Wave generator, harmonic reducer and robot

Abstract

The utility model discloses a wave generator, harmonic reducer and robot relates to speed reducer technical field. Wave generator includes flexible bearing, cam and transmission assembly, is set up cam and is embedded in the inner hole of flexible bearing, when the input shaft of motor can make flexible bearing produce periodic deformation when driving cam rotation. When the input shaft of motor and the sleeve of transmission assembly are connected, because the sleeve and the first center hole clearance fit of cam, therefore when the axis of input shaft and cam is eccentric, the sliding portion can be guided sleeve along the radial movement of first center hole and realize fine adjustment through the guidance of first sliding block and first sliding slot, make the axis of input shaft and the axis of cam coincide as far as possible, can reduce the requirement to machining accuracy and assembly accuracy, and then reduce production cost.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a wave generator, a harmonic speed reducer, and a robot. Background Technology

[0002] The wave generator of the harmonic reducer is rigidly connected to the input shaft of the motor. This connection means that machining and assembly errors of related parts directly affect the accuracy of the wave generator. To ensure the concentricity of the input shaft and the cam, high machining and assembly precision are required for the wave generator, leading to increased production costs. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a wave generator that can adaptively adjust the concentricity of the input shaft and the cam, while reducing wear between components, lowering the requirements for machining accuracy and assembly accuracy, and thus reducing production costs.

[0004] This invention also proposes a harmonic reducer and a robot having the aforementioned wave generator.

[0005] The wave generator according to a first aspect of the present invention includes: a flexible bearing; A cam is fitted into the inner hole of the flexible bearing, and the cam has a first central hole; A transmission assembly includes a sleeve, a sliding part, and a first protrusion. The sleeve is used to connect with the input shaft of a motor. The sleeve passes through the first central hole and is clearance-fitted with the first central hole. The sliding part is sleeved on the sleeve and located at one end of the cam. The first protrusion abuts against the end face of the cam or the sliding part to form a gap between the sliding part and the cam. The cam has one of a first groove or a first slider on one end face along the axial direction. The first groove extends radially along the first central hole. The sliding part has the other of the first groove or the first slider. The first slider is slidably disposed in the first groove. The sleeve is configured to move radially along the first central hole under the guidance of the first slider.

[0006] The wave generator according to the embodiment of this utility model has at least the following beneficial effects: By setting a cam embedded in the inner hole of the flexible bearing, the flexible bearing can undergo periodic deformation when the input shaft of the motor drives the cam to rotate. When the input shaft of the motor is connected to the sleeve of the transmission assembly and drives the sleeve to rotate, the initial axis deviation between the input shaft and the cam will cause a radial offset force during transmission due to the clearance fit between the first center hole of the sleeve and the cam. At this time, the first slider of the sliding part slides along the first groove on the end face of the cam, forcing the sleeve to move radially to the equilibrium position. This dynamic adjustment process continuously compensates for assembly errors and operational deformation, making the axes of the input shaft and the cam tend to coincide. At the same time, the presence of the first protrusion can reduce the contact area between the sliding part and the cam, and create a gap between the sliding part and the cam, which is conducive to the entry of lubricating oil and improves the lubrication effect, further reducing the wear between the sliding part and the cam. Since the concentricity can be automatically adjusted, the requirements for the machining accuracy and assembly accuracy of the wave generator can be reduced, thereby reducing production costs.

[0007] According to some embodiments of the present invention, the cam is provided with two first sliding grooves, which are located on opposite sides of the first central hole in the radial direction. The sliding part is provided with a second central hole, and the sliding part is sleeved on the sleeve through the second central hole. The sliding part is provided with two first sliders on the side facing the cam, which are arranged radially at intervals along the second central hole. The two first sliders are respectively fitted with the two first sliding grooves with a clearance.

[0008] According to some embodiments of the present invention, a plurality of first protrusions are provided, each located at one end of the sliding portion facing the cam. The plurality of first protrusions are spaced apart around the second central hole and abut against the end face of the cam.

[0009] According to some embodiments of the present invention, the transmission assembly further includes a hub, the hub including an annular portion and the sleeve, the annular portion being fixedly connected to one end of the sleeve and extending in a direction away from the central axis of the sleeve, one end of the annular portion along the cam axis abutting against the sliding portion, and a retaining spring being provided at one end of the sleeve that protrudes from the first center, the retaining spring being engaged in an annular groove on the outer side wall of the sleeve, the retaining spring being used to limit the axial displacement of the hub and the sliding portion.

[0010] According to some embodiments of the present invention, the sliding part is provided with one of a second slider or a second groove at one end facing the annular part, the annular part is provided with the other of the second slider or the second groove, the second groove extends radially along the first central hole, and the extension direction of the second groove is perpendicular to the extension direction of the first groove, the second slider is disposed in the second groove, and the sleeve is configured to be able to move radially along the first central hole under the guidance of the second slider.

[0011] According to some embodiments of the present invention, the sliding part is provided with two second sliders at one end facing the annular part, the two second sliders are located on opposite sides of the second central hole in the radial direction, and the annular part is provided with two second sliding grooves, the two second sliding grooves respectively engaging with the two second sliders with clearance.

[0012] According to some embodiments of the present invention, the transmission assembly further includes a support ring, which is sleeved on the sleeve and located between the snap ring and the cam.

[0013] According to some embodiments of the present invention, the transmission assembly further includes a gap plate, which is sleeved on the sleeve and abuts against the support ring and the cam.

[0014] According to some embodiments of the present invention, the sliding part is provided with a plurality of second protrusions at one end facing the annular part, the plurality of second protrusions are spaced around the second central hole and respectively abut against the end face of the annular part, so that a gap is formed between the sliding part and the annular part.

[0015] According to some embodiments of this utility model, the sleeve and the second central hole are clearance-fitted, and the gaps formed between the annular portion and the sliding portion, the gaps formed between the sleeve and the second central hole, the gaps formed between the sliding portion and the cam, and the gaps formed between the sliding portion and the flexible bearing are sequentially connected to form an oil passage for the lubricating medium to pass through.

[0016] According to some embodiments of the present invention, the maximum width of the second groove along the circumferential direction of the annular portion is T4, and the maximum width of the second slider along the circumferential direction of the sliding portion is T2, satisfying: 0.010≤T4-T2≤0.032.

[0017] According to some embodiments of the present invention, the maximum width of the first slide groove along the circumference of the cam is T3, and the maximum width of the first slider along the circumference of the sliding part is T1, satisfying: 0.010≤T3-T1≤0.032.

[0018] The harmonic reducer according to a second aspect of the present invention includes the wave generator described in the above embodiment.

[0019] The harmonic reducer according to the embodiment of this utility model has at least the following beneficial effects: By employing the wave generator of the first aspect embodiment, the wave generator, through the setting of a cam embedded in the inner hole of a flexible bearing, causes the flexible bearing to undergo periodic deformation when the input shaft of the motor drives the cam to rotate. When the input shaft of the motor is connected to the sleeve of the transmission assembly and drives the sleeve to rotate, due to the clearance fit between the first center hole of the sleeve and the cam, the initial axis deviation between the input shaft and the cam will cause a radial offset force during transmission. At this time, the first slider of the sliding part slides along the first groove on the end face of the cam, forcing the sleeve to move radially to the equilibrium position. This dynamic adjustment process continuously compensates for assembly errors and operational deformation, making the axis of the input shaft and the cam tend to coincide. At the same time, the presence of the first protrusion can reduce the contact area between the sliding part and the cam, and create a gap between the sliding part and the cam, which is conducive to the entry of lubricating oil, improves the lubrication effect, and further reduces wear. Since the concentricity can be automatically adjusted, the requirements for the machining accuracy and assembly accuracy of the wave generator can be reduced, thereby reducing production costs.

[0020] The robot according to a third aspect of the present invention includes the harmonic reducer described in the above embodiments.

[0021] The robot according to the embodiments of this utility model has at least the following beneficial effects: By employing the harmonic reducer of the second aspect embodiment, the wave generator of the harmonic reducer has a cam embedded in the inner hole of the flexible bearing. When the input shaft of the motor drives the cam to rotate, the flexible bearing can undergo periodic deformation. When the input shaft of the motor is connected to the sleeve of the transmission assembly and drives the sleeve to rotate, due to the clearance fit between the first center hole of the sleeve and the cam, the initial axis deviation between the input shaft and the cam will cause a radial offset force during transmission. At this time, the first slider of the sliding part slides along the first groove on the end face of the cam, forcing the sleeve to move radially to the equilibrium position. This dynamic adjustment process continuously compensates for assembly errors and operational deformation, making the axis of the input shaft and the cam tend to coincide. At the same time, the presence of the first protrusion can reduce the contact area between the sliding part and the cam, and create a gap between the sliding part and the cam, which is conducive to the entry of lubricating oil, improves the lubrication effect, and further reduces wear. Since the concentricity can be automatically adjusted, the requirements for the machining accuracy and assembly accuracy of the wave generator can be reduced, thereby reducing production costs.

[0022] 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

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a wave generator according to an embodiment of the present invention; Figure 2 This is an exploded view of a wave generator according to an embodiment of this utility model; Figure 3 This is an exploded view of the wave generator according to another embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of the sliding part facing the cam end in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a cam according to an embodiment of the present invention; Figure 6 This is a front view of a wave generator according to an embodiment of the present invention; Figure 7 yes Figure 6 Sectional view at point AA; Figure 8 yes Figure 6 Sectional view at point BB; Figure 9 This is a front view of a cam according to an embodiment of the present invention; Figure 10 This is a front view of the sliding part facing the cam end of one embodiment of the present invention; Figure 11 This is a front view of the annular portion of one embodiment of the present invention.

[0024] Figure 12 This is a front view of the sliding part facing the annular part of one embodiment of the present invention.

[0025] Figure label: Wave generator 1000; Flexible bearing 100; Cam 200; First center hole 210; First slide groove 220; Transmission assembly 300; hub 310; sleeve 311; annular portion 312; second slide groove 313; annular groove 314; connecting hole 315; sliding portion 320; second center hole 321; first slider 322; second slider 323; first protrusion 324; second protrusion 325; snap ring 330; support ring 340; gap plate 350; oil passage 360. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0027] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, 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 implicitly indicating the order of the indicated technical features.

[0029] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0030] In related technologies, the wave generator of a harmonic reducer is rigidly connected to the motor input shaft. This structure means that machining and assembly errors directly affect the operating accuracy of the wave generator. To ensure the concentricity of the input shaft and the cam, high-precision machining and assembly of each component of the wave generator are required, significantly increasing production costs.

[0031] To solve the above problems, refer to Figure 1 , Figure 2 and Figure 3 As shown, a wave generator 1000 according to an embodiment of the present invention is used in a harmonic reducer. The wave generator 1000 of this embodiment includes a flexible bearing 100, a cam 200, and a transmission assembly 300. The cam 200 is embedded in the inner hole of the flexible bearing 100 and has a first central hole 210. The transmission assembly 300 includes a sleeve 311 and a sliding part 320. The sleeve 311 is used to connect to the input shaft of a motor, and the sleeve 311 passes through the first central hole 210 and is clearance-fitted with the first central hole 210.

[0032] Reference Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the cam 200 has one of a first groove 220 or a first slider 322 on one end face along the axial direction. The first groove 220 extends radially along the first central hole 210. The sliding part 320 has the other of the first groove 220 or the first slider 322. The first slider 322 is slidably disposed in the first groove 220. The sleeve 311 is configured to move radially along the first central hole 210 under the guidance of the first slider 322. For example, the sleeve 311 and the sliding part 320 are directly fixedly connected so that the sleeve 311 can be moved by the sliding part 320. Of course, the sleeve 311 can also be linked with the sliding part 320 in other ways, which will be described in subsequent embodiments.

[0033] It should be noted that, in Figure 3 and Figure 5 In the scheme shown, the first slide groove 220 is provided on the cam 200, and the first slider 322 is provided on the sliding part 320. For ease of explanation, this embodiment will be used for explanation in the following sections.

[0034] The flexible bearing 100 refers to a rolling bearing capable of withstanding radial deformation, which can be a thin-walled deep groove ball bearing. Its outer ring can elastically deform with the cam 200 to adapt to load changes. The cam 200 is a rotating part with an elliptical cross-section. The first central hole 210 of the cam 200 forms a clearance fit with the sleeve 311 to reserve adjustment space. The sleeve 311 is a tubular component connecting the motor input shaft. Its outer diameter is slightly smaller than the inner diameter of the first central hole 210 to form a clearance fit. The sliding part 320 is a connecting part with a guide structure. It forms a sliding pair with the sliding groove on the end face of the cam 200 to transmit adjustment force. When the wave generator 1000 is working, it can be completely immersed in lubricating oil or grease to ensure that all components are effectively lubricated. The first sliding groove 220 is a straight guide groove opened radially, and its length direction is consistent with the radial movement path of the sleeve 311. The first slider 322 refers to the protruding structure embedded in the groove. Its sidewall and the inner wall of the groove maintain a clearance fit to reserve adjustment space, while also reducing wear and facilitating the entry of lubricating oil for lubrication.

[0035] For example, when the motor input shaft drives the sleeve 311 to rotate, the initial axis deviation between the input shaft and the cam 200 due to the gap between the sleeve 311 and the inner hole of the cam 200 will cause a radial offset force during transmission. At this time, the first slider 322 of the sliding part 320 slides along the first groove 220 on the end face of the cam 200, forcing the sleeve 311 to move radially to the equilibrium position. This dynamic adjustment process continuously compensates for assembly errors and running deformation, making the axis of the input shaft and the cam 200 tend to coincide. The lubricating oil film formed by the clearance fit between the first slider 322 and the first groove 220 can reduce the wear of the contact surface between the slider and the groove, while allowing a small amount of particulate matter to be discharged to avoid jamming.

[0036] This embodiment enables the transmission assembly 300 to have self-adjusting capability by setting a clearance-fit sleeve 311 and a sliding groove guide structure. This structural change transforms the assembly error, which originally required precise control, into a dynamically compensable displacement, fundamentally reducing the dependence on the machining accuracy of parts and effectively solving the problem of decreased transmission accuracy caused by the deviation between the input shaft and the cam 200 axis. Automatic radial position correction is achieved through the guiding action of the slider and the sliding groove, significantly reducing the sensitivity to part machining errors and assembly accuracy, lowering the requirements for machining accuracy, and thus reducing manufacturing costs.

[0037] Reference Figure 4 and Figure 5 As shown in the embodiment of this utility model, the cam 200 has two first sliding grooves 220 on one end face along the axial direction. The two first sliding grooves 220 are located on opposite sides of the first central hole 210 along the radial direction. The sliding part 320 has a second central hole 321. The sliding part 320 is sleeved on the sleeve 311 through the second central hole 321. The sleeve 311 and the second central hole 321 can be clearance-fitted, so that there can be relative movement between the sleeve 311 and the second central hole 321 in the radial direction. The sliding part 320 has two first sliders 322 on the side facing the cam 200. The two first sliders 322 are arranged radially spaced along the second central hole 321. The two first sliders 322 are clearance-fitted with the two first sliding grooves 220 respectively. The second central hole 321 is a through hole for the sliding part 320 to fit with the sleeve 311. Its inner diameter is slightly larger than the outer diameter of the sleeve 311 to form a clearance fit.

[0038] For example, when there is a deviation between the input shaft and the axis of the cam 200, the sleeve 311 will experience radial displacement within the clearance fit range. At this time, the two first sliders 322 slide within their respective first grooves 220. Through the symmetrically distributed groove and slider structure, the radial movement of the sleeve 311 is constrained to two orthogonal directions within the plane. The sliding part 320, through the clearance fit with the sleeve 311 via the second central hole 321, allows for a small displacement relative to the sleeve 311 when the input shaft drives the sleeve 311 to rotate. The symmetrical arrangement of the two grooves and sliders forms a bidirectional guiding structure, balancing the forces on both sides during adjustment and avoiding jamming caused by unilateral force.

[0039] This embodiment employs a symmetrically distributed double-slider and double-slider structure to ensure adjustment accuracy while utilizing a clearance fit to create a self-adjusting mechanism. Compared to a single-slider structure, the bidirectional symmetrical guide design effectively distributes the load, preventing increased wear caused by localized stress concentration. This embodiment achieves adaptive adjustment of the deviation between the input shaft and the cam 200 axis, reducing reliance on the machining and assembly accuracy of the parts. The symmetrically distributed slider and slider structure improves the smoothness and reliability of the adjustment process, while the clearance fit design effectively reduces frictional loss on the contact surfaces and extends the service life of critical moving parts, ensuring fine-tuning functionality.

[0040] Reference Figure 4 and Figure 7 As shown in the embodiment of this utility model, the transmission assembly 300 further includes a first protrusion 324. The first protrusion 324 is disposed between the sliding part 320 and the cam 200. The first protrusion 324 can be disposed on the end face of the sliding part 320 and abut against the end face of the cam 200. Alternatively, it can be disposed on the end face of the cam 200 and abut against the end face of the sliding part 320, avoiding direct contact between the end faces of the sliding part 320 and the cam 200, thereby reducing the contact area and reducing wear. At the same time, a gap is formed between the sliding part 320 and the cam 200, allowing lubricating oil to enter and exit, further improving the lubrication effect. For example, the sliding part 320 has multiple first protrusions 324 at one end facing the cam 200. The first protrusions 324 and the cam 200 are integrally formed. The multiple first protrusions 324 are spaced around the second central hole 321 and abut against the end face of the cam 200 respectively.

[0041] The first protrusion 324 refers to a partial protrusion structure provided on the sliding part 320 facing the end face of the cam 200. It can be a cylindrical or prismatic boss, which provides support to the end face of the cam 200 through point contact or line contact, reducing the contact area. The clearance refers to the space between the sliding part 320 and the end face of the cam 200 that is not occupied by the first protrusion 324. It can be formed by controlling the height difference of the first protrusion 324, allowing lubricating oil to enter the contact area and form a flow channel.

[0042] For example, when the sliding part 320 contacts the end face of the cam 200, multiple first protrusions 324 are spaced apart around the second central hole 321, forming multiple discrete support points. These support points bear the axial load while preventing the sliding part 320 from directly contacting the end face of the cam 200 over a large area. As a result, the frictional heat and wear generated in the contact area are dispersed to multiple local areas, while the gap provides storage and flow space for lubricating oil, allowing the lubricating medium to cover the friction surface and carry away wear particles.

[0043] This embodiment replaces the continuous contact surface with discrete protrusions, which reduces friction loss and enhances the penetration ability of the lubricating medium by utilizing the gap structure, thereby improving lubrication efficiency. It effectively reduces the frictional contact area between the sliding part 320 and the end face of the cam 200, and reduces the wear rate during operation.

[0044] Reference Figure 2 , Figure 3 and Figure 7 As shown in the embodiment of this utility model, the transmission assembly 300 further includes a hub 310, which includes an annular portion 312 and a sleeve 311. The annular portion 312 is fixedly connected to one end of the sleeve 311 and extends in a direction away from the central axis of the sleeve 311. One end of the annular portion 312 along the axial direction of the cam 200 abuts against the sliding portion 320. The annular portion 312 is provided with a connecting hole 315 extending axially, through which fasteners can be inserted and fixedly connected to the input shaft. One end of the sleeve 311 that protrudes from the first central hole 210 is provided with a retaining spring 330, which engages in the annular groove 314 on the outer wall of the sleeve 311. The retaining spring 330 is used to limit the axial displacement of the hub 310 and the sliding portion 320.

[0045] The hub 310 refers to the connecting component consisting of an annular portion 312 and a sleeve 311. It can be a one-piece molded or separately assembled metal part. The annular portion 312 is used to transmit torque and limit the position of the sliding portion 320. The annular portion 312 refers to the radially extending structure at the end of the sleeve 311, which can be in the form of a flange or a disc. The annular portion 312 limits the axial movement of the sliding portion 320 by abutting against it. The retaining ring 330 refers to an elastic limiting component, which can be an open spring coil or a C-shaped retaining ring. The retaining ring 330 achieves axial fixation by embedding into the annular groove 314 on the outer wall of the sleeve 311.

[0046] For example, the annular portion 312 of the hub 310 is fixedly connected to the sleeve 311, which passes through the first central hole 210 of the cam 200 and is connected to the input shaft. The annular portion 312 abuts against the sliding portion 320 in the axial direction, preventing the sliding portion 320 from moving axially along the sleeve 311. An annular groove 314 is machined at the end of the sleeve 311. After the snap ring 330 is inserted into the annular groove 314, it forms a limit with the end face of the cam 200, preventing the hub 310 and the sliding portion 320 from displacing axially. Thus, when the input shaft drives the sleeve 311 to rotate, the axial clearance between the hub 310 and the sliding portion 320 is constrained by the snap ring 330 and the annular portion 312, ensuring that the transmission assembly 300 maintains axial stability when fine-tuning the radial position.

[0047] Through the above technical solution, this embodiment achieves reliable constraint on the axial displacement of the transmission component 300, avoiding wear and vibration caused by axial movement. The engagement between the snap ring 330 and the annular groove 314 reduces the use of additional fasteners and lowers assembly complexity. The abutment design between the annular portion 312 and the sliding portion 320 further disperses the axial load and extends the service life of critical components.

[0048] Reference Figure 2 and Figure 8 As shown in the embodiment of this utility model, the sliding part 320 is provided with one of a second slider 323 or a second groove 313 at one end facing the annular part 312, and the annular part 312 is provided with the other of a second slider 323 or a second groove 313. The second groove 313 extends radially along the first central hole 210, and the extension direction of the second groove 313 is perpendicular to the extension direction of the first groove 220. The second slider 323 is disposed in the second groove 313, and the sleeve 311 is configured to move radially along the first central hole 210 under the guidance of the second slider 323. It should be noted that... Figure 2 and Figure 8 In the embodiments shown, the second slider 323 is provided on the sliding part 320 and the second groove 313 is provided on the annular part 312 as an example.

[0049] The second slider 323 refers to the sliding component on the sliding part 320 or the annular part 312, which can be a metal block with a rectangular cross-section, used for sliding within the second slide groove 313. The second slide groove 313 refers to the guide structure on the annular part 312 or the sliding part 320, which can be a machined straight groove, used to guide the movement of the second slider 323. Radial extension means that the direction of the slide groove is perpendicular to the axis of the central hole, ensuring that the sleeve 311 moves radially. Vertical direction means that the second slide groove 313 forms a 90-degree angle with the first slide groove 220, allowing the sleeve 311 to adjust its position in two vertical directions.

[0050] For example, when there is a misalignment error between the input shaft and the axis of the cam 200, the sleeve 311 moves within the allowable range of the clearance fit. The sliding part 320 guides the sleeve 311 to move radially along the first center hole 210 through the engagement of the second slider 323 and the second slide groove 313. Simultaneously, since the second slide groove 313 is perpendicular to the first slide groove 220, the sleeve 311 can be adjusted in two orthogonal directions. This bidirectional adjustment mechanism automatically aligns the input shaft and the axis of the cam 200, reducing the impact of assembly errors.

[0051] Through the above technical solution, this embodiment can effectively solve the problem of misalignment between the input shaft and the cam 200 axis, reducing the dependence on the machining and assembly accuracy of the parts. The bidirectional adjustment structure makes error compensation more sufficient, reducing vibration and wear caused by eccentricity during operation and extending service life. At the same time, the clearance fit and sliding groove structure facilitate the entry of lubricant into the contact surface, reducing maintenance difficulty.

[0052] Reference Figure 2 , Figure 11 and Figure 12 As shown in the embodiment of this utility model, the sliding part 320 is provided with two second sliders 323 at one end facing the annular part 312. The two second sliders 323 are located on opposite sides of the second central hole 321 in the radial direction. The annular part 312 is provided with two second sliding grooves 313. The two second sliding grooves 313 are respectively in clearance fit with the two second sliders 323. The two second sliding grooves 313 and the two second sliders 323 are correspondingly fitted, which can improve the stability during position adjustment. The clearance fit allows the sliding part 320 to have enough space for fine adjustment, while reducing wear and facilitating the entry of lubricating oil into the second sliding grooves 313.

[0053] Clearance fit refers to the existence of a small gap between the second slider 323 and the second slide groove 313, which can be controlled within the range of 0.010 to 0.032 mm. This allows the sliding part 320 to drive the sleeve 311 to make radial position fine adjustments, while avoiding instability caused by excessive clearance.

[0054] For example, two second sliders 323 are symmetrically distributed on both sides of the second central hole 321 of the sliding part 320, and are respectively embedded in the two second grooves 313 of the annular part 312. When there is a deviation between the input shaft and the axis of the cam 200, the sliding part 320 guides the sleeve 311 to move radially along the first central hole 210 by sliding the second sliders 323 in the second grooves 313, thereby compensating for the axis deviation. The symmetrical arrangement of the two second sliders 323 ensures that the sliding part 320 is subjected to balanced force during movement, avoiding jamming caused by unilateral force. The clearance fit provides the necessary movement space for the sliding part 320, while allowing lubricating oil to enter the gap between the second groove 313 and the second slider 323 to form a lubricating film to reduce friction loss.

[0055] Through the above technical solution, this embodiment realizes the adaptive position adjustment function of the transmission component 300 during the assembly process, effectively compensating for the axial deviation between the input shaft and the cam 200, and reducing the dependence on machining accuracy and assembly accuracy. The symmetrical arrangement of the two second sliders 323 improves the smoothness of the adjustment process, the clearance fit structure reduces the direct contact area between parts, and the flow of lubricating oil further reduces wear and extends the service life of the wave generator 1000.

[0056] Reference Figure 3 and Figure 7 As shown in the embodiment of this utility model, the transmission assembly 300 further includes a support ring 340. The support ring 340 is sleeved on the sleeve 311 and located between the snap ring 330 and the cam 200, which can effectively limit the axial displacement of the sliding part 320 and the hub 310. The support ring 340 is an annular structural component, which can be made of metal or high-strength plastic material. By being sleeved on the outer surface of the sleeve 311, it forms an axial limiting structure with the snap ring 330 and the cam 200, which is used to constrain the axial movement range of the sliding part 320 and the hub 310.

[0057] For example, the support ring 340 is fitted onto the outer surface of the sleeve 311 and located within the axial space between the retaining ring 330 and the cam 200. When the retaining ring 330 is installed in the annular groove 314 of the sleeve 311, one side of the support ring 340 is blocked by the retaining ring 330, while the other side can contact the end face of the cam 200. Thus, the axial movement of the sliding part 320 and the hub 310 is restricted within the fixed range formed by the support ring 340, the retaining ring 330, and the cam 200, preventing component displacement due to the axial force during motor input shaft operation.

[0058] Through the above technical solution, this embodiment solves the concentricity deviation problem caused by axial displacement in the existing wave generator 1000, reduces the dependence on axial positioning accuracy during assembly, and reduces wear caused by component movement during operation, thus extending the service life of the equipment.

[0059] Reference Figure 3 and Figure 7 As shown in the embodiment of the present invention, the transmission assembly 300 further includes a gap plate 350, which is sleeved on the sleeve 311 and abuts against the support ring 340 and the cam 200 to avoid a gap between the support ring 340 and the cam 200.

[0060] The spacer 350 refers to an annular thin sheet structure whose inner hole is clearance-fitted with the outer wall of the sleeve 311 to fill the axial gap between the support ring 340 and the cam 200. The support ring 340 refers to an annular portion 312 sleeved on the outside of the sleeve 311, whose function is to limit the axial displacement of the sliding portion 320 and the hub 310 by cooperating with the snap ring 330. The cam 200 refers to an irregularly shaped rotating body with a first central hole 210 and a first sliding groove 220, whose end face forms rigid contact with the support ring 340 through the spacer 350.

[0061] For example, the spacer 350 is installed on the outside of the sleeve 311, with its axial position located between the support ring 340 and the cam 200. When the support ring 340 is limited by the snap ring 330, the spacer 350 compensates for the assembly gap between the support ring 340 and the cam 200 through its own thickness, ensuring that their end faces are fully engaged. For example, the inner diameter of the spacer 350 can be slightly larger than the outer diameter of the sleeve 311 to achieve quick assembly, and its end face flatness can be controlled at the micrometer level to ensure uniform contact. When the motor input shaft drives the sleeve 311 to rotate, the spacer 350 eliminates the axial gap between the support ring 340 and the cam 200, preventing vibration or wear caused by minute displacement.

[0062] Through the above technical solution, this embodiment can effectively prevent axial gaps between the support ring 340 and the cam 200 due to machining or assembly errors, thereby improving the overall rigidity of the transmission assembly 300, reducing vibration and noise caused by gaps during operation, reducing the risk of wear on the contact surface between the support ring 340 and the cam 200, and extending the service life of the wave generator 1000.

[0063] Reference Figure 2 and Figure 8 As shown in the embodiment of this utility model, the sliding part 320 is provided with a plurality of second protrusions 325 at one end facing the annular part 312. The plurality of second protrusions 325 are arranged at intervals around the second central hole 321 and respectively abut against the end face of the annular part 312, so that a gap is formed between the sliding part 320 and the annular part 312, which can avoid large-area contact between the sliding part 320 and the annular part 312, and at the same time facilitate the lubricating oil to enter the gap for lubrication.

[0064] The second protrusion 325 refers to a contact structure that partially protrudes from the end face of the sliding part 320. It can be implemented as a cylindrical boss or a rectangular protrusion, replacing surface contact with point or line contact to reduce the friction area. The gap refers to the space between the sliding part 320 and the annular part 312 that is not occupied by the second protrusion 325. It can be formed by controlling the number and distribution density of the second protrusions 325, for example, by evenly arranging 4 to 6 protrusions along the circumference. This gap allows lubricating oil to flow to the contact area, improving the lubrication effect and reducing wear.

[0065] For example, when the sliding part 320 abuts against the annular part 312 via the second protrusion 325, the two only form partial contact at the protrusion point, while the remaining area forms a continuous or intermittent gap channel. During the operation of the wave generator 1000, lubricating oil can enter the contact area through the gap, reducing frictional loss. In addition, the existence of the gap allows the sliding part 320 to produce a small displacement during radial fine-tuning, preventing the component from jamming due to assembly errors.

[0066] Through the above technical solution, this embodiment effectively solves the problems of insufficient lubrication and excessive friction loss at the contact surface between the sliding part 320 and the annular part 312, reduces the dependence on the flatness of the parts and the assembly accuracy, thereby reducing processing costs and extending the service life of the parts.

[0067] Reference Figure 7 and Figure 8 As shown in the embodiment of this utility model, the sleeve 311 and the second central hole 321 are clearance-fitted, and the gaps formed between the annular portion 312 and the sliding portion 320, the gaps formed between the sleeve 311 and the second central hole 321, the gaps formed between the sliding portion 320 and the cam 200, and the gaps formed between the sliding portion 320 and the flexible bearing 100 are sequentially connected to form an oil passage 360 ​​for the lubricating medium to pass through. The lubricating medium can be lubricating oil or lubricating grease.

[0068] It should be noted that the gap formed between the annular portion 312 and the sliding portion 320 refers to the gap formed between the end faces of the annular portion 312 and the sliding portion 320, as well as the gap formed between the second slider 323 and the second slide groove 313, including the radial and circumferential gaps of the second slider 323 and the second slide groove 313; the gap formed between the sleeve 311 and the second central hole 321 refers to the radial gap between the sleeve 311 and the second central hole 321; the gap formed between the sliding portion 320 and the cam 200 refers to the gap formed between the end faces of the sliding portion 320 and the cam 200, as well as the gap formed between the first slider 322 and the first slide groove 220, including the axial and circumferential gaps of the first slider 322 and the first slide groove 220; the gap between the sliding portion 320 and the flexible bearing 100 includes the radial gap between the first slider 322 and the inner ring of the flexible bearing 100, and the axial gap between the sliding portion 320 and the flexible bearing 100.

[0069] For example, when the wave generator 1000 operates in a sealed cavity filled with lubricating medium, the area between the annular portion 312 and the sliding portion 320 is a high-pressure zone, while the gap between the sliding portion 320 and the flexible bearing 100 is a low-pressure zone. Therefore, the wave generator 1000 can draw the lubricating medium from the gap between the annular portion 312 and the sliding portion 320, and drive the lubricating medium sequentially through the gap between the sleeve 311 and the second central hole 321, the gap between the sliding portion 320 and the cam 200, and the gap between the sliding portion 320 and the flexible bearing 100. Finally, it can be drawn back into the gap between the annular portion 312 and the sliding portion 320, thereby realizing the circulation of the lubricating medium. This effectively reduces the wear between the cam 200, the hub 310, and the sliding portion 320, and improves its service life.

[0070] Reference Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, in this embodiment of the present invention, the maximum width of the second slide groove 313 along the circumference of the annular portion 312 is T4, and the maximum width of the second slider 323 along the circumference of the sliding portion 320 is T2, satisfying 0.010≤T4-T2≤0.032. For example, the difference between T4 and T2 can be 0.010mm, 0.015mm, 0.020mm, or 0.032mm. The maximum width of the first slide groove 220 along the circumference of the cam 200 is T3, and the maximum width of the first slider 322 along the circumference of the sliding portion 320 is T1, satisfying 0.010≤T3-T1≤0.032. For example, the difference between T3 and T1 can be 0.010mm, 0.015mm, 0.020mm, or 0.032mm.

[0071] The maximum circumferential width T4 of the second slide groove 313 is the maximum distance between the two side walls of the groove. The maximum circumferential width T2 of the second slider 323 is the maximum distance between the two sides of the slider. The maximum circumferential width T3 of the first slide groove 220 is the maximum distance between the two side walls of the groove. The maximum circumferential width T1 of the first slider 322 is the maximum distance between the two sides of the slider. By controlling the dimensional ranges of T4-T2 and T3-T1, the contradiction between the degree of freedom of position adjustment and the stability of operation can be balanced.

[0072] For example, when the circumferential gap between the second slide groove 313 and the second slider 323 is less than 0.010, the sliding part 320 is prone to jamming during radial movement, making it difficult to adjust the position of the sleeve 311. When the gap exceeds 0.032, the slider will wobble excessively within the slide groove, affecting the smooth operation of the wave generator 1000. Similarly, the gap control between the first slide groove 220 and the first slider 322 follows the same principle. During assembly, the sleeve 311 obtains radial movement margin through the gap fit between the slider and the slide groove. When there is a deviation between the motor input shaft and the cam 200 axis, the sliding part 320 can drive the sleeve 311 to move slightly along the slide groove direction until the axis deviation is effectively compensated.

[0073] This embodiment establishes a precise dimensional control standard by limiting the gap range to 0.010-0.032 mm, which ensures both adjustment sensitivity and operational stability. It effectively solves the technical contradiction that the gap between the slide and the slider is difficult to balance adjustment function and operational stability. This allows the wave generator 1000 to maintain stable operation under the premise of allowing a certain assembly error, reduces the requirements for the machining accuracy of parts, simplifies the assembly process, and thus significantly reduces production costs.

[0074] This utility model discloses a harmonic reducer according to one embodiment, including the wave generator 1000 described in the above embodiment. The harmonic reducer of this utility model, using the wave generator 1000 described in the above embodiment, incorporates a cam 200 embedded in the inner hole of a flexible bearing 100. When the input shaft of the motor drives the cam 200 to rotate, the flexible bearing 100 undergoes periodic deformation. When the input shaft of the motor is connected to the sleeve 311 of the transmission assembly 300, due to the clearance fit between the sleeve 311 and the first central hole 210 of the cam 200, when the axes of the input shaft and the cam 200 are not concentric, the sliding part 320 can guide the sleeve 311 to move radially along the first central hole 210 through the guidance of the first slider 322 and the first groove 220, achieving fine adjustment. This makes the axis of the input shaft and the axis of the cam 200 as coincident as possible, reducing the requirements for machining and assembly accuracy, thereby reducing production costs.

[0075] Since the harmonic reducer adopts all the technical solutions of the wave generator 1000 in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0076] This utility model discloses a robot according to one embodiment, including the harmonic reducer described in the above embodiments. The robot can be a handling robot, welding robot, assembly robot, processing robot, painting robot, cleanroom robot, collaborative robot, etc. The robot of this utility model embodiment uses the harmonic reducer described in the above embodiments. By setting a cam 200 embedded in the inner hole of the flexible bearing 100, when the input shaft of the motor drives the cam 200 to rotate, the flexible bearing 100 can undergo periodic deformation. When the input shaft of the motor is connected to the sleeve 311 of the transmission assembly 300, due to the clearance fit between the sleeve 311 and the first central hole 210 of the cam 200, when the axes of the input shaft and the cam 200 are not concentric, the sliding part 320 can drive the sleeve 311 to move radially along the first central hole 210 through the guidance of the first slider 322 and the first sliding groove 220 to achieve fine adjustment, so that the axis of the input shaft and the axis of the cam 200 are as coincident as possible. This reduces the requirements for machining accuracy and assembly accuracy, thereby reducing production costs.

[0077] Since the robot adopts all the technical solutions of the harmonic reducer in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0078] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A wave generator, characterized in that, include: Flexible bearings; A cam is fitted into the inner hole of the flexible bearing, and the cam has a first central hole; A transmission assembly includes a sleeve, a sliding part, and a first protrusion. The sleeve is used to connect with the input shaft of a motor. The sleeve passes through the first central hole and is clearance-fitted with the first central hole. The sliding part is sleeved on the sleeve and located at one end of the cam. The first protrusion abuts against the end face of the cam or the sliding part to form a gap between the sliding part and the cam. The cam has one of a first groove or a first slider on one end face along the axial direction. The first groove extends radially along the first central hole. The sliding part has the other of the first groove or the first slider. The first slider is slidably disposed in the first groove. The sleeve is configured to move radially along the first central hole under the guidance of the first slider.

2. The wave generator according to claim 1, characterized in that: The cam is provided with two first sliding grooves, which are located on opposite sides of the first central hole in the radial direction. The sliding part is provided with a second central hole, and the sliding part is sleeved on the sleeve through the second central hole. The sliding part is provided with two first sliders on the side facing the cam, which are arranged radially at intervals along the second central hole. The two first sliders are respectively fitted with the two first sliding grooves with a clearance.

3. The wave generator according to claim 2, characterized in that: The first protrusion is provided in multiple portions, each located at one end of the sliding portion facing the cam. The multiple first protrusions are spaced apart around the second central hole and abut against the end face of the cam.

4. The wave generator according to claim 2, characterized in that: The transmission assembly further includes a hub, which includes an annular portion and a sleeve. The annular portion is fixedly connected to one end of the sleeve and extends in a direction away from the central axis of the sleeve. One end of the annular portion along the cam axis abuts against the sliding portion. One end of the sleeve that protrudes from the first center is provided with a retaining ring, which is engaged in an annular groove on the outer wall of the sleeve. The retaining ring is used to limit the axial displacement of the hub and the sliding portion.

5. The wave generator according to claim 4, characterized in that: The sliding part is provided with one of a second slider or a second groove at one end facing the annular part, the annular part is provided with the other of the second slider or the second groove, the second groove extends radially along the first central hole, and the extension direction of the second groove is perpendicular to the extension direction of the first groove, the second slider is disposed in the second groove, and the sleeve is configured to be able to move radially along the first central hole under the guidance of the second slider.

6. The wave generator according to claim 5, characterized in that: The sliding part is provided with two second sliders at one end facing the annular part. The two second sliders are located on opposite sides of the second central hole in the radial direction. The annular part is provided with two second sliding grooves, which are respectively clearance-fitted with the two second sliders.

7. The wave generator according to claim 4, characterized in that: The transmission assembly also includes a support ring, which is sleeved on the sleeve and located between the snap ring and the cam.

8. The wave generator according to claim 7, characterized in that: The transmission assembly further includes a gap plate, which is sleeved on the sleeve and abuts against the support ring and the cam.

9. The wave generator according to claim 4, characterized in that: The sliding part has a plurality of second protrusions at one end facing the annular part. The plurality of second protrusions are spaced around the second central hole and abut against the end face of the annular part respectively, so that a gap is formed between the sliding part and the annular part.

10. The wave generator according to claim 4 or 9, characterized in that: The sleeve and the second central hole are fitted with a clearance. The gaps formed between the annular portion and the sliding portion, the gaps formed between the sleeve and the second central hole, the gaps formed between the sliding portion and the cam, and the gaps formed between the sliding portion and the flexible bearing are connected in sequence and form an oil passage for the lubricating medium to pass through.

11. The wave generator according to claim 5, characterized in that: The maximum width of the second groove along the circumference of the annular portion is T4, and the maximum width of the second slider along the circumference of the sliding portion is T2, satisfying: 0.010≤T4-T2≤0.

032.

12. The wave generator according to claim 1 or 11, characterized in that: The maximum width of the first slide groove along the circumference of the cam is T3, and the maximum width of the first slider along the circumference of the sliding part is T1, satisfying: 0.010≤T3-T1≤0.

032.

13. A harmonic reducer, characterized in that: Includes the wave generator as described in any one of claims 1 to 12.

14. A robot, characterized in that, Includes the harmonic reducer as described in claim 13.

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