Harmonic drive module for humanoid robot

Abstract

This utility model discloses a harmonic drive module for humanoid robots, including a housing with a harmonic reducer mounted on it. An output flange is connected to the harmonic reducer. The harmonic reducer includes a wave generator, a flexible wheel, and a rigid wheel. The flexible wheel has a power transmission end, with one end face as the input end and the other end face as the output end. The input end is sleeved on the wave generator to receive power, and the output end meshes with the rigid wheel to transmit power. The rigid wheel is fixedly connected to the output flange. The tooth surface of the output end of the flexible wheel is inclined axially. This utility model of a harmonic drive module for humanoid robots can reduce the size of the harmonic drive module, improve transmission accuracy, reduce errors, and extend service life.

Description

Technical Field

[0001] This utility model relates to the field of transmission mechanism technology, specifically to a transmission module for humanoid robots, and more particularly to a harmonic transmission module for humanoid robots. Background Technology

[0002] A humanoid robot is an intelligent robot that mimics the shape and movement of a human, and can replace or assist humans in performing repetitive, dangerous, or high-precision tasks. The harmonic intelligent transmission module is the core component for humanoid robots to achieve precise movement and perform tasks.

[0003] Existing harmonic reducers are bulky, have low efficiency in shaft transmission and energy conversion, high wear, and high production costs, making them unsuitable for the needs of humanoid robots and collaborative robots. Utility Model Content

[0004] The technical problem to be solved by this utility model is: in order to solve the technical problems of large size and low transmission efficiency of existing harmonic reducers, this utility model provides a harmonic transmission module for humanoid robots, which can reduce the size of the harmonic transmission module, improve transmission accuracy, reduce errors, and extend service life.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a harmonic transmission module for humanoid robots, including a shell, on which a harmonic reducer is installed, and an output flange is connected to the harmonic reducer. The harmonic reducer includes: a wave generator, a flexible wheel, and a rigid wheel. The flexible wheel has a power transmission end, with one end face of the power transmission end being the input end and the other end face being the output end. The input end is sleeved on the wave generator to receive power, and the output end meshes with the rigid wheel to transmit power. The rigid wheel is fixedly connected to the output flange, and the tooth surface of the output end of the flexible wheel is inclined in the axial direction.

[0006] This utility model relates to a harmonic drive module for robots. By optimizing the assembly positions between the flexible wheel, rigid wheel, and output end cap, the space occupied is reduced, thus reducing the volume of the harmonic drive module and making it suitable for more applications.

[0007] Furthermore, in order to reduce end face interference and adapt to higher load applications, the tooth surface of the output end of the flexure is tilted at an angle of 0.5°–1.2° to the horizontal direction.

[0008] Furthermore, in order to achieve a fixed connection between the rigid wheel and the output flange, the output flange is located on the outside of the rigid wheel, and the two are fastened together by screws.

[0009] Furthermore, in order to improve transmission accuracy and reduce size, the output flange, rigid wheel and flexible wheel are arranged coaxially in sequence.

[0010] Furthermore, in order to ensure the transmission accuracy between the rigid wheel and the flexible wheel, a crossed roller bearing is also connected inside the flexible wheel.

[0011] Furthermore, in order to install the flexible wheel, a crossed roller bearing is installed on the outer side of the tooth surface at its output end.

[0012] Furthermore, in order to transmit power to the flexible wheel, the wave generator includes a camshaft and a flexible bearing, with the inner ring of the flexible bearing fitted onto the camshaft and the inner wall of the flexible wheel fitted onto the outer ring of the flexible bearing.

[0013] Furthermore, in order for the camshaft to output power, the camshaft is mounted on the motor shaft, and the motor shaft transmits power to the camshaft.

[0014] Furthermore, in order to meet wiring requirements, a hollow shaft is provided inside the housing, with both ends of the hollow shaft passing through the central through holes of the output flange and the end cover.

[0015] Furthermore, the hollow shaft is located inside the motor shaft and has a gap between it and the motor shaft.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. The harmonic drive module for humanoid robots of this utility model transmits power to the output flange in sequence through a wave generator, a flexible wheel, and a rigid wheel. At the same time, the flexible wheel, the rigid wheel, and the output flange are arranged in sequence, which reduces the space occupied and the overall volume, making the harmonic drive module suitable for more occasions, improving the transmission efficiency, and extending the service life. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the structure of the harmonic drive module for humanoid robots according to this utility model;

[0020] Figure 2 This is a cross-sectional view of the flexible wheel;

[0021] In the diagram: 1. Housing, 2. Output flange, 3. Flexible wheel, 4. Rigid wheel, 5. Camshaft, 6. Flexible bearing, 31. Input end, 32. Output end, 7. Motor shaft, 8. Crossed roller bearing, 9. Hollow shaft, 10. End cover. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0023] In the description of this utility model, 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," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model 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 utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] like Figure 1 As shown, a harmonic drive module for a humanoid robot includes a housing 1, on which a harmonic reducer is mounted. An output flange 2 is connected to the harmonic reducer. The harmonic reducer includes a wave generator, a flexible wheel 3, and a rigid wheel 4. The flexible wheel 3 has a power transmission end, with one end face being the input end 31 and the other end face being the output end 32.

[0026] Specifically, the input end 31 is fitted onto the wave generator to receive power, and the output end 32 meshes with the rigid wheel 4 to transmit power. The rigid wheel 4 is fixedly connected to the output flange 2. Preferably, the wave generator includes a camshaft 5 and a flexible bearing 6. The inner ring of the flexible bearing 6 is fitted onto the camshaft 5, and the inner wall of the flexible wheel 3 is fitted onto the outer ring of the flexible bearing 6. The camshaft 5 is fitted onto the motor shaft 7, and the motor shaft 7 transmits power to the camshaft 5. Power is input through the motor shaft 7, which drives the camshaft 5 to rotate. The camshaft 5 drives the flexible bearing 6 to rotate, and the flexible bearing 6 transmits power to the input end 31 of the flexible wheel, simultaneously causing the flexible wheel 3 to become elliptical. The external teeth of the output end 32 of the flexible wheel 3 mesh with the internal teeth of the rigid wheel 4, thereby driving the internal teeth to rotate, and then the internal teeth drive the output flange 2 to move synchronously.

[0027] like Figure 2As shown, specifically, the tooth surface of the output end 32 of the flexure is inclined in the axial direction. Preferably, the inclination angle between the tooth surface of the output end 32 of the flexure and the horizontal direction is 0.5°–1.2°. By modifying the tooth surface of the output end 32 of the flexure by axial inclination, end face interference is reduced, thereby increasing the radial deformation coefficient of the flexure and adapting to higher load applications.

[0028] Preferably, the output flange 2, rigid wheel 4, and flexible wheel 3 are arranged coaxially in sequence. Preferably, the flexible wheel 3 is rotatably connected to the rear end face of the housing 1. By arranging the output flange 2, rigid wheel 4, and flexible wheel 3 sequentially with the housing 1 in the circumferential direction, the structure is more compact, the space occupied is reduced, the volume of the harmonic drive module is reduced, and the harmonic drive module is suitable for more applications.

[0029] Specifically, the output flange 2 is located on the outside of the rigid wheel 4, and the two are fastened together with screws. The output flange 2 and the rigid wheel 4 are directly connected by screws, which simplifies the connection structure and ensures reliability.

[0030] Specifically, a crossed roller bearing 8 is installed on the outer side of the output end 32 of the flexible wheel 3. The crossed roller bearing 8 ensures the transmission accuracy between the rigid wheel 4 and the flexible wheel 3. This is a conventional structure and will not be described in detail here.

[0031] Preferably, the housing 1 also includes a hollow shaft 9, with both ends of the hollow shaft 9 passing through the central through holes of the output flange 2 and the end cover 10. The hollow shaft 9 is mainly for facilitating wiring.

[0032] In summary, the harmonic drive module for humanoid robots of this invention transmits power sequentially to the output flange through a wave generator, a flexible wheel, and a rigid wheel. The sequential arrangement of the flexible wheel, rigid wheel, and output flange reduces the space occupied and the overall size, making the harmonic drive module suitable for more applications, improving transmission efficiency, and extending its service life.

[0033] The above description is based on the preferred embodiments of this utility model. Through the above description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A harmonic drive module for a humanoid robot, comprising a housing (1), a harmonic reducer mounted on the housing (1), and an output flange (2) connected to the harmonic reducer, characterized in that, The harmonic reducer includes a wave generator, a flexible wheel (3) and a rigid wheel (4). The flexible wheel (3) has a power transmission end, with one end face of the power transmission end being the input end (31) and the other end face being the output end (32). The input end (31) is sleeved on the wave generator to receive power, and the output end (32) meshes with the rigid wheel (4) to transmit power. The rigid wheel (4) is fixedly connected to the output flange (2). The tooth surface of the output end (32) of the flexible wheel (3) is inclined in the axial direction.

2. The harmonic drive module for humanoid robots according to claim 1, characterized in that, The tooth surface of the output end (32) of the flexible wheel (3) has an inclination angle of 0.5°–1.2° with the horizontal direction.

3. The harmonic drive module for humanoid robots according to claim 1, characterized in that, The output flange (2) is located on the outside of the rigid wheel (4), and the two are fastened together by screws.

4. The harmonic drive module for humanoid robots according to claim 1, characterized in that, The output flange (2), rigid wheel (4) and flexible wheel (3) are arranged coaxially in sequence.

5. The harmonic drive module for humanoid robots according to claim 1, characterized in that, The flexible wheel (3) has a crossed roller bearing (8) mounted on the outer side of the tooth surface at its output end (32).

6. The harmonic drive module for humanoid robots according to claim 5, characterized in that, The flexible wheel (3) is rotatably connected to the rear end face of the outer shell (1).

7. The harmonic drive module for humanoid robots according to claim 1, characterized in that, The wave generator includes a camshaft (5) and a flexible bearing (6), with the inner ring of the flexible bearing (6) fitted on the camshaft (5) and the inner wall of the flexible wheel (3) fitted on the outer ring of the flexible bearing (6).

8. The harmonic drive module for humanoid robots according to claim 7, characterized in that, The camshaft (5) is mounted on the motor shaft (7), and the motor shaft (7) transmits power to the camshaft (5).

9. The harmonic drive module for humanoid robots according to claim 8, characterized in that, The housing (1) is also provided with a hollow shaft (9), the two ends of which pass through the central through hole of the output flange (2) and the end cover (10).

10. The harmonic drive module for humanoid robots according to claim 9, characterized in that, The hollow shaft (9) is located inside the motor shaft (7) and has a gap between it and the motor shaft (7).

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