Harmonic reducer, cross roller bearing, and robot

Abstract

This application provides a harmonic reducer, a crossed roller bearing, and a robot. The harmonic reducer includes a flexible wheel, a wave generator, a rigid wheel, and a crossed roller bearing. The crossed roller bearing includes an inner bearing ring and an outer bearing ring. The wave generator is fitted inside the flexible wheel, and the flexible wheel is fitted inside and meshes with the rigid wheel. The outer bearing ring is connected to the rigid wheel. A groove is formed at the end of the inner bearing ring facing the flexible wheel, and the flexible wheel is cylindrical with its end fitting into the groove. This design of the flexible wheel differs from traditional cup-shaped and cap-shaped flexible wheels. It eliminates the flanged structure at the bottom of the traditional flexible wheel, instead adopting a cylindrical structure. When installing the flexible wheel, it can be interlocked with the inner bearing ring, thus achieving a fixed installation of the flexible wheel and the inner bearing ring. This significantly improves processing efficiency and assembly convenience, while reducing production costs. It solves the problems of complex processing technology, cumbersome assembly, and high production costs of the flexible wheel in existing harmonic reducers.

Description

Technical Field

[0001] This application relates to the field of harmonic reducer technology, specifically to a harmonic reducer, a crossed roller bearing, and a robot. Background Technology

[0002] Harmonic reducers are widely used in industrial robots, servo motors, and automation equipment due to their high precision, high reduction ratio, and compact structure.

[0003] Harmonic reducers mainly consist of a rigid wheel, a flexible wheel, and a wave generator. They are gear transmission structures that transmit motion and power by having the flexible wheel undergo controllable elastic deformation through the wave generator and mesh with the rigid wheel. However, in related technologies, the flexible wheel in traditional harmonic reducers typically adopts a cup-shaped or cap-shaped structure, requiring a flanged design at the bottom. This leads to complex processing techniques, cumbersome assembly, and high production costs in the traditional form of flexible wheel. Utility Model Content

[0004] In view of this, this application provides a harmonic reducer, a crossed roller bearing, and a robot to solve the problems of complex flexural gear processing, cumbersome assembly, and high production costs in the prior art.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A harmonic reducer includes a flexible wheel, a wave generator, a rigid wheel, and a crossed roller bearing. The crossed roller bearing includes an inner bearing ring and an outer bearing ring. The wave generator is fitted inside the flexible wheel, and the flexible wheel is fitted inside the rigid wheel and meshes with the rigid wheel. The outer bearing ring is connected to the rigid wheel.

[0007] The bearing inner ring has a groove at one end facing the flexible wheel, and the flexible wheel is cylindrical with its end fitting into the groove.

[0008] Optionally, it may also include a support member located radially inside the inner ring of the bearing and having an interference fit with the inner ring of the bearing.

[0009] Optionally, the support member is a support ring.

[0010] Optionally, at least one end of the support ring has an inner chamfer on its radially inner side.

[0011] Optionally, in the radial direction of the bearing inner ring, the distance between the groove and the inner wall of the bearing inner ring is less than the distance between the groove and the outer wall of the bearing inner ring.

[0012] Optionally, the flexible wheel includes toothed segments, intermediate segments, and interlocking segments continuously distributed along the axial direction. The toothed segments mesh with the rigid wheel, the interlocking segments interlock with the groove, and the wall thickness of the interlocking segments is greater than the wall thickness of the intermediate segments.

[0013] Optionally, in the axial direction of the flexible wheel, the ratio of the groove depth to the length of the flexible wheel is 1 / 8 to 1 / 6.

[0014] Optionally, the groove depth in the axial direction of the bearing inner ring is d, and the groove width in the radial direction of the bearing inner ring is w, where d ≥ 2w.

[0015] A crossed roller bearing is provided for use in a harmonic reducer. The crossed roller bearing includes an inner bearing ring and an outer bearing ring. The outer bearing ring is used to connect with the rigid wheel of the harmonic reducer. One end of the inner bearing ring has a groove for engaging with the end of the straight cylindrical flexible wheel of the harmonic reducer.

[0016] A robot comprising any of the harmonic reducers described above.

[0017] The harmonic reducer provided in this application includes a flexure, a wave generator, a rigid wheel, and a crossed roller bearing. The crossed roller bearing includes an inner ring and an outer ring. The wave generator is fitted inside the flexure, which is fitted inside and meshes with the rigid wheel. The outer ring of the bearing is connected to the rigid wheel. A groove is formed at the end of the inner ring of the bearing facing the flexure, and the flexure is cylindrical with its end fitting into the groove. With this configuration, the design of the flexure in the harmonic reducer provided in this application differs from traditional cup-shaped and cap-shaped flexures. The traditional flanged structure at the bottom of the flexure is eliminated, and a cylindrical structure is adopted instead, meaning the bottom of the flexure is a straight cylindrical shape. The inner ring of the crossed roller bearing has a groove corresponding in shape to the cylindrical flexure. When installing the flexure, the flexure and the inner ring of the bearing can be interlocked, thus achieving a fixed installation of the flexure and the inner ring of the bearing. This cylindrical flexure design simplifies the manufacturing process, reduces processing time, improves material utilization, and lowers processing costs. The processing efficiency is significantly improved; moreover, by eliminating the traditional flange structure of the flexible wheel and achieving rapid assembly of the flexible wheel through a fitting method, the assembly steps and manual operation time are reduced, and the ease of assembly is improved; furthermore, the simplified processing and assembly process reduces equipment, labor and material costs, improves overall production efficiency, and lowers production costs; this application significantly improves processing efficiency and assembly convenience by simplifying the design of the flexible wheel and optimizing the assembly method, while reducing production costs, and solves the problems of complex processing technology, cumbersome assembly and high production costs of the flexible wheel in the prior art of harmonic reducers. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a partial cross-sectional view of a harmonic reducer provided in an embodiment of this application.

[0020] Figure 2 This is an isometric view of the flexible wheel provided in an embodiment of this application.

[0021] Figure 3 A cross-sectional view of a flexible wheel provided in an embodiment of this application.

[0022] exist Figures 1-3 middle:

[0023] 100. Flexible wheel; 200. Wave generator; 300. Rigid wheel; 400. Crossed roller bearing; 500. Support ring;

[0024] 110. Tooth segment; 120. Intermediate segment; 130. Engagement segment;

[0025] 210. Cam; 220. Flexible bearing;

[0026] 410. Inner ring of bearing; 420. Outer ring of bearing;

[0027] 4101, Groove. Detailed Implementation

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

[0029] In the production of harmonic reducers, the applicant found at least the following problems in the processing and assembly of the flexure: First, the processing is complex. The traditional flexure's flanged structure requires complex processing technology, which takes a long time and results in low material utilization. Second, the assembly is cumbersome. Additional steps are required to fix the flexure during the assembly process, which increases manual operation time and assembly difficulty. Third, the cost is high. The complex processing and assembly technology leads to high production costs, making it difficult to meet the growing market demand.

[0030] Based on the above situation, such as Figures 1-3As shown, this application provides a harmonic reducer, including a flexible wheel 100, a wave generator 200, a rigid wheel 300, and a crossed roller bearing 400. The crossed roller bearing 400 includes an inner bearing ring 410 and an outer bearing ring 420. The wave generator 200 is fitted inside the flexible wheel 100, and the flexible wheel 100 is fitted inside the rigid wheel 300 and meshes with the rigid wheel 300. The outer bearing ring 420 is connected to the rigid wheel 300, generally by fastening components. The inner bearing ring 410 has an annular groove 4101 at one end facing the flexible wheel 100. The flexible wheel 100 is cylindrical and its end is fitted into the groove 4101, or in other words, the flexible wheel 100 is interference-fitted and interlocked with the groove.

[0031] With this configuration, the design of the flexure 100 in the harmonic reducer provided in this application differs from the traditional cup-shaped and hat-shaped flexure 100. The traditional flanged structure at the bottom of the flexure 100 is eliminated, and a straight cylindrical structure is adopted instead. That is, the bottom of the flexure 100 is a straight cylindrical shape. The inner ring 410 of the crossed roller bearing 400 has a groove 4101 that corresponds in shape to the straight cylindrical flexure 100. When installing the flexure 100, it can be interlocked with the inner ring 410 of the bearing, thereby achieving a fixed installation of the flexure 100 and the inner ring 410 of the bearing. In this way, the straight cylindrical flexure 100 design simplifies the manufacturing process and reduces processing time. This invention improves material utilization, reduces processing costs, and significantly enhances processing efficiency. Furthermore, by eliminating the traditional flanged structure of the flexible wheel 100 and instead achieving rapid assembly through a snap-fit ​​method, assembly steps and manual operation time are reduced, improving assembly convenience. Moreover, the simplified processing and assembly process reduces equipment, labor, and material costs, improving overall production efficiency and lowering production costs. This application, by simplifying the design of the flexible wheel 100 and optimizing the assembly method, significantly improves processing efficiency and assembly convenience while reducing production costs, solving the problems of complex processing, cumbersome assembly, and high production costs associated with the flexible wheel 100 in existing harmonic reducers.

[0032] It should be noted that the crossed roller bearing 400 also includes rollers, a cage, and a skeleton oil seal located between the inner ring 410 and the outer ring 420. Since this part is a conventional design in the prior art, it will not be described in detail here. The wave generator 200 includes an elliptical cam 210 and a flexible bearing 220, with the flexible bearing 220 fitted over the cam 210. Since this part is a conventional design in the prior art, it will not be described in detail here.

[0033] In some preferred embodiments, the harmonic reducer further includes a support member located radially inside the bearing inner ring 410 and interference-fitted with the bearing inner ring 410 to tighten the groove 4101.

[0034] With this configuration, by adding a support structure, the tensioning effect of the support on the inner side of the bearing inner ring 410 can tighten the groove 4101, thereby strengthening the fixation of the flexible wheel 100 and enhancing the reliability of the flexible wheel 100 assembly.

[0035] Furthermore, in some optional embodiments, the support member is a support ring 500, which is located radially inside the bearing inner ring 410 and is interference-fitted with the bearing inner ring 410 to tighten the groove 4101.

[0036] This design, with the support ring 500 being a hollow ring structure, helps save material costs and also contributes to the lightweighting of the harmonic reducer.

[0037] Of course, in addition to the above methods, it is also feasible to have a flat, solid columnar structure as the support.

[0038] In some other preferred embodiments, at least one end of the support ring 500 has an inner chamfer on its radially inner side at both ends in the axial direction. Figure 1 The example shows that both ends of the support ring 500 have inner chamfers.

[0039] With this configuration, the support ring 500, as a ring-shaped component, often bears circumferential tensile and compressive or thermal loads, and the stress concentration coefficient at the sharp corners is high. However, the above problems can be significantly reduced by setting the inner chamfer, preventing fatigue cracks and quenching cracks, and improving the assembly reliability of the support ring 500 in the harmonic reducer.

[0040] In some other preferred embodiments, the distance between the groove 4101 and the inner wall of the bearing inner ring 410 in the radial direction is less than the distance between the groove 4101 and the outer wall of the bearing inner ring 410. That is, the groove 4101 is positioned closer to the inner wall of the bearing inner ring 410 than the inner wall. Through testing and verification, this design has been shown to make the tensioning effect of the support ring 500 more pronounced.

[0041] In some specific embodiments, the flexible wheel 100 includes toothed segments 110, intermediate segments 120, and interlocking segments 130 continuously distributed along the axial direction. The toothed segments 110 mesh with the rigid wheel 300, and the interlocking segments 130 engage with the grooves 4101. The wall thickness of the interlocking segments 130 is greater than the wall thickness of the intermediate segments 120. This configuration, that is, the portion of the flexible wheel 100 used for engaging with the grooves 4101 of the bearing inner ring 410, is thickened, which facilitates a more stable and reliable engagement.

[0042] Furthermore, in some other preferred embodiments, the intermediate segment 120 is transitionally connected to the toothed segment 110 and the interlocking segment 130. Figures 1-3The example shown is a curved transition connection. With this configuration, the transition connection reduces stress and strengthens the structure of the flexible wheel 100; the transition connection can be achieved through local material reduction or by shaping.

[0043] In some other specific embodiments, the ratio of the groove depth of the groove 4101 to the length of the flexible wheel 100 along the axial direction is 1 / 8 to 1 / 6, including both end points. That is, the ratio of the length of the portion of the flexible wheel 100 that engages with the groove 4101 to the total length of the flexible wheel 100.

[0044] Through testing and verification, it was found that when the ratio of the groove depth of the groove 4101 to the length of the flexible wheel 100 is controlled within the above range, it ensures that the flexible wheel 100 can form a stable and reliable connection with the inner ring 410 of the bearing. At the same time, it will not cause the inner ring 410 of the bearing to be excessively reduced in material due to the opening of the groove 4101, thus sacrificing some structural strength. This design takes into account both aspects of the above-mentioned design considerations.

[0045] In some other specific embodiments, the groove depth of the groove 4101 in the axial direction of the bearing inner ring 410 is d, and the groove width of the groove 4101 in the radial direction of the bearing inner ring 410 is w, where d ≥ 2w. Through testing and verification, it has been found that when the groove depth and groove width of the groove 4101 conform to the above design relationship, the groove 4101 exhibits a narrow and deep shape. Thus, when the groove 4101 is completely filled by the interlocking section 130 of the flexible wheel 100, the flexible wheel 100 has a longer contact area with the bearing inner ring 410 in the axial direction, which is beneficial to improving the reliability of the interlocking.

[0046] Based on the aforementioned harmonic reducer, this application embodiment also provides a crossed roller bearing 400, which is suitable for harmonic reducers. The crossed roller bearing 400 includes an inner bearing ring 410 and an outer bearing ring 420. The outer bearing ring 420 is used to connect with the rigid wheel 300 of the harmonic reducer. One end of the inner bearing ring 410 has a groove 4101, which is used to engage with the end of the straight cylindrical flexible wheel 100 of the harmonic reducer. With this configuration, the crossed roller bearing 400 provided in this application can be adapted to the installation of the straight cylindrical flexible wheel 100. When installing the flexible wheel 100, the flexible wheel 100 and the inner bearing ring 410 can be mutually engaged, thereby achieving fixed installation of the flexible wheel 100 and the inner bearing ring 410. This solves the problems of complex processing technology, cumbersome assembly, and high production cost of the flexible wheel 100 in the prior art of harmonic reducers.

[0047] Based on the aforementioned harmonic reducer, this application also provides a robot that includes the aforementioned harmonic reducer. Since the robot has the aforementioned harmonic reducer, the beneficial effects of the harmonic reducer on the robot are described above and will not be repeated here.

[0048] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0049] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0050] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0051] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0052] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0053] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A harmonic reducer, characterized in that, The device includes a flexible wheel (100), a wave generator (200), a rigid wheel (300), and a crossed roller bearing (400). The crossed roller bearing (400) includes an inner bearing ring (410) and an outer bearing ring (420). The wave generator (200) is fitted inside the flexible wheel (100). The flexible wheel (100) is fitted inside the rigid wheel (300) and meshes with the rigid wheel (300). The outer bearing ring (420) is connected to the rigid wheel (300). The bearing inner ring (410) has a groove (4101) at one end facing the flexible wheel (100), and the flexible wheel (100) is cylindrical and its end is engaged with the groove (4101).

2. The harmonic reducer according to claim 1, characterized in that, It also includes a support member located radially inside the bearing inner ring (410) and having an interference fit with the bearing inner ring (410).

3. The harmonic reducer according to claim 2, characterized in that, The support component is a support ring (500).

4. The harmonic reducer according to claim 3, characterized in that, The support ring (500) has an inner chamfer on the radially inner side of at least one end.

5. The harmonic reducer according to claim 2, characterized in that, In the radial direction of the bearing inner ring (410), the distance between the groove (4101) and the inner wall of the bearing inner ring (410) is less than the distance between the groove (4101) and the outer wall of the bearing inner ring (410).

6. The harmonic reducer according to claim 1, characterized in that, The flexible wheel (100) includes a toothed segment (110), an intermediate segment (120), and an interlocking segment (130) continuously distributed along the axial direction. The toothed segment (110) meshes with the rigid wheel (300), and the interlocking segment (130) is interlocked with the groove (4101). The wall thickness of the interlocking segment (130) is greater than the wall thickness of the intermediate segment (120).

7. The harmonic reducer according to claim 1, characterized in that, In the axial direction of the flexible wheel (100), the ratio of the groove depth of the groove (4101) to the length of the flexible wheel (100) is 1 / 8 to 1 / 6.

8. The harmonic reducer according to claim 1, characterized in that, The groove (4101) has a groove depth of d in the axial direction of the bearing inner ring (410) and a groove width of w in the radial direction of the bearing inner ring (410), where d ≥ 2w.

9. A crossed roller bearing, characterized in that, Suitable for harmonic reducers, the crossed roller bearing (400) includes an inner bearing ring (410) and an outer bearing ring (420). The outer bearing ring (420) is used to connect with the rigid wheel (300) of the harmonic reducer. One end of the inner bearing ring (410) is provided with a groove (4101), which is used to engage with the end of the straight cylindrical flexible wheel (100) of the harmonic reducer.

10. A robot, characterized in that, Including the harmonic reducer as described in any one of claims 1-8.

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