一种谐波减速器关节

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By improving the structure of the harmonic reducer joint, using lightweight materials and an integrated motor control board, eliminating the separate motor shaft, and optimizing the bearing layout, the problem of low load-to-weight ratio in the harmonic reducer joint was solved, achieving a smaller size and a higher load-to-weight ratio.

CN224515846UActive Publication Date: 2026-07-17ZHUHAI KUWA TECHNOLOGY CO LTD +2

Patent Information

Authority / Receiving Office: CN · China
Patent Type: Utility models(China)
Current Assignee / Owner: ZHUHAI KUWA TECHNOLOGY CO LTD
Filing Date: 2025-08-15
Publication Date: 2026-07-17

AI Technical Summary

Technical Problem

Existing harmonic reducer joints have a low load-bearing ratio, large size and weight, and the stacked design of the motor control board and encoder control board increases the size of the joint.

Method used

By rotatably connecting the output shaft to the housing assembly, using a lightweight housing assembly and an integrated motor control board and encoder control board, the volume of the steel wheel is reduced, and the separate motor shaft is eliminated. A compact rotor assembly drives the camshaft, using crossed roller bearings and four-point contact bearings, optimizing the bearing layout.

Benefits of technology

The weight and volume of the harmonic reducer joint are effectively reduced, the load ratio is improved, and the axial dimension of the joint is reduced, achieving a compact design.

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Abstract

本实用新型提出了一种谐波减速器关节，包括壳体组件、驱动模块和减速模块，壳体组件的内腔中安装有驱动模块和减速模块，减速模块中的钢轮固定在壳体组件的内腔中；柔轮设于钢轮的内孔中，且柔轮与钢轮之间啮合装配；波发生器安装在柔轮的内孔中；输出轴与柔轮之间固定连接，且输出轴与壳体组件的内壁之间安装有第一轴承；驱动模块通过波发生器来带动柔轮转动。本方案中对谐波减速器关节的结构进行了改进，其中，输出轴与壳体组件通过第一轴承来转动连接，有效减小了钢轮的体积。本方案中的钢轮相比于现有技术而言具有体积小，质量小的优点。本方案能够降低谐波减速器关节的重量，能够提高谐波减速器关节载重比。

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Claims

1. A harmonic reducer joint, comprising a housing assembly (1), a drive module, and a reduction module, wherein the drive module and the reduction module are installed in the inner cavity of the housing assembly (1), characterized in that, The deceleration module includes: A steel wheel (21) is fixed in the inner cavity of the housing assembly (1); A flexible wheel (22) is disposed in the inner hole of the steel wheel (21), and the flexible wheel (22) and the steel wheel (21) are meshed together. A wave generator, which is installed in the inner hole of the flexible wheel (22); Output shaft (71), which is fixedly connected to the flexible wheel (22), and a first bearing (51) is installed between the output shaft (71) and the inner wall of the housing assembly (1). The drive module drives the flexible wheel (22) to rotate via a wave generator.

2. The harmonic reducer joint of claim 1, wherein, The housing assembly (1) is made of one of aluminum alloy, magnesium alloy and reinforced engineering plastic.

3. The harmonic reducer joint of claim 1, wherein, A drive board (3) is installed in the inner cavity of the housing assembly (1), and the drive board (3) integrates a motor control board and an encoder control board.

4. The harmonic reducer joint of claim 3, wherein, The drive board (3) is equipped with a motor end encoder chip (31) and an output end encoder chip (32).

5. The harmonic reducer joint of claim 1, wherein, The wave generator includes a camshaft (232) and a thin-walled bearing (231), the camshaft (232) being mounted in the inner bore of the flexible wheel (22) via the thin-walled bearing (231); The drive module is used to drive the camshaft (232) to rotate.

6. The harmonic reducer joint of claim 5, wherein, The driving module includes: Rotor assembly (82), said rotor assembly (82) being fixed to the outer peripheral surface of the camshaft (232); Stator assembly (81) is disposed around the outer periphery of rotor assembly (82) and fixed to housing assembly (1).

7. The harmonic reducer joint according to claim 5, characterized in that, The output shaft (71) has an output section (713), a housing support section (714), and a motor support section (715); wherein, The output section (713) is used to fix the output column (4); A first bearing (51) is installed between the housing support (714) and the inner wall of the housing assembly (1). The motor support section (715) is mounted in the inner hole of the camshaft (232) via a second bearing (52).

8. The harmonic reducer joint of claim 1, wherein, The inner hole of the flexible wheel (22) is provided with a flexible wheel pressure plate (72), and the output shaft (71), the flexible wheel (22) and the flexible wheel pressure plate (72) are fixedly connected.

9. The harmonic reducer joint of claim 1, wherein, The output shaft (71) is fixed to the inner ring of the first bearing (51) by a clamping member.

10. The harmonic reducer joint of claim 9, wherein, The clamping component is a threaded pressure plate (73) or a pressure plate.