengaged from the meshing teeth on the steel wheel. As the wave generator rotates, the deformed parts of the flexible wheel 1 also rotate, causing the engagement and disengagement states between the flexible wheel 1 and the steel wheel to continuously change, thereby achieving a slow rotation of the flexible wheel 1 relative to the steel wheel and achieving a deceleration effect.

[0126] By setting the first arc surface segment 111 and the second arc surface segment 112, when the transmission teeth on the flexible wheel 1 mesh with the meshing teeth on the steel wheel, the transmission teeth and meshing teeth can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect. At the same time, the arc surface segments with different curvature directions can better adapt to the changes in force and motion trajectory during the meshing process, thereby improving the smoothness and accuracy of meshing.

[0127] As a feasible embodiment, the first arc segment 111 is concave and the second arc segment 112 is convex.

[0128] Specifically, the first curved section 111 is a section close to the dedendum, and the second curved section 112 is a section close to the addendum. The first curved section 111 is concave, and the second curved section 112 is convex, so that the transmission teeth can achieve more close and accurate contact when meshing with the meshing teeth. In the initial stage of meshing, the concave first curved section 111 can guide the mating component to smoothly enter the meshing position, play a good guiding role, reduce the impact and misalignment during meshing, and the concave shape can provide a gradually guided path during contact, so that the mating component can more smoothly enter the meshing state, avoiding damage and instability caused by sudden collision. With the progress of meshing, the convex second curved section 112 can form more stable contact with the meshing teeth, increase the contact area, and improve the reliability and stability of transmission. The convex shape makes the contact area gradually increase as the meshing depth increases, thereby dispersing the load and reducing the pressure per unit area, reducing the risk of wear and deformation. The curved sections with different bending directions cooperate with each other to make the meshing process smoother, reducing vibration and noise caused by mismatched tooth surfaces.

[0129] The material for manufacturing the flexspline 1 includes injection-molded engineering plastics.

[0130] The flexspline 1 and the connecting structure can be made of the same material, and the material for manufacturing the flexspline 1 and the connecting structure includes but is not limited to injection-molded engineering plastics such as polyoxymethylene (POM), polyamide (PA), nylon, polyether ether ketone (PEEK), polyphenylene sulfide (PPS), and other pure materials and glass fiber and / or carbon fiber filled reinforced related materials.

[0131] In a second aspect of the embodiment, a harmonic reducer is provided, which includes the flexspline 1 as described above, a rigid gear, and a wave generator, the rigid gear and the wave generator are respectively matched with the power input part 11. The transmission teeth of the power input part 11 are meshed with the rigid gear teeth. The wave generator is embedded in the inner hole of the power input part 11 through the opening of the power input part 11 and connected with the inner wall of the inner hole.

[0132] The torque output carrier of the harmonic reducer includes an output part, when the first stop 132 is arranged on the flexspline 1, the second stop is arranged on the output part, and the first stop 132 is inserted with the second stop.

[0133] By arranging the first stop 132 and the second stop inserted with each other, a clear positioning reference is provided for the flexspline 1 and the output part. In the assembly process, the cooperation of the stops can ensure the accurate positional relationship of the flexspline 1 and the output part in the axial and radial directions, so that the two can be quickly and accurately aligned and installed, greatly reducing the adjustment time and errors in the assembly process, improving the assembly accuracy, and ensuring the accuracy and stability of power transmission, reducing transmission errors and vibrations caused by assembly deviations.

[0134] The first stop 132 is coaxially arranged with the assembly hole 134, so that the force transmission is more uniform when the flexible gear 1 is connected with the output part, and the influence of eccentric load on the transmission is reduced.

[0135] The first stop 132 and the second stop are inserted along the axial direction of the flexible gear 1. When assembling, the first stop 132 on the flexible gear 1 is aligned with the second stop on the output part, and then they are inserted into each other along the axial direction. In the insertion process, it is necessary to ensure the smoothness and accuracy of the insertion. A guide structure such as a chamfer or a slope can be designed on the edge of the stop to facilitate the smooth insertion of the two during assembly.

[0136] As shown in Figure 7 and Figure 8 The output part includes a limiting piece 3 and a power output piece 4. The limiting piece 3 is formed with a limiting hole 31, and the connecting structure passes through the limiting hole 31. The power output piece 4 is connected to the limiting piece 3.

[0137] When the output part is connected with the flexible gear 1, the limiting piece 3 is arranged on the flexible gear 1, the connecting structure passes through the limiting hole 31, and the limiting piece 3 is limited between the connecting structure. Then, the output part is connected with the limiting piece 3, so that the power output piece 4 has a connection relationship with the flexible gear 1. During the operation of the harmonic reducer, the torque is transmitted to the connecting structure through the flexible gear 1, and then transmitted to the limiting piece 3 and the power output piece 4, so that the transmission is more accurate.

[0138] Specifically, the limiting piece 3 can be plate-shaped or gasket-shaped. When the connecting structure includes a plurality of connecting columns 133, the number of limiting holes 31 is adapted to the number of connecting columns 133. By selecting the plate-shaped or gasket-shaped limiting piece 3, the thickness of the limiting piece 3 can be reduced under the premise of ensuring the limiting effect, which is convenient for connecting the limiting piece 3 with the power output piece 4, and can make the layout of the harmonic reducer more compact. The plate-shaped limiting piece 3 can provide a larger contact area and increase the stability of the limiting. The gasket-shaped limiting piece 3 can better adapt to the structural requirements in the case of limited space.

[0139] The connecting structure is arranged on the inner surface of the power output part 13, and the limiting piece 3 and the power output piece 4 are located on both sides of the power output part 13.

[0140] The connecting structure is arranged on the inner surface of the power output part 13, that is, the connecting structure is located inside the flexspline 1, and the limiting piece 3 is also arranged inside the flexspline 1, and the power output part 4 is arranged outside the flexspline 1. Therefore, the connecting structure extends into the limiting hole 31 of the limiting piece 3, and the limiting piece 3 and the power output part 4 can clamp the power output part 13, so that the connection between the output part and the flexspline 1 is more reliable.

[0141] The power output part 13 is provided with an assembly hole 134, and at least part of the power output part 4 is located in the assembly hole 134.

[0142] The power output part 4 can be inserted into the assembly hole 134 on the power output part 13, so that the coaxial degree of the movement of the flexspline 1 and the movement of the power output part 4 is higher, and the reliability of the transmission of the flexspline 1 can be further ensured.

[0143] The harmonic reducer comprises a fastener 2 which is connected to the power output part 4 through the limiting piece 3.

[0144] The fastener 2 is arranged to fix the limiting piece 3 to the power output part 4, and the connection between the output part and the flexspline 1 is more reliable in combination with the cooperation between the connecting structure and the limiting piece 3.

[0145] As shown in FIG. 1, Figure 7 It can be understood that the fastener 2 can be multiple, and the styles and structures of the multiple fasteners 2 can be the same or different. The fastener 2 includes but is not limited to a bolt, a pin, etc.

[0146] The power output part 4 comprises an output shaft or an output flange, so that the power output part 4 can output in two different ways, and the use scene of the harmonic reducer can be increased.

[0147] The third aspect of the embodiment provides a mechanical arm comprising the flexspline 1 or the harmonic reducer.

[0148] The mechanical arm comprises a moving arm, and the harmonic reducer is connected to the moving arm.

[0149] Specifically, the harmonic reducer is arranged at a joint of the mechanical arm, and the mechanical arm further comprises at least one moving arm, and the moving arm is connected to the harmonic reducer, specifically connected to the output part of the harmonic reducer, for example, connected to the power output part 4 through a flange or connected to a shaft coupling through an output shaft.

[0150] The fourth aspect of the embodiment provides a cleaning device comprising the flexspline 1 or the harmonic reducer or the mechanical arm.

[0151] The harmonic reducer is arranged on the traveling part and / or the cleaning part of the cleaning device.

[0152] As a feasible embodiment, the harmonic reducer can be arranged on the traveling part of the cleaning device, wherein the traveling part comprises a driving motor for driving the cleaning device to walk, a transmission system and walking wheels, the harmonic reducer can be part of the transmission system, so that the driving motor drives the walking wheels to rotate through the harmonic reducer and other transmission components in the transmission system, so that the cleaning device moves.

[0153] As a feasible embodiment, the harmonic reducer can be arranged on the cleaning part of the cleaning device, the cleaning part can include a rolling brush, an edge brush, a main mop, an edge mop and other cleaning components that need to move, the driving motor can drive the rolling brush, the edge brush, the main mop, the edge mop and other cleaning components to move through the harmonic reducer, so as to realize cleaning operation. Taking the edge brush as an example, the edge brush is connected with the output part of the harmonic reducer, such as being connected with the aforementioned power output part 4 through a flange, or being connected with a shaft coupling through an output shaft.

[0154] It can be understood that the harmonic reducer can be arranged on the traveling part and the cleaning part of the cleaning device (such as a cleaning robot, a sweeping robot and other self-moving cleaning devices), and can also be arranged on other components for transmission and having speed regulation requirements.

[0155] It can be understood by those skilled in the art that the above advantageous modes can be freely combined and superimposed without conflict.

[0156] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application. The above is only a preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be regarded as the protection scope of the present application.

Claims

1. A flexible gearwheel, characterized in that The flexible gear (1) is injection molded, the flexible gear (1) comprises a power input part (11), a waist part (12) and a power output part (13), the power input part (11), the waist part (12) and the power output part (13) are integrally formed during injection molding, the waist part (12) is connected with the power input part (11) and the power output part (13) respectively, the waist part (12) is between the power input part (11) and the power output part (13), the wall thickness of the waist part (12) is 0.2mm to 3mm.

2. The flexible gear wheel according to claim 1, characterized in that The inner diameter of the power input part (11) of the flexible gear (1) is 12mm to 80mm.

3. The flexible gear wheel according to claim 1, characterized in that The inner diameter of the power input part (11) of the flexible gear (1) is 18mm to 35mm.

4. The flexible gear wheel according to claim 1, characterized in that The outer peripheral wall of the power input part (11) is provided with transmission teeth, the transmission teeth are arranged along the circumferential direction of the flexible gear (1), and the diameter of the addendum circle of the transmission teeth is 13mm to 85mm.

5. The flexible gear wheel according to claim 1, wherein The outer peripheral wall of the power input part (11) is provided with transmission teeth, the transmission teeth are arranged along the circumferential direction of the flexible gear (1), and the diameter of the addendum circle of the transmission teeth is 20mm to 38mm.

6. The flexible gear wheel according to claim 4 or 5, characterized in that The power output part (13) is formed with a boss (131) away from the power input part (11), the boss (131) protrudes from the waist part (12) along the axial direction of the flexible gear (1), and the boss (131) is formed with a first stop opening (132) on the platform, and the first stop opening (132) protrudes from the platform away from the power input part (11).

7. The flexible gear wheel according to claim 6, characterized in that In the axial direction of the flexible gear (1), the axial distance between the platform and the end of the power input part (11) away from the power output part (13) is 6mm to 30mm.

8. The flexible gear wheel according to claim 6, characterized in that In the axial direction of the flexible gear (1), the axial distance between the platform and the end of the power input part (11) away from the power output part (13) is 6mm to 20mm.

9. The flexible gear wheel according to claim 6, characterized in that The ratio of the axial distance between the platform and the end of the power input part (11) away from the power output part (13) to the diameter of the addendum circle is 0.2 to 1.

10. The flexible gear wheel according to claim 6, characterized in that The ratio of the axial distance between the platform and the end of the power input part (11) away from the power output part (13) to the diameter of the addendum circle is 0.25 to 0.

6.

11. The flexible gear wheel according to claim 1, characterized in that The length of the power input part (11) in the axial direction of the flexible gear (1) is 2mm to 15mm.

12. The flexible gear wheel according to claim 1, characterized in that The length of the power input part (11) in the axial direction of the flexible gear (1) is 3mm to 8mm.

13. The flexible gear wheel according to claim 1, characterized in that The power input part (11) and the waist part (12) are arranged along the axial direction of the flexible gear (1), one end of the waist part (12) is connected with the power input part (11), the power output part (13) and the waist part (12) are arranged along the radial direction of the flexible gear (1), and one end of the power output part (13) and the waist part (12) away from the power input part (11) is connected.

14. The flexible gear wheel according to claim 1, characterized in that The waist portion (12) comprises a first section (121), a second section (122) and a third section (123), which are sequentially connected in the direction from the power input portion (11) to the power output portion (13); in the direction from the power input portion (11) to the power output portion (13), the wall thickness of the first section (121) decreases, the wall thickness of the second section (122) is the same, and the wall thickness of the third section (123) increases.

15. The flexible gear wheel according to claim 14, characterized in that The wall thickness of the second section (122) is 0.2mm to 3mm.

16. The flexible gear wheel according to claim 1, characterized in that The power output portion (13) is provided with a connecting structure which protrudes from the surface of the power output portion (13).

17. The flexible gear wheel according to claim 16, characterized in that The connecting structure comprises a plurality of connecting columns (133) arranged on the inner and / or outer surface of the power output portion (13); The power output portion (13) is provided with an assembly hole (134), and the plurality of connecting columns (133) are uniformly arranged along the circumference of the assembly hole (134).

18. The flexible gear wheel of claim 1, wherein The outer peripheral wall of the power input portion (11) is provided with a transmission tooth, the tooth surface of the transmission tooth comprises a first arc surface section (111) and a second arc surface section (112), the first arc surface section (111) and the second arc surface section (112) are arranged in the direction from the tooth root to the tooth top, and the bending directions of the first arc surface section (111) and the second arc surface section (112) are different. The first arc surface section (111) is concave, and the second arc surface section (112) is convex.

19. The flexspline of claim 1, wherein, The material for preparing the flexible gear (1) comprises injection-molded engineering plastic.

20. A harmonic reducer characterized by, Comprise: The flexible gear (1), the rigid gear and the wave generator according to any one of claims 1-19, wherein the rigid gear and the wave generator are matched with the power input portion (11) respectively.

21. The harmonic reducer of claim 20, wherein, The outer peripheral wall of the power input portion (11) is provided with a transmission tooth, the transmission tooth is arranged along the circumference of the flexible gear (1), and the flexible gear (1) is engaged with the rigid gear tooth through the transmission tooth; The power input portion (11) comprises an opening opposite to the side of the power output portion (13) and an inner hole communicating with the opening, the wave generator is embedded in the inner hole through the opening and connected with the inner wall of the inner hole.

22. The harmonic reducer of claim 20, wherein, The torque output carrier of the harmonic reducer comprises an output portion, when the flexible gear (1) is provided with a first stop opening (132), the output portion is provided with a second stop opening, and the first stop opening (132) is inserted into the second stop opening.

23. The harmonic reducer of claim 22, wherein, The output portion comprises a limiting piece (3) and a power output piece (4), the limiting hole (31) is formed in the limiting piece (3), the connecting structure passes through the limiting hole (31), and the power output piece (4) is connected to the limiting piece (3); The connecting structure is arranged on the inner surface of the power output portion (13), and the limiting piece (3) and the power output piece (4) are located on the two sides of the power output portion (13) respectively; The power output part (13) is provided with an assembly hole (134), and at least part of the power output part (4) is in the assembly hole (134); The harmonic reducer comprises a fastener (2), and the fastener (2) is connected to the power output part (4) through the limiting part (3).

24. A robotic arm, comprising: The harmonic reducer comprises a fastener (2), and the fastener (2) is connected to the power output part (4) through the limiting part (3). The mechanical arm comprises a motion arm, and when the mechanical arm comprises the harmonic reducer, the harmonic reducer is connected to the motion arm.

25. A cleaning apparatus, characterized by The harmonic reducer comprises a fastener (2), and the fastener (2) is connected to the power output part (4) through the limiting part (3). When the cleaning device comprises the harmonic reducer, the harmonic reducer is arranged on a traveling part and / or a cleaning part of the cleaning device.

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