A harmonic reducer and a robot

Abstract

This utility model discloses a harmonic reducer and a robot, including a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel has an internal gear ring, and the flexible wheel has an external gear ring. The wave generator is disposed inside the flexible wheel, and the rigid wheel is disposed outside the flexible wheel. The internal gear ring meshes with the external gear ring. At least one of the internal gear ring and the external gear ring has a circumferentially extending silencing groove, which disconnects the teeth of at least one of the internal gear ring and the external gear ring along the axial direction of the harmonic reducer. In the technical solution of this utility model, adding a silencing groove to the gear ring portion of the flexible wheel or the rigid wheel of the harmonic reducer reduces the vibration and noise generated during the operation of the harmonic reducer, improves the environment, and reduces the weight of the harmonic reducer.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a harmonic reducer and a robot. Background Technology

[0002] A harmonic reducer is a transmission method that relies on the elastic deformation of flexible gears to transmit force and motion. A typical harmonic reducer consists of three components: a flexible gear, a rigid gear, and a wave generator. The flexible gear is a flexible gear with an external gear ring, and the rigid gear is a rigid gear with an internal gear ring. Normally, the rigid gear is fixed, and the wave generator, an elliptical component, is installed inside the flexible gear, forcing the flexible gear to undergo radial deformation at its long shaft end according to a certain pattern, transforming it into an elliptical shape. When the wave generator is driven to rotate, it forces the flexible gear to continuously deform. During the deformation process, the flexible gear teeth gradually enter the space between the rigid gear teeth, meshing with them, and then gradually disengaging until they are completely disengaged. In this way, the wave generator rotates continuously, and the flexible gear teeth repeatedly engage, disengage, and retract with the rigid gear teeth in a cyclical, interlocking motion. This interlocking motion converts the input of the wave generator into the output of the flexible gear, achieving deceleration.

[0003] Generally, harmonic reducers generate vibration and noise during operation due to errors in tooth profile design, manufacturing, and assembly. As these errors increase, the vibration and noise also increase. With technological advancements, application industries are placing increasingly higher demands on harmonic reducers, particularly regarding vibration, noise, and lightweight design.

[0004] In summary, the problems existing in the relevant technologies urgently need to be solved. Utility Model Content

[0005] The purpose of this utility model is to at least solve one of the technical problems existing in the prior art, and to provide a harmonic reducer and robot by adding a sound-absorbing groove to the gear ring part of the flexible wheel or rigid wheel of the harmonic reducer to reduce the vibration and noise caused by the operation of the harmonic reducer, improve the environment, and reduce the weight of the harmonic reducer.

[0006] The technical solution adopted by this utility model to solve its technical problem is:

[0007] In a first aspect, a harmonic reducer includes a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel is provided with an internal gear ring, the flexible wheel is provided with an external gear ring, the wave generator is disposed inside the flexible wheel, and the rigid wheel is disposed outside the flexible wheel. The internal gear ring meshes with the external gear ring, and at least one of the internal gear ring and the external gear ring is provided with a circumferentially extending silencing groove. The silencing groove disconnects at least one tooth of the internal gear ring and the external gear ring along the axial direction of the harmonic reducer.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the silencing groove includes a first silencing groove disposed on the internal gear ring, the first silencing groove dividing the teeth of the internal gear ring into multiple segments along the axial direction.

[0009] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the first silencing groove extends continuously along the circumference of the internal gear ring.

[0010] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the first silencing groove is discontinuously distributed along the circumference of the internal gear ring.

[0011] In combination with the first aspect and the above-described implementation, in some implementations of the first aspect, the internal gear ring is provided with a plurality of the first noise-reducing grooves, and the plurality of the first noise-reducing grooves are distributed at intervals along the axial direction.

[0012] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the silencing groove includes a second silencing groove disposed on the outer gear ring, the second silencing groove dividing the teeth of the outer gear ring into multiple segments along the axial direction.

[0013] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the second silencing groove extends continuously along the circumference of the outer gear ring.

[0014] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the second silencing groove is discontinuously distributed along the circumference of the outer gear ring.

[0015] In combination with the first aspect and the above-described implementation, in some implementations of the first aspect, the external gear ring is provided with a plurality of second noise-reducing grooves, and the plurality of second noise-reducing grooves are distributed at intervals along the axial direction.

[0016] In a second aspect, a robot includes the harmonic reducer described in any implementation of the first aspect.

[0017] One of the above technical solutions has at least one of the following advantages or beneficial effects:

[0018] In this invention, at least one of the internal and external gear rings is provided with a circumferentially extending silencing groove. The cross-section of the silencing groove is rectangular, wedge-shaped, or stepped. When the harmonic reducer is running, the internal gear ring of the rigid wheel and the external gear ring of the flexible wheel mesh and drive. The vibration and noise generated by the meshing of the teeth on both sides of the silencing groove will diffuse to the surroundings. When the energy on both sides of the silencing groove is transferred to the silencing groove, due to the strong viscous friction and internal resonance generated by the sound wave within the object, some energy is dissipated, weakening the sound wave intensity and suppressing the propagation of the sound wave, thereby achieving the purpose of reducing overall vibration and noise. Compared with ordinary harmonic reducers, the harmonic reducer of this invention, after testing, under the same application conditions, reduces the overall vibration by two-thirds, perfectly meeting the requirements of harmonic reducers for reducing vibration and noise.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of an embodiment of the present invention using a hat-shaped flexible wheel;

[0022] Figure 2 This is a schematic diagram of an embodiment of the present invention, showing a sound-absorbing groove structure provided on the internal gear ring of a rigid wheel;

[0023] Figure 3 This is a schematic diagram of an embodiment of the present invention, showing a sound-absorbing groove structure on the outer gear ring of a hat-shaped flexible wheel;

[0024] Figure 4 This is a schematic diagram of an embodiment of the present invention using a cup-shaped flexible wheel;

[0025] Figure 5 This is a schematic diagram of an embodiment of the present invention, showing a sound-absorbing groove structure on the outer gear ring of a cup-shaped flexible wheel. Detailed Implementation

[0026] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0027] In this utility model, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this utility model, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0028] In this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the stated number; "above," "below," "within," etc. are understood to include the stated number. In the description of this utility model, if "first" or "second" is used, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0029] In this utility model, unless otherwise explicitly defined, terms such as "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model based on the specific content of the technical solution.

[0030] See Figures 1-5 This utility model provides a harmonic reducer, including a rigid wheel 100, a flexible wheel 200, and a wave generator 300. The rigid wheel 100 has an internal gear ring 101, and the flexible wheel 200 has an external gear ring 201. The wave generator 300 is disposed inside the flexible wheel 200, and the rigid wheel 100 is disposed outside the flexible wheel 200. The internal gear ring 101 and the external gear ring 201 mesh. At least one of the internal gear ring 101 and the external gear ring 201 has a circumferentially extending silencing groove, which disconnects at least one tooth of the internal gear ring 101 and the external gear ring 201 along the axial direction of the harmonic reducer. It is understood that the depth of the silencing groove and the height of the teeth of the internal gear ring 101 and the external gear ring 201 are not limited in the embodiments of this utility model; that is, the depth of the silencing groove can be greater than the height of the teeth of the internal gear ring 101 and the external gear ring 201, or it can be less than or equal to the height of the teeth of the internal gear ring 101 and the external gear ring 201.

[0031] When the wave generator 300 is driven to rotate, it forces the flexure 200 to continuously deform. During the deformation process, the outer gear ring 201 of the flexure 200 gradually enters between the inner gear ring 101 of the rigid wheel 100, meshing with it, and then gradually disengages until it is completely disengaged. In this way, as the wave generator 300 rotates continuously, the outer gear ring 201 of the flexure 200 and the inner gear ring 101 of the rigid wheel 100 repeatedly engage, disengage, and reciprocate in a cyclical interlocking motion. This interlocking motion converts the input of the wave generator 300 into the output of the flexure 200, achieving deceleration.

[0032] Combination Figures 1-5 In the technical solution of this utility model, at least one of the internal gear ring 101 and the external gear ring 201 is provided with a circumferentially extending silencing groove. The cross-section of the silencing groove is rectangular, wedge-shaped, or stepped. When the harmonic reducer is running, the internal gear ring 101 of the rigid wheel 100 and the external gear ring 201 of the flexible wheel 200 mesh and drive. The vibration and noise generated by the meshing of the teeth on both sides of the silencing groove will spread to the surroundings. When the energy on both sides of the silencing groove is transferred to the silencing groove, due to the strong viscous friction and internal resonance of the sound wave in the object, some energy is dissipated, weakening the sound wave intensity and suppressing the propagation of the sound wave, thereby achieving the purpose of reducing the overall vibration and noise. Compared with ordinary harmonic reducers, the harmonic reducer of this utility model has been tested and, under the same application conditions, the overall vibration is reduced by two-thirds, perfectly meeting the requirements of harmonic reducers to reduce vibration and noise.

[0033] The embodiments of this utility model reduce the vibration and noise of the harmonic reducer by changing the structure of the teeth of the rigid wheel 100 or the flexible wheel 200; at the same time, under the same vibration and noise requirements, the manufacturing difficulty of the harmonic reducer can also be relaxed.

[0034] In some embodiments, see Figure 1 The noise reduction groove includes a first noise reduction groove 102 disposed on the internal gear ring 101. The first noise reduction groove 102 divides the teeth of the internal gear ring 101 into multiple segments along the axial direction. In this embodiment, the first noise reduction groove 102 is disposed circumferentially on the internal gear ring 101 of the rigid wheel 100. The first noise reduction groove 102 is rectangular, wedge-shaped, or multi-layered, dividing the internal gear ring 101 of the rigid wheel 100 into upper and lower parts. The module, number of teeth, and other parameters of the teeth in the two parts are the same.

[0035] When the harmonic reducer is running, the vibration and noise generated by the meshing of the gears at the upper and lower parts of the first silencing groove 102 will spread to the surroundings. When the energy at the upper and lower parts is transferred to the first silencing groove 102, due to the strong viscous friction and internal resonance generated by the sound wave in the object, some energy is dissipated, the intensity of the sound wave is weakened, and the propagation of the sound wave is suppressed, thereby achieving the purpose of reducing the overall vibration and noise.

[0036] In some embodiments, the first silencing groove 102 extends continuously along the circumference of the internal gear ring 101. The first silencing groove 102 can be a complete circle or a spiral shape.

[0037] In some embodiments, the first silencing groove 102 is discontinuously distributed along the circumference of the internal gear ring 101. In this case, the first silencing groove 102 discontinuously distributed along the circumference can be located on the same circumference or can be offset along the axial direction and located on different circumferences.

[0038] In some embodiments, the internal gear ring 101 is provided with a plurality of first noise-reducing grooves 102, which are distributed at intervals along the axial direction.

[0039] In some embodiments, see Figure 3 The noise reduction groove includes a second noise reduction groove 202 disposed on the outer gear ring 201. The second noise reduction groove 202 divides the teeth of the outer gear ring 201 into multiple segments along the axial direction. In this embodiment, the second noise reduction groove 202 is disposed circumferentially on the outer gear ring 201. The second noise reduction groove 202 is rectangular, wedge-shaped, or multi-layered, dividing the inner gear ring 101 of the rigid wheel 100 into upper and lower parts. The module, number of teeth, and other parameters of the teeth in the two parts are the same.

[0040] When the harmonic reducer is running, the vibration and noise generated by the meshing of the gears at the upper and lower parts of the second silencing groove 202 will spread to the surroundings. When the energy at the upper and lower parts is transferred to the second silencing groove 202, due to the strong viscous friction and internal resonance generated by the sound wave in the object, some energy is dissipated, the intensity of the sound wave is weakened, and the propagation of the sound wave is suppressed, thereby achieving the purpose of reducing the overall vibration and noise.

[0041] In some embodiments, the second silencing groove 202 extends continuously along the circumference of the outer gear ring 201.

[0042] In some embodiments, the second silencing groove 202 is discontinuously distributed along the circumference of the outer gear ring 201.

[0043] In some embodiments, the external gear ring 201 is provided with a plurality of second noise-absorbing grooves 202, which are distributed at intervals along the axial direction.

[0044] It is understood that, in some embodiments, noise-reducing grooves may also be provided on both the internal gear ring 101 of the rigid wheel 100 and the external gear ring 201 of the flexible wheel 200.

[0045] It is understandable that harmonic reducers are classified according to the shape of the flexspline 200, in addition to... Figures 1-3In addition to the standard length top hat-shaped flexible wheel 200, there are also top hat-shaped short flexible wheel 200, cup-shaped standard flexible wheel 200, and cup-shaped short flexible wheel 200. This utility model is not limited to use in the top hat-shaped flexible wheel 200 structure, but can also be used in harmonic reducers with other three structures, such as... Figure 4 , Figure 5 For use in cup-shaped harmonic reducers.

[0046] An embodiment of this utility model also provides a robot, including the harmonic reducer in any of the above embodiments.

[0047] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0048] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A harmonic reducer characterized by, The device includes a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel has an internal gear ring, the flexible wheel has an external gear ring, the wave generator is disposed inside the flexible wheel, and the rigid wheel is disposed outside the flexible wheel. The internal gear ring meshes with the external gear ring, and at least one of the internal gear ring and the external gear ring has a circumferentially extending silencing groove. The silencing groove disconnects the teeth of at least one of the internal gear ring and the external gear ring along the axial direction of the harmonic reducer.

2. The harmonic reducer of claim 1, wherein, The noise reduction groove includes a first noise reduction groove disposed on the internal gear ring, the first noise reduction groove dividing the teeth of the internal gear ring into multiple segments along the axial direction.

3. The harmonic reducer of claim 2, wherein, The first silencing groove extends continuously along the circumference of the internal gear ring.

4. The harmonic reducer according to claim 2, characterized in that, The first silencing groove is discontinuously distributed along the circumference of the internal gear ring.

5. The harmonic reducer according to claim 2, characterized in that, The internal gear ring is provided with a plurality of first noise-absorbing grooves, which are distributed at intervals along the axial direction.

6. The harmonic reducer according to claim 1, characterized in that, The noise reduction groove includes a second noise reduction groove disposed on the outer gear ring, the second noise reduction groove dividing the teeth of the outer gear ring into multiple segments along the axial direction.

7. The harmonic reducer according to claim 6, characterized in that, The second silencing groove extends continuously along the circumference of the outer gear ring.

8. The harmonic reducer according to claim 6, characterized in that, The second silencing groove is discontinuously distributed along the circumference of the outer gear ring.

9. The harmonic reducer according to claim 6, characterized in that, The external gear ring is provided with a plurality of second noise-absorbing grooves, which are distributed at intervals along the axial direction.

10. A robot, characterized in that, The harmonic reducer includes any one of claims 1 to 9.

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