Harmonic reducer, drive module and robot

Abstract

The utility model provides a kind of harmonic reducer, drive module and robot, this harmonic reducer includes wave generator;Flexible gear, for with the wave generator cooperation produces deformation;Rigid gear, for with the flexible gear cooperation to transmit torque;And shell;Wherein, the outer periphery of the rigid gear is provided with a plurality of recessed areas spaced from each other along the circumference, each recessed area penetrates the rigid gear along the axial direction of the rigid gear, and a protruding mounting portion is formed between the two adjacent recessed areas, and the mounting portion is used to mount the rigid gear to the shell. Break the structure that rigid gear 3 is complete ring in traditional harmonic reducer, the peripheral flange surface that rigid gear cooperates with reducing shell is originally complete cylinder surface and is carried out intermittent hollowing, and lightweight design of rigid gear is realized.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and in particular to a harmonic reducer, a drive module and a robot. Background Technology

[0002] Harmonic reducers are high-precision transmission devices that utilize controllable elastic deformation to transmit mechanical motion. Composed of three core components—a wave generator, a flexible wheel, and a rigid wheel—they offer advantages such as small size, large transmission ratio, high precision, compact structure, and zero backlash. They are widely used in aerospace, robotics, and precision instruments. For example, harmonic reducers are used in the joint drive modules of humanoid robots, where the weight directly determines the robot's overall range. However, in related technologies, the rigid wheel of the harmonic reducer is relatively heavy, resulting in a large overall mass and affecting the performance of equipment equipped with it. Summary of the Invention

[0003] This invention provides a harmonic reducer, a drive module, and a robot to solve the problem of the large weight of the rigid wheel in existing harmonic reducers.

[0004] A harmonic reducer, comprising:

[0005] Wave generator;

[0006] A flexible wheel is used in conjunction with the wave generator to produce deformation;

[0007] A rigid wheel, used to cooperate with the flexible wheel to transmit torque; and

[0008] shell;

[0009] The outer circumference of the rigid wheel is provided with a plurality of recessed areas spaced apart from each other. Each recessed area penetrates the rigid wheel along the axial direction. A protruding mounting part is formed between two adjacent recessed areas. The mounting part is used to mount the rigid wheel to the outer shell.

[0010] Preferably, the mounting part is provided with a mounting hole, which cooperates with a fixing member to mount the rigid wheel to the housing.

[0011] Preferably, the distance between the bottom edge of the recessed area near the center of the rigid wheel and the center of the rigid wheel is equal to the shortest distance between the mounting hole of the mounting part and the center of the rigid wheel.

[0012] Preferably, the number of recessed areas is the same as the number of mounting portions.

[0013] Preferably, the length of each recessed area in the circumferential direction of the rigid wheel is greater than the length of each mounting portion in the circumferential direction of the rigid wheel.

[0014] Preferably, the rigid wheel includes a connecting body and a fixed body extending radially from the connecting body, the connecting body cooperating with the flexible wheel to transmit torque, and a plurality of the recessed areas being disposed on the fixed body.

[0015] Preferably, in the axial direction of the rigid wheel, the length of the fixing body is less than the length of the connecting body.

[0016] Preferably, the outer casing is provided with a fixing groove, and a plurality of grooves are provided on the groove wall along the circumferential direction of the fixing groove, and a mating area is formed between two adjacent grooves. Each of the mounting parts of the rigid wheel is installed in one of the grooves, and each of the recessed areas of the rigid wheel fits into one of the mating areas.

[0017] A drive module, comprising:

[0018] The motor; and the harmonic reducer, wherein the wave generator is connected to the motor drive.

[0019] A robot including the aforementioned drive module.

[0020] The harmonic reducer provided in this embodiment of the invention features multiple recessed areas spaced apart along the circumferential direction on the outer periphery of the rigid wheel. Each recessed area penetrates the rigid wheel along its axial direction, and a protruding mounting portion is formed between adjacent recessed areas. This design breaks away from the traditional structure of a complete circular ring for the rigid wheel in harmonic reducers, employing a "through-hole" design between the mounting portions of the rigid wheel. By removing redundant material, the weight of the rigid wheel itself is effectively reduced, and design space is freed up for peripheral parts such as the housing. This significantly reduces the radial dimension and overall weight of the drive module, fully meeting the lightweight requirements of equipment equipped with harmonic reducers. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is an exploded view of a harmonic reducer in one embodiment of this utility model;

[0023] Figure 2 This is an isometric view of a harmonic reducer in one embodiment of the present invention;

[0024] Figure 3 yes Figure 2 A sectional view;

[0025] Figure 4 This is a side view of the drive module in one embodiment of the present invention;

[0026] Figure 5 This is a cross-sectional view of the drive module in one embodiment of the present invention.

[0027] Among them, 1. Wave generator; 2. Flexible wheel; 3. Rigid wheel; 31. Connecting body; 32. Fixing body; 4. Outer shell; 41. Fixing groove; 42. Groove; 43. Mating area; 5. Recessed area; 6. Mounting part; 61. Mounting hole; 7. Fixing component; 8. Motor; 81. Housing; 82. Output shaft; 83. Rotor; 84. Stator; 85. Bearing bracket; 86. First bearing; 87. Torque sensor; 88. Second bearing. Detailed Implementation

[0028] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] This utility model provides a harmonic reducer, see reference. Figures 1-4 The harmonic reducer includes a wave generator 1;

[0032] Flexible wheel 2 is used in conjunction with wave generator 1 to generate deformation;

[0033] Rigid wheel 3, used in conjunction with flexible wheel 2 to transmit torque; and

[0034] 4. Outer shell;

[0035] The outer periphery of the rigid wheel 3 is provided with a plurality of recessed areas 5 spaced apart from each other. Each recessed area 5 penetrates the rigid wheel 3 along the axial direction of the rigid wheel 3. A protruding mounting part 6 is formed between two adjacent recessed areas 5. The mounting part 6 is used to mount the rigid wheel 3 to the outer shell 4.

[0036] As an example, this harmonic reducer can be applied, but is not limited to, in the drive module of a robot, specifically including a wave generator 1, a flexible wheel 2, a rigid wheel 3, and a housing 4. The wave generator 1, as the input shaft, can employ a double-wave cam structure with flexible bearings embedded in its outer periphery to drive the flexible wheel 2 to produce periodic elastic deformation. The flexible wheel 2 has a thin-walled cup-shaped structure with teeth on its inner or outer wall, and the material must possess high fatigue strength (such as special steel). Under the action of the wave generator 1, it undergoes controllable elastic deformation and meshes with the rigid wheel 3 to transmit power. The rigid wheel 3 is fixed to the housing 4, with teeth on its inner or outer wall, forming a tooth difference mesh with the flexible wheel 2. The difference in the number of teeth between the flexible wheel 2 and the rigid wheel 3 determines the transmission ratio. It is understood that either the flexible wheel 2 or the rigid wheel 3 can drive the external load; this is not a limitation.

[0037] In this example, multiple recessed areas 5 are spaced apart along the circumferential direction on the outer periphery of the rigid wheel 3. Each recessed area 5 penetrates the rigid wheel 3 along its axial direction, and a protruding mounting part 6 is formed between two adjacent recessed areas 5. This design breaks the traditional structure of the rigid wheel 3 as a complete circular ring in harmonic reducers. The outer flange surface of the rigid wheel 3 that mates with the reducer housing 4, which is originally a complete cylindrical surface, is intermittently hollowed out. This creates a low-stress area for the rigid wheel 3. It can be understood that the low-stress area refers to the area of ​​the rigid wheel 3 where the stress is relatively small. In some optional embodiments, the area of ​​the rigid wheel 3 near the mounting hole 61 needs to bear the corresponding stress of fixing the rigid wheel 3. Therefore, for the rigid wheel 3, the area away from the mounting hole 61 is the area with lower stress. In this example, the low-stress area of ​​the rigid wheel 3 can be designed with "through hollowing out", so that the outer periphery of the rigid wheel 3 has a non-complete circular shape, such as a "wavy" or "petal-shaped" irregular structure. By removing redundant material in low-stress areas, the weight of the rigid wheel 3 is effectively reduced, freeing up design space for surrounding components such as the housing 4. This significantly reduces the radial dimension and overall weight of the drive module, fully meeting the stringent requirements for extreme compactness and lightweight design of the robot drive module. Simultaneously, the thickness of the high-stress area near the mounting hole 61 is maintained, ensuring the torsional stiffness and deformation resistance required for harmonic drive while achieving weight reduction. Since the inner ring tooth profile of the rigid wheel 3 retains sufficient thickness, the strength and rigidity of the meshing transmission between the flexible wheel 2 and the rigid wheel 3 are maintained while reducing weight. The rigid wheel 3 is mounted to the housing 4 via the mounting part 6. Depending on the actual design requirements, the protruding mounting part 6 formed between adjacent recessed areas 5 can be one or more, without limitation.

[0038] Furthermore, in some embodiments, the edges of the recessed area 5 can be further smoothed with a biomimetic chamfer design (such as using a non-uniform gradient thickness design) to further eliminate stress concentration. The inner ring tooth profile of the rigid wheel 3 can be made of high-strength alloy steel to ensure wear resistance and lifespan, while the outer ring with the mounting part 6 can be made of high-strength aluminum alloy or titanium alloy, and can be connected by interference fit or welding to achieve extreme lightweighting of the bimetallic structure. In some embodiments, in addition to the rigid wheel 3, the cam of the wave generator 1 and the cup bottom of the flexible wheel 2 can also be thinned and perforated simultaneously to form a complete set of even lighter harmonic components.

[0039] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 4 The mounting part 6 is provided with mounting holes 61, which cooperate with the fixing part 7 to install the rigid wheel 3 to the outer shell 4.

[0040] As an example, each mounting part 6 is provided with a mounting hole 61, and the outer shell 4 is machined with a blind hole at the corresponding position. During installation, the rigid wheel 3 is first put into the outer shell 4 so that the mounting hole 61 of each mounting part 6 is aligned with the corresponding blind hole on the outer shell 4. Then, the fasteners 7 are inserted into all the mounting holes 61 in sequence. Finally, all the fasteners 7 are locked according to the "diagonal alternation" principle to balance the preload. With this setting, by applying the fasteners 7 to the force-bearing area of ​​the rigid wheel 3, the installation stability of the rigid wheel 3 can be effectively ensured.

[0041] In one embodiment, reference is made to Figure 4 The distance between the bottom edge of the recessed area 5 near the center of the rigid wheel 3 and the center of the rigid wheel 3 is equal to the shortest distance between the mounting hole 61 of the mounting part 6 and the center of the rigid wheel 3. It can be understood that the shortest distance between the mounting hole 61 and the center of the rigid wheel 3 includes the distance between the position of the mounting hole 61 closest to the center of the rigid wheel 3 in the radial direction and the center of the rigid wheel 3.

[0042] As an example, in designing the rigid wheel 3, the bottom edge of the recessed area 5 is made equal to the distance from the mounting hole 61 to the center of the rigid wheel 3. This ensures that the rigid wheel 3 experiences symmetrical forces during rotation, reducing vibrations caused by mass eccentricity. This design also allows for an increased depth of the recessed area 5, maximizing the hollowed-out volume while maintaining the strength of the mounting part 6. In some embodiments, the radial depth of the recessed area 5 is greater than or equal to 2 mm and less than or equal to 10 mm.

[0043] In one embodiment, reference is made to Figure 4 The number of recessed areas 5 is the same as the number of mounting parts 6.

[0044] As an example, in the design, the recessed areas 5 and the mounting parts 6 are the same number and alternately distributed, forming a completely symmetrical geometric structure. During rotation, the centrifugal force, meshing force, and other loads on the rigid wheel 3 are evenly distributed to each mounting part 6, avoiding vibration or deformation caused by local stress concentration. At the same time, this design hollows out the vicinity of each mounting part 6, which can reduce weight as much as possible while ensuring installation strength, fully meeting the stringent requirements of extreme compactness and lightweighting of the robot drive module.

[0045] In one embodiment, reference is made to Figure 1 The length of each recessed area 5 in the circumferential direction of the rigid wheel 3 is greater than the length of each mounting part 6 in the circumferential direction of the rigid wheel 3.

[0046] As an example, in the design, the length of each recessed area 5 in the circumferential direction of the rigid wheel 3 is greater than the length of each mounting part 6 in the circumferential direction of the rigid wheel 3. This design allows the stress on the rigid wheel 3 to gradually transition to the mounting part 6 through the longer recessed area 5 structure, avoiding local stress concentration. The recessed area 5 can absorb some impact energy (such as during robot emergency stops or collisions), reducing the instantaneous load transmitted to the mounting part 6. The longer circumferential length of the recessed area 5 allows its depth and width to be further optimized according to mechanical requirements. While ensuring the rigidity of the mounting part 6, the overall weight of the rigid wheel 3 can be reduced as much as possible, fully meeting the stringent requirements of extreme compactness and lightweighting of the robot drive module.

[0047] In one embodiment, reference is made to Figure 1 and Figure 3 The rigid wheel 3 includes a connecting body 31 and a fixed body 32 extending from the connecting body 31 in the radial direction of the connecting body 31. The connecting body 31 cooperates with the flexible wheel 2 to transmit torque, and a plurality of recessed areas 5 are provided on the fixed body 32.

[0048] As an example, the rigid wheel 3 includes an integrally formed connecting body 31 and a fixed body 32. The inner circumferential surface of the connecting body 31 is machined with involute teeth, which mesh with the outer teeth of the flexible wheel 2 to transmit torque. The fixed body 32 is a component extending from the connecting body 31 along the radial direction of the connecting body 31 and is used to connect with the housing 4. Multiple recessed areas 5 are provided on the fixed body 32, forming multiple evenly distributed mounting parts 6 on its outer end face. This breaks the structure of the rigid wheel 3 as a complete ring in the traditional harmonic reducer. The outer flange surface of the rigid wheel 3 that mates with the housing 4 is intermittently hollowed out, that is, a "through hollowing out" design is carried out in the low-stress area of ​​the rigid wheel 3, which effectively reduces the weight of the rigid wheel 3 itself. Since the connecting body 31 still retains sufficient thickness, the strength and rigidity of the flexible wheel 2 and the rigid wheel 3 are ensured during meshing and transmission while reducing weight.

[0049] In one embodiment, reference is made to Figure 1 and Figure 3 In the axial direction of the rigid wheel 3, the length of the fixed body 32 is less than the length of the connecting body 31.

[0050] As an example, the connecting body 31, as the core area for torque transmission, has a longer axial length that provides a larger meshing contact area, resulting in a more uniform distribution of inter-tooth load between the flexible wheel 2 and the rigid wheel 3, reducing the risk of local stress concentration and ensuring torque transmission capability. Meanwhile, the axial shortening of the fixing body 32 reduces material buildup in non-critical areas, avoids stress reflection caused by abrupt changes in stiffness, and allows for a smooth stress transition along the axial direction. The longer connecting body 31 can better absorb axial impact loads, while the shortened fixing body 32 reduces the path of impact energy transmission to the mounting interface, lowering the risk of loosening of the fastener 7.

[0051] In one embodiment, reference is made to Figure 1 and Figure 2 The outer casing 4 is provided with a fixing groove 41, and a plurality of grooves 42 are provided on the groove wall along the circumferential direction of the fixing groove 41. A mating area 43 is formed between two adjacent grooves 42. Each mounting part 6 of the rigid wheel 3 is installed in a groove 42, and each recessed area 5 of the rigid wheel 3 is in contact with a mating area 43.

[0052] As an example, the outer casing 4 is provided with a fixing groove 41, which can improve axial positioning when installing the rigid wheel 3, ensuring the accuracy of the installation of the rigid wheel 3. Multiple grooves 42 are arranged at intervals along the circumferential direction of the groove 41, and a mating area 43 is formed between two adjacent grooves 42. Each mounting part 6 of the rigid wheel 3 is installed in a groove 42, and each recessed area 5 of the rigid wheel 3 fits into a mating area 43. This arrangement allows the rigid wheel 3 to slide directly into the fixing groove 41 axially without complex alignment operations, thus limiting the circumferential wobbling of the rigid wheel 3. The fit between the recessed area 5 and the mating area 43 creates multiple arc-shaped contact points between the rigid wheel 3 and the outer casing 4, which can suppress radial displacement of the rigid wheel 3, ensure the assembly stability between the rigid wheel 3 and the outer casing 4, and prevent damage to the point contact parts due to wobbling.

[0053] This utility model embodiment provides a drive module, see reference Figure 4 and Figure 5 It includes a motor 8; and a harmonic reducer, with the wave generator 1 connected to the motor 8 in a drive connection.

[0054] In existing harmonic reducers, the rigid wheel 3 is usually designed as a structure with a uniform wall thickness and a complete circular flange; all the holes of the mounting fasteners 7 are evenly distributed along the complete circular flange surface, which has the following defects:

[0055] 1) Excessive redundant weight of materials: The complete solid circular flange experiences less stress in the non-bolt-fixed area (i.e., the area between two adjacent mounting holes 61), and the contribution of this part of the material to the overall structural strength is limited, resulting in a waste of weight.

[0056] 2) Large radial dimension: In order to arrange the mounting hole 61, the traditional complete circular flange needs to be extended outward as a whole, resulting in a large outer diameter of the entire harmonic reducer.

[0057] These shortcomings greatly limit its application in humanoid robot drive modules where there are strict requirements for "lightweight" and "compactness".

[0058] As an example, the drive module includes a motor 8 and a harmonic reducer, with the wave generator 1 of the harmonic reducer connected to the motor 8 via a drive mechanism. This example of a harmonic reducer is designed for a lightweight humanoid robot drive module, primarily involving a customized structural change to the rigid wheel 3 of the harmonic reducer. Multiple recessed areas 5 are spaced apart along the circumferential direction on the outer periphery of the rigid wheel 3. Each recessed area 5 extends through the rigid wheel 3 along its axial direction, and a protruding mounting portion 6 is formed between adjacent recessed areas 5. This design breaks away from the traditional structure of the rigid wheel 3 as a complete circular ring in harmonic reducers. The outer flange surface of the rigid wheel 3, which mates with the housing 4, is intermittently hollowed out, creating a low-stress area within the rigid wheel 3. This low-stress area refers to the region of the rigid wheel 3 where the stress is relatively small. In some optional embodiments, the area of ​​the rigid wheel 3 near the mounting hole 61 needs to bear the corresponding stress of fixing the rigid wheel 3. Therefore, for the rigid wheel 3, the area away from the mounting hole 61 is the region with lower stress. In this example, the low-stress area of ​​the rigid wheel 3 can be designed with a "through-hole" shape, making the outer periphery of the rigid wheel 3 a non-circular shape, such as a "wavy" or "petal-shaped" irregular structure. By removing redundant material in the low-stress area, the weight of the rigid wheel 3 itself is effectively reduced, and design space is freed up for peripheral parts such as the housing 4, greatly reducing the radial dimension and overall weight of the drive module, fully meeting the stringent requirements of extreme compactness and lightweighting of the robot drive module. At the same time, the thickness of the high-stress area near the mounting hole 61 is maintained, ensuring the torsional stiffness and deformation resistance required for harmonic transmission while achieving lightweighting. Since the inner ring tooth profile of the rigid wheel 3 still retains sufficient thickness, the strength and rigidity of the flexible wheel 2 and the rigid wheel 3 during meshing transmission are maintained while reducing weight.

[0059] In this example, by customizing the irregular shape of the rigid wheel 3, the original solid circular flange surface of the rigid wheel 3 is intermittently hollowed out, which significantly reduces the absolute weight of the rigid wheel 3, thereby reducing the rotational inertia of the robot drive module and improving the robot's dynamic response speed and motor efficiency. Furthermore, the mounting hole 61 is set on the outwardly moved mounting part 6. The outward movement of the mounting hole 61, combined with the design of hollowing out the surrounding material, allows the harmonic reducer to achieve better spatial interference avoidance with other components (such as wiring, sensors, or motor stators) inside the drive module, effectively reducing the overall outer diameter of the robot drive module. This solves the technical problem that traditional harmonic reducers have excessive material redundancy, heavy weight, and excessive radial dimension occupation, making it difficult to meet the stringent space and weight constraints of the robot drive module. It achieves the technical effect of significantly reducing the radial dimension of the joint and significantly reducing the overall weight of the drive module while ensuring the overall rigidity, structural strength, and transmission accuracy of the harmonic reducer.

[0060] The specific motor 8 includes a housing 81, an output shaft 82, a rotor 83, a stator 84, a bearing bracket 85, a first bearing 86, a torque sensor 87, and a second bearing 88. The housing 81 is used to support the components of the drive module. The first end of the output shaft 82 is rotatably mounted in the middle of the housing 81. The rotor 83 is mounted on the output shaft 82. The stator 84 is mounted on the outer periphery of the rotor 83 and is in contact with the inner wall of the housing 81. The bearing bracket 85 is mounted on the housing 81. The wave generator 1 is mounted on the bearing bracket 85 via a bearing and is in contact with the rotor 83. The flexible wheel 2 is mounted on the wave generator 1. The outer periphery of the torque sensor 87 is mounted on the second end of the housing 4 via the second bearing 88 (cross roller bearing), and the inner ring of the torque sensor 87 is mounted on the second end of the output shaft 82. With this configuration, the rotor 83 transmits power to the wave generator 1 located in the core area. The first bearing 86 (flexible bearing) and the flexible wheel 2 are mounted on the outer side of the wave generator 1. The flexible wheel 2 meshes with the rigid wheel 3 to achieve deceleration, and then outputs power outward through the output shaft 82. In this structure, the rigid wheel 3 is fixedly connected to the housing 4 to provide reaction torque. The cross roller bearing integrated within the drive module is used to bear the external load, and the output torque of the drive module is detected by the torque sensor 87. The torque sensor 87 is directly integrated between the output shaft 82 and the housing 4, replacing the traditional external sensor, reducing the number of connecting parts, reducing assembly complexity, and avoiding the risk of damage to external sensors due to collisions. The output shaft 82 is a hollow shaft, which can accommodate cables or air pipes, leaving wiring space in the center, further improving the convenience of robot drive module integration.

[0061] This utility model provides a robot, including a drive module.

[0062] As an example, the drive module includes a motor 8 and a harmonic reducer, with the wave generator 1 of the harmonic reducer being driven by the motor 8. Specifically, the motor 8 includes a housing 81, an output shaft 82, a rotor 83, a stator 84, a bearing bracket 85, a first bearing 86, a torque sensor 87, and a second bearing 88. The housing 81 is used to support the components of the drive module. The first end of the output shaft 82 is rotatably mounted in the middle of the housing 81. The rotor 83 is mounted on the output shaft 82. The stator 84 is mounted on the outer periphery of the rotor 83 and is flush with the inner wall of the housing 81. The rotor 83 is connected to the output shaft 82. A bearing bracket 85 is mounted on the housing 81, and the wave generator 1 is mounted on the bearing bracket 85 via a bearing, connecting to the rotor 83. A flexible wheel 2 is fitted onto the wave generator 1. The outer periphery of the torque sensor 87 is mounted on the second end of the housing 4 via a second bearing 88 (crossed roller bearing), and the inner ring of the torque sensor 87 is fitted onto the second end of the output shaft 82. With this configuration, the rotor 83 transmits power to the wave generator 1 located in the core area. The wave generator 1 is fitted with a first bearing 86 (flexible bearing) and the flexible wheel 2. The flexible wheel 2 meshes with the rigid wheel 3, achieving deceleration, and then outputs power outward through the output shaft 82. In this structure, the rigid wheel 3 is fixedly connected to the housing 4 to provide a reaction torque. The crossed roller bearing integrated within the drive module bears the external load and detects the output torque of the drive module via the torque sensor 87. The torque sensor 87 is directly integrated between the output shaft 82 and the housing 4, replacing the traditional external sensor, reducing the number of connecting parts, lowering assembly complexity, and avoiding the risk of damage to external sensors due to collisions. The output shaft 82 is a hollow shaft, which can be used to insert cables or air pipes, leaving space for wiring in the center, which further improves the convenience of robot drive module integration.

[0063] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A harmonic reducer, characterized in that, include: Wave generator; A flexible wheel is used in conjunction with the wave generator to produce deformation; A rigid wheel, used to cooperate with the flexible wheel to transmit torque; and shell; The outer circumference of the rigid wheel is provided with a plurality of recessed areas spaced apart from each other. Each recessed area penetrates the rigid wheel along the axial direction. A protruding mounting part is formed between two adjacent recessed areas. The mounting part is used to mount the rigid wheel to the outer shell.

2. The harmonic reducer according to claim 1, characterized in that, The mounting part is provided with mounting holes, which cooperate with the fixing parts to install the rigid wheel onto the housing.

3. The harmonic reducer according to claim 1, characterized in that, The distance between the bottom edge of the recessed area near the center of the rigid wheel and the center of the rigid wheel is equal to the shortest distance between the mounting hole of the mounting part and the center of the rigid wheel.

4. The harmonic reducer according to claim 1, characterized in that, The number of recessed areas is the same as the number of mounting parts.

5. The harmonic reducer according to claim 1, characterized in that, The length of each of the recessed areas in the circumferential direction of the rigid wheel is greater than the length of each of the mounting portions in the circumferential direction of the rigid wheel.

6. The harmonic reducer according to claim 1, characterized in that, The rigid wheel includes a connecting body and a fixed body extending radially from the connecting body. The connecting body cooperates with the flexible wheel to transmit torque, and a plurality of the recessed areas are provided on the fixed body.

7. The harmonic reducer according to claim 6, characterized in that, In the axial direction of the rigid wheel, the length of the fixing body is less than the length of the connecting body.

8. The harmonic reducer according to claim 1, characterized in that, The outer shell is provided with a fixing groove, and a plurality of grooves are provided on the groove wall along the circumferential direction of the fixing groove. A mating area is formed between two adjacent grooves. Each of the mounting parts of the rigid wheel is installed in one of the grooves, and each of the recessed areas of the rigid wheel fits into one of the mating areas.

9. A drive module, characterized in that, include: Electric motor; as well as The harmonic reducer according to any one of claims 1-8, wherein the wave generator is connected to the motor drive.

10. A robot, characterized in that, Includes the drive module as described in claim 9.

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