Wave generator, harmonic reducer and robot

Abstract

This invention provides a wave generator, a harmonic reducer, and a robot. The wave generator is used in the harmonic reducer, which includes a flexible wheel and a rigid wheel, with the rigid wheel meshing with the flexible wheel for transmission. The wave generator includes: a bearing located inside the flexible wheel; and a cam located inside the bearing, used to cause elastic deformation of the bearing and the flexible wheel. The material density of the cam is less than that of the bearing. The wave generator provided by this invention achieves a lightweight design for the cam itself, significantly reducing the cam's moment of inertia, thereby effectively reducing energy consumption at the motor input and lowering the motor's load rate. Furthermore, when the wave generator is applied to a high-cycle industrial robot, the lightweight design of the cam can also improve the robot's joint axis speed and motion cycle.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a wave generator, a harmonic reducer, and a robot. Background Technology

[0002] In related technologies, harmonic reducers include a wave generator, a flex wheel, and a rigid wheel. The wave generator typically consists of an elliptical cam and a bearing, with the cam mounted on the input shaft of the motor. Harmonic reducers transmit motion and power through the elastic deformation of the flex wheel, offering advantages such as high reduction ratio, high precision, high load-bearing capacity, and small size. However, the cams in these technologies have large mass and high moment of inertia. A large moment of inertia exacerbates the system's inertial load, thereby increasing motor energy consumption and affecting the start-stop response speed and dynamic adjustment accuracy of industrial robot joints. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] Therefore, the first aspect of this utility model provides a wave generator.

[0005] A second aspect of this utility model also provides a harmonic reducer.

[0006] A third aspect of this utility model also provides a robot.

[0007] In view of this, the first aspect of the present invention provides a wave generator for a harmonic reducer, the harmonic reducer including a flexible wheel and a rigid wheel, the rigid wheel and the flexible wheel meshing and driving each other, the wave generator including: a bearing, the bearing being located inside the flexible wheel; a cam, the cam being located inside the bearing, the cam being used to cause elastic deformation of the bearing and the flexible wheel; wherein, the material density of the cam is less than the material density of the bearing.

[0008] The wave generator provided by this utility model includes a bearing and a cam. The bearing is located inside the flex wheel, and the cam is located inside the bearing. The rotation of the cam causes the bearing and the flex wheel to produce periodic elastic deformation, thereby realizing the transmission and deceleration of the harmonic reducer through the meshing of the flex wheel and the rigid wheel. The material density of the cam in the wave generator is lower than that of the bearing, thus reducing the weight of the cam and achieving a lightweight design. This significantly reduces the rotational inertia of the cam, effectively reducing energy consumption at the motor input and lowering the motor load rate. Furthermore, when the wave generator is applied to high-cycle industrial robots, the lightweight design of the cam can also improve the joint axis speed and motion cycle of the robot.

[0009] In some embodiments, the cam may optionally include one structural member or at least two structural members; in the case where the cam includes at least two structural members, one structural member surrounds the other structural member.

[0010] In this embodiment, the cam of the wave generator can be a single structural component, meaning the cam is made from one type of structural component, eliminating the need for multiple structural components. This improves the overall integrity of the cam, ensuring reliable transmission between the cam and the flexspline, while also reducing manufacturing processes and costs. Furthermore, including a single structural component ensures uniform density across all positions, which is beneficial for controlling the cam's moment of inertia. In another embodiment, the cam includes at least two structural components, with one component surrounding another. This means the cam includes at least two structural components of different densities or materials. This design ensures lightweight construction while increasing overall rigidity. Furthermore, by selecting different types of structural components, the overall weight of the cam can be further reduced, thereby decreasing its moment of inertia, reducing energy consumption at the motor input, and lowering the motor's load rate. Additionally, when the wave generator is applied to high-cycle industrial robots, the lightweight design of the cam can improve the robot's joint axis speed and motion cycle.

[0011] In some embodiments, optionally, when the cam includes at least two structural members, the strength of the outer structural member is greater than the strength of the inner structural member among two adjacent structural members.

[0012] In this embodiment, when the cam includes at least two structural components, the strength of the outer structural component is greater than that of the inner structural component. This allows the high-strength outer structural component to directly bear the radial load and deformation stress generated by the flexspline meshing, significantly improving its resistance to deformation and wear resistance, thus meeting the strength and toughness requirements of the cam. The inner structural component uses lightweight materials to further reduce rotational inertia. The wave generator proposed in this application achieves synergistic optimization of lightweighting and structural strength. While ensuring transmission reliability, it effectively reduces the drive energy consumption of the motor, reduces the load rate, and ultimately improves the joint axis speed and motion cycle performance of high-cycle industrial robots.

[0013] In some embodiments, two adjacent structural members may be connected by any of the following methods: electroplating, bonding, welding, interference fit or spline connection; or one of the two adjacent structural members may be wound around and connected to the other structural member.

[0014] In this embodiment, when there are at least two structural components, there are various connection methods between adjacent structural components, such as electroplating, bonding, welding, interference fit, spline connection, or winding connection. These connection methods ensure the structural integrity and transmission accuracy of the cam. Among them, welding and spline connection can provide higher torque transmission capability, while interference fit can realize a compact design without additional parts.

[0015] In some embodiments, optionally, when the cam includes a structural member, the structural member is a metal structural member or a non-metal structural member; when the cam includes at least two structural members, the at least two structural members are a composite structure of at least one metal structural member and at least one non-metal structural member, a composite structure of at least two metal structural members, or a composite structure of at least two non-metal structural members.

[0016] In this embodiment, when the cam includes a single structural component, the structural component can be either a metal or a non-metallic component, meaning it can be made of either metallic or non-metallic materials. When the cam includes at least two structural components, these components can be a combination of metal and non-metallic materials, a combination of multiple metals, or a combination of multiple non-metallic materials. Metallic structural components offer better strength, which helps reduce the overall weight of the cam. Non-metallic structural components offer better hardness, which helps improve the overall strength and toughness of the cam. Furthermore, non-metallic structural components have the advantages of low density and light weight, effectively reducing the cam's moment of inertia.

[0017] In some embodiments, the metal structural component may optionally include: an aluminum alloy component, an aluminum-magnesium alloy component, or a titanium alloy component.

[0018] In this embodiment, the metal structural components include aluminum alloy components, aluminum-magnesium alloy components, or titanium alloy components. Aluminum alloy components, aluminum-magnesium alloy components, or titanium alloy components have the characteristics of low density and good toughness, which helps to reduce the overall weight of the cam and thus reduce the rotational inertia of the cam itself.

[0019] In some embodiments, the non-metallic structural component may optionally include: ceramic matrix composite component, polycrystalline cubic boron nitride composite component, polyetheretherketone (PEEK) based engineering plastic component, or carbon fiber structural component.

[0020] In this embodiment, ceramic matrix composite parts, polycrystalline cubic boron nitride composite parts, polyetheretherketone-based engineering plastic parts, or carbon fiber structural parts have the advantages of high strength, high toughness, low density, and low weight, which can effectively reduce the rotational inertia of the cam itself.

[0021] In some embodiments, optionally, when the cam includes a composite structure of at least one metal structural member and at least one non-metal structural member, the inner structural member is a metal structural member, the outer structural member is a non-metal structural member, and the hardness of the non-metal structural member is greater than the hardness of the metal structural member.

[0022] In this embodiment, when the cam includes at least one metal structural component and at least one non-metal structural component, the inner structural component is set as a lightweight metal structural component, and the outer structural component is set as a lightweight and relatively hard non-metal structural component, so that the cam has good strength and toughness. Furthermore, while satisfying strength and toughness requirements, the weight of the cam itself is reduced, thereby reducing the rotational inertia of the wave generator.

[0023] In some embodiments, the bearing may optionally comprise an alloy steel bearing.

[0024] In this embodiment, the bearing includes an alloy steel bearing, which gives the bearing high hardness and wear resistance to improve its fatigue resistance and long-term reliability, so that the wave generator can have a better working condition.

[0025] According to a second aspect of the present invention, a harmonic reducer is also provided, comprising: a flexible wheel; a rigid wheel, the rigid wheel meshing with the flexible wheel; and a wave generator as described in any of the first aspects, the wave generator being located inside the flexible wheel, and a cam being used to cause elastic deformation of the bearing and the flexible wheel.

[0026] The harmonic reducer provided in the second aspect of this utility model, since it includes the wave generator proposed in any of the above embodiments, has all the beneficial effects of the wave generator.

[0027] According to a third aspect of the present invention, a robot is also proposed, comprising: a wave generator as described in any of the first aspects; or a harmonic reducer as described in the second aspect.

[0028] The robot provided in the third aspect of this utility model, because it includes the wave generator or harmonic reducer proposed in any of the above embodiments, has all the beneficial effects of the wave generator or harmonic reducer.

[0029] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0030] 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: Figure 1 One of the structural schematic diagrams of a harmonic reducer according to an embodiment of the present invention is shown; Figure 2 One of the structural schematic diagrams of a wave generator according to an embodiment of the present invention is shown; Figure 3 One of the structural schematic diagrams of a cam according to an embodiment of the present invention is shown; Figure 4 The second schematic diagram shows the structure of a cam according to an embodiment of the present invention; Figure 5 The third schematic diagram shows the structure of a cam according to an embodiment of the present invention; Figure 6 A second schematic diagram of the structure of a wave generator according to an embodiment of the present invention is shown; Figure 7 The second schematic diagram shows the structure of a harmonic reducer according to an embodiment of the present invention; Figure 8 The third schematic diagram shows the structure of a harmonic reducer according to an embodiment of the present invention.

[0031] in, Figures 1 to 8 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1 wave generator, 10 bearings, 12 cams, 120 structural components, 122 metal structural components, 124 non-metal structural components, 2 flexible wheels, 3 rigid wheels. Detailed Implementation

[0032] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0034] The following reference Figures 1 to 8 This invention describes a wave generator 1, a harmonic reducer, and a robot according to some embodiments of the present invention.

[0035] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to one embodiment of the present invention, a wave generator 1 is proposed for a harmonic reducer. The harmonic reducer includes a flexible wheel 2 and a rigid wheel 3, which mesh with the flexible wheel 2 for transmission. The wave generator 1 includes: a bearing 10 located inside the flexible wheel 2; and a cam 12 located inside the bearing 10. The cam 12 is used to cause elastic deformation of the bearing 10 and the flexible wheel 2. The material density of the cam 12 is less than that of the bearing 10.

[0036] The wave generator 1 provided by this utility model includes a bearing 10 and a cam 12. The bearing 10 is located inside the flex wheel 2, and the cam 12 is located inside the bearing 10. The rotation of the cam 12 causes the bearing 10 and the flex wheel 2 to produce periodic elastic deformation, thereby realizing the transmission and deceleration of the harmonic reducer through the meshing transmission of the flex wheel 2 and the rigid wheel 3. The material density of the cam 12 of the wave generator 1 is lower than that of the bearing 10, which reduces the weight of the cam 12 and achieves a lightweight design. This significantly reduces the rotational inertia of the cam 12, thereby effectively reducing the energy consumption at the motor input and reducing the motor load rate. At the same time, when the wave generator 1 is applied to a high-cycle industrial robot, the lightweight design of the cam 12 can also improve the joint axis speed and motion cycle of the robot.

[0037] Optionally, bearing 10 is a flexible bearing.

[0038] In some embodiments, the cam 12 may optionally include one structural member 120 or at least two structural members 120; in the case where the cam 12 includes at least two structural members 120, one structural member 120 surrounds the other structural member 120.

[0039] In this embodiment, such as Figure 2 and Figure 6 As shown, the cam 12 of the wave generator 1 can be made from a single structural component 120, that is, the cam 12 is made from one type of structural component 120, eliminating the need for multiple structural components 120. This improves the overall integrity of the cam 12, ensuring the reliability of the transmission between the cam 12 and the flexure 2, while also reducing manufacturing processes and lowering the manufacturing cost of the cam 12. Furthermore, when the cam 12 includes a single structural component 120, the density at all positions of the cam 12 is made uniform, which is beneficial for controlling the rotational inertia of the cam 12. Figure 3 , Figure 4 and Figure 5As shown, in another embodiment, the cam 12 includes at least two structural members 120 (e.g., metal structural member 122 and non-metal structural member 124), and one structural member 120 surrounds the other structural member 120. That is, the cam 12 includes at least two structural members 120 with different densities or materials. While ensuring the lightweight design of the cam 12, the overall rigidity of the cam 12 can be improved. Furthermore, by selecting different types of structural members 120, the overall weight of the cam 12 can be further reduced, thereby reducing the rotational inertia of the cam 12, reducing the energy consumption at the motor input end, and reducing the load rate of the motor. At the same time, when the wave generator 1 is applied to a high-cycle industrial robot, the lightweight design of the cam 12 can also improve the joint axis speed and motion cycle of the robot.

[0040] Optionally, when the cam 12 includes a structural member 120, the cam 12 is a one-piece structure.

[0041] Optionally, when the cam 12 includes at least two structural members 120, the density of any structural member 120 is less than the density of the bearing 10.

[0042] Optionally, when the cam 12 includes at least two structural members 120, the at least two structural members 120 have different densities and / or different hardnesses.

[0043] Optionally, when the cam 12 includes at least two structural members 120, the at least two structural members 120 can be connected by a connecting structure or connected into an integral structure by some manufacturing processes.

[0044] In some embodiments, optionally, when the cam 12 includes at least two structural members 120, the strength of the outer structural member 120 is greater than the strength of the inner structural member 120 among two adjacent structural members 120.

[0045] In this embodiment, when the cam 12 includes at least two structural members 120, the strength of the outer structural member 120 is greater than that of the inner structural member 120. This allows the high-strength outer structural member 120 to directly bear the radial load and deformation stress generated by the meshing of the flexspline 2, significantly improving its resistance to deformation and wear resistance, thus meeting the strength and toughness requirements of the cam 12. The inner structural member 120 uses lightweight materials to further reduce its rotational inertia. The wave generator 1 proposed in this application achieves synergistic optimization of lightweighting and structural strength. While ensuring transmission reliability, it effectively reduces the drive energy consumption of the motor, reduces the load rate, and ultimately improves the joint axis speed and motion cycle performance of the high-cycle industrial robot.

[0046] In some embodiments, two adjacent structural members 120 may be connected by any of the following methods: electroplating, bonding, welding, interference fit or spline connection; or one of the two adjacent structural members 120 may be wound around and connected to the other structural member 120.

[0047] In this embodiment, when there are at least two structural components 120, there are various connection methods between adjacent structural components 120, such as electroplating, bonding, welding, interference fit, spline connection, or winding connection. These connection methods ensure the structural integrity and transmission accuracy of the cam 12. Among them, welding and spline connection can provide higher torque transmission capability, and interference fit can realize a compact design without additional parts.

[0048] Optionally, winding is a manufacturing process technology in which continuous flexible materials such as fibers, ribbons, strips or wires (e.g., a structural component 120) are wound onto a rotating mandrel or workpiece (e.g., another structural component 120) according to a predetermined pattern under tension control, and then formed into an integral, high-performance connection structure through subsequent curing or processing.

[0049] In some embodiments, optionally, when the cam 12 includes one structural member 120, the structural member 120 is a metal structural member 122 or a non-metal structural member 124; when the cam 12 includes at least two structural members 120, the at least two structural members 120 are a composite structure of at least one metal structural member 122 and at least one non-metal structural member 124, a composite structure of at least two metal structural members 122, or a composite structure of at least two non-metal structural members 124.

[0050] In this embodiment, when the cam 12 includes one structural member 120, the structural member 120 can be a metal structural member 122 or a non-metal structural member 124, that is, the structural member 120 can be made of metal or non-metal materials. When the cam 12 includes at least two structural members 120, the at least two structural members 120 can be configured as a composite of metal and non-metal, a composite of multiple metals, or a composite of multiple non-metals. Among them, the metal structural member 122 has better strength, which is beneficial to reducing the overall weight of the cam 12. The non-metal structural member 124 has better hardness, which is beneficial to improving the overall strength and toughness of the cam 12. At the same time, the non-metal structural member 124 also has the advantages of low density and low weight, which can effectively reduce the rotational inertia of the cam 12.

[0051] It should be noted that when the cam 12 includes at least two structural members 120, and the at least two structural members 120 are at least two kinds of metal structural members 122, the at least two metal structural members 122 are made of different materials. When the at least two structural members 120 are at least two kinds of non-metallic structural members 124, the at least two non-metallic structural members 124 are made of different materials.

[0052] In some embodiments, the metal structural member 122 may optionally include an aluminum alloy member, an aluminum-magnesium alloy member, or a titanium alloy member.

[0053] In this embodiment, the metal structural component 122 includes an aluminum alloy component, an aluminum-magnesium alloy component, or a titanium alloy component. The aluminum alloy component, aluminum-magnesium alloy component, or titanium alloy component has the characteristics of low density and good toughness, which is beneficial to reducing the overall weight of the cam 12 and thus reducing the rotational inertia of the cam 12 itself.

[0054] Optionally, when the cam 12 includes a structural member 120, and the structural member 120 includes a metal structural member 122, the structural member 120 is an aluminum alloy member, an aluminum-magnesium alloy member, or a titanium alloy member.

[0055] Optionally, when the cam 12 includes at least two structural members 120, and the at least two structural members 120 are at least two kinds of metal structural members 122, the at least two structural members 120 are different structural members 120 selected from aluminum alloy, aluminum-magnesium alloy, and titanium alloy. For example, one structural member 120 is an aluminum alloy and the other structural member 120 is an aluminum-magnesium alloy.

[0056] In some embodiments, the non-metallic structural component 124 may optionally include: a ceramic matrix composite component, a polycrystalline cubic boron nitride composite component, a polyetheretherketone (PEEK) engineering plastic component, or a carbon fiber structural component.

[0057] In this embodiment, ceramic matrix composite parts, polycrystalline cubic boron nitride composite parts, polyetheretherketone-based engineering plastic parts, or carbon fiber structural parts have the advantages of high strength, high toughness, low density, and low weight, which can effectively reduce the rotational inertia of the cam 12 itself.

[0058] Optionally, when the cam 12 includes a structural member 120, and the structural member 120 includes a non-metallic structural member 124, the structural member 120 is a ceramic matrix composite part, a polycrystalline cubic boron nitride composite part, a polyetheretherketone-based engineering plastic part, or a carbon fiber structural member.

[0059] Optionally, when the cam 12 includes at least two structural members 120, and the at least two structural members 120 are at least two kinds of non-metallic structural members 124, the at least two structural members 120 are different structural members 120 among ceramic matrix composite parts, polycrystalline cubic boron nitride composite parts, polyetheretherketone-based engineering plastic parts and carbon fiber structural parts.

[0060] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, optionally, when the cam 12 includes a composite structure of at least one metal structural member 122 and at least one non-metal structural member 124, the inner structural member 120 is the metal structural member 122, the outer structural member 120 is the non-metal structural member 124, and the hardness of the non-metal structural member 124 is greater than the hardness of the metal structural member 122.

[0061] In this embodiment, when the cam 12 includes at least one metal structural member 122 and at least one non-metal structural member 124, the inner structural member 120 is set as a lightweight metal structural member 122, and the outer structural member 120 is set as a lightweight and harder non-metal structural member 124, so that the cam 12 has better strength and toughness. Furthermore, while satisfying strength and toughness requirements, the weight of the cam 12 itself is reduced, thereby reducing the rotational inertia of the wave generator 1.

[0062] In some embodiments, the bearing 10 may optionally comprise an alloy steel bearing.

[0063] In this embodiment, the bearing 10 is an alloy steel bearing, which gives the bearing 10 high hardness and wear resistance, thereby improving the bearing 10's fatigue resistance and long-term reliability, so that the wave generator 1 can have a better working condition.

[0064] like Figure 1 , Figure 7 and Figure 8 As shown, according to one embodiment of the present invention, a harmonic reducer is also proposed, comprising: a flexible wheel 2; a rigid wheel 3, the rigid wheel 3 meshing with the flexible wheel 2; and a wave generator 1 as described in any of the above claims, the wave generator 1 being located inside the flexible wheel 2, and a cam 12 being used to cause the bearing 10 and the flexible wheel 2 to undergo elastic deformation.

[0065] The harmonic reducer provided in this embodiment of the utility model includes the wave generator 1 proposed in any of the above embodiments, and therefore has all the beneficial effects of the wave generator 1.

[0066] According to one embodiment of the present invention, a robot is also proposed, comprising: a wave generator 1 as described in any of the preceding claims; or a harmonic reducer as described in any of the preceding claims.

[0067] The robot provided in this embodiment of the utility model has all the beneficial effects of the wave generator 1 or the harmonic reducer proposed in any of the above embodiments.

[0068] In some embodiments, the wave generator 1 optionally includes a cam 12 made of lightweight aluminum alloy and a flexible bearing made of alloy steel. The elliptical cam 12 is made of lightweight aluminum alloy, primarily to significantly reduce its own mass and moment of inertia. The density of the alloy steel is approximately 7.85 g / cm³. 3 The density of aluminum alloy materials is typically 2.63 g / cm³. 3 ~2.85g / cm 3 While maintaining the same geometry and dimensions, the mass of the alloy steel cam 12 is 2.7 to 3.0 times that of the lightweight aluminum alloy cam 12. The moment of inertia (J) of the cam 12 is directly proportional to its weight (m) (J∝m), meaning that the moment of inertia of the alloy steel cam 12 of the same shape and size is 2.7 to 3.0 times that of the lightweight aluminum alloy cam 12. If lightweight aluminum alloy is used instead of alloy steel, the moment of inertia of the cam 12 can be reduced by 1.7 to 2 times, thereby effectively reducing the overall moment of inertia of the wave generator 1.

[0069] Optionally, the flexible bearing is made of high-strength steel to ensure its high hardness and wear resistance, and the inner ring of the bearing 10 is fixed on the cam 12. The selection of high-strength steel takes into account both the fatigue resistance and long-term reliability of the bearing 10, enabling it to maintain a good working condition for a long time.

[0070] The wave generator 1 proposed in this application uses a lightweight aluminum alloy cam 12, which reduces the overall rotational inertia of the wave generator 1 and effectively improves the robot's axis speed and cycle time. Under the same working conditions, it can reduce the energy consumption at the motor input end and reduce the motor load rate.

[0071] Alternatively, the cam 12 can also adopt other lightweight / weight-reducing structures to meet the strength and toughness requirements while reducing its own weight and the rotational inertia of the wave generator 1.

[0072] Optionally, the cam 12 of the wave generator 1 can be made of a combination of various lightweight composite alloys (such as aluminum alloy, magnesium-aluminum alloy, and titanium alloy) to meet the requirements of good mechanical properties and small rotational inertia. The combination of alloy materials includes, but is not limited to, various bonding methods such as electroplating, adhesive bonding, welding, interference fit, and spline.

[0073] Alternatively, the cam 12 of the wave generator 1 can also be made of other hard non-metallic materials, such as ceramic-based high-toughness materials (e.g., nanocomposite ceramics), polycrystalline cubic boron nitride composite materials (e.g., superhard composite materials), polyetheretherketone-based engineering plastics (e.g., high-performance engineering plastic PEEK), carbon fiber materials, etc., which have the advantages of high strength and high toughness, while the advantages of low density and light weight can effectively reduce its own rotational inertia.

[0074] Optionally, the cam 12 of the wave generator 1 can also be made of a combination of various hard non-metallic materials to achieve good mechanical properties and low rotational inertia. The combination methods between hard non-metallic materials include, but are not limited to, electroplating, adhesive bonding, welding, interference fit, spline, winding and other fastening methods.

[0075] Optionally, the cam 12 of the wave generator 1 can also adopt a combined structure of lightweight composite alloy (e.g., aluminum alloy, magnesium-aluminum alloy, titanium alloy) and hard non-metallic material, which can meet the requirements of strength and toughness while reducing its own weight and reducing the rotational inertia of the wave generator 1. Optionally, the center of the cam 12 is made of lightweight composite alloy (e.g., aluminum alloy, magnesium-aluminum alloy, titanium alloy), and the outer edge is made of hard non-metallic material. The two are fixed together using various fixing methods including but not limited to electroplating, adhesive bonding, welding, interference fit, spline, and winding.

[0076] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0077] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the 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.

[0078] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A wave generator for use in a harmonic reducer, the harmonic reducer comprising a flexible wheel and a rigid wheel, the rigid wheel meshing with the flexible wheel for transmission, characterized in that, The wave generator includes: A bearing, located inside the flexible wheel; A cam, located inside the bearing, is used to cause elastic deformation of the bearing and the flexspline; The material density of the cam is less than that of the bearing.

2. The wave generator according to claim 1, characterized in that, The cam includes one structural component or at least two structural components; In the case where the cam includes at least two of the structural members, one of the structural members surrounds the other structural member.

3. The wave generator according to claim 2, characterized in that, In the case where the cam includes at least two of the structural members, among two adjacent structural members, the strength of the outer structural member is greater than the strength of the inner structural member.

4. The wave generator according to claim 3, characterized in that, Two adjacent structural components are connected by any of the following methods: electroplating, bonding, welding, interference fit, or spline connection; or In two adjacent structural members, one structural member is wound around and connected to the other structural member.

5. The wave generator according to any one of claims 2 to 4, characterized in that, In the case where the cam includes a structural component, the structural component may be a metal structural component or a non-metal structural component; When the cam includes at least two of the structural components, the at least two structural components are a composite structure of at least one metal structural component and at least one non-metal structural component, a composite structure of at least two metal structural components, or a composite structure of at least two non-metal structural components.

6. The wave generator according to claim 5, characterized in that, The metal structural component includes: Aluminum alloy parts, aluminum-magnesium alloy parts, or titanium alloy parts.

7. The wave generator according to claim 5, characterized in that, The non-metallic structural component includes: Ceramic matrix composite parts, polycrystalline cubic boron nitride composite parts, polyetheretherketone-based engineering plastic parts, or carbon fiber structural parts.

8. The wave generator according to claim 5, characterized in that, In the case where the cam comprises a composite structure of at least one metal structural component and at least one non-metal structural component, the inner structural component is a metal structural component, the outer structural component is a non-metal structural component, and the hardness of the non-metal structural component is greater than the hardness of the metal structural component; and / or the bearing comprises an alloy steel bearing.

9. A harmonic reducer, characterized in that, include: Flexible wheel; A rigid wheel, which meshes with the flexible wheel for transmission; and The wave generator as described in any one of claims 1 to 8, wherein the wave generator is located inside the flexure, and the cam is used to cause elastic deformation of the bearing and the flexure.

10. A robot, characterized in that, include: The wave generator as described in any one of claims 1 to 8; or The harmonic reducer as described in claim 9.

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