New harmonic reducer, flexspline assembly and robot

Abstract

A harmonic reducer, comprising: a circular spline (150), a wave generator (100), a flexspline (140) and a torque transmission member (130), wherein the wave generator is nested inside the circular spline; the flexspline is nested between the circular spline and the wave generator and deforms by means of protrusions of the wave generator, such that an external gear of the flexspline corresponding to the protrusions partially meshes with an internal gear of the circular spline; and an input connection portion (131) of the torque transmission member is connected to a torque output portion (147) of the flexspline, an output connection portion (133) of the torque transmission member is configured to connect to a fixed connection member (160) to transmit torque, and the torque transmission member can deform simultaneously with the flexspline component due to the design of a deformable elastic portion (132). Further disclosed are a flexspline assembly and a robot. By means of the separate arrangement of the flexspline and the torque transmission member in the harmonic reducer, the axial dimension of the flexspline is reduced, so that the deformation safety and service life of the flexspline in the harmonic reducer are maintained, and the effective length of meshing between teeth of the flexspline and circular spline is increased, thereby improving the torque transmission capability of the harmonic reducer.

Description

New harmonic reducers, flexible gear assemblies, and robots Technical Field

[0001] This application relates to the technical field of harmonic reducers, and more particularly to a novel harmonic reducer. Background Technology

[0002] Currently, conventional harmonic reducers consist of rigid gears, flexible gears, and a waveform generator that causes radial deformation of the flexible gears. When the waveform generator rotates, it causes controllable elastic deformation of the flexible gears, resulting in relative tooth misalignment between the rigid and flexible gears to transmit power. The conventional flexible gear structure includes a thin-walled cylindrical structure open at both ends, and a flange vertically positioned at one end of the thin-walled cylinder. The flange, located on the outside or inside of the thin-walled cylinder, can be classified as a cap-shaped or cup-shaped flexible gear. Both types suffer from the same problem: because the flange structure is less prone to deformation than the thin-walled cylinder, when the waveform generator rotates and causes deformation of the flexible gear, the end of the flexible gear furthest from the flange deforms, while the end with the flange, due to the rigidity of the flange, does not easily undergo radial deformation or only experiences slight radial deformation. This results in a conical cylindrical section of the flexible gear, making it difficult for the flexible gear teeth to mesh fully with the rigid gear teeth. Therefore, conventional reducers... The torque that the machine can transmit is only 40-60% of that when fully meshed. In order not to affect the normal use and safety of the harmonic reducer (to achieve torque output and improve the fatigue life of the flexible gear, the axial length of the flexible gear is usually made very long. Taking the conventional 17-50 cap-type harmonic reducer as an example, the length of the flexible gear is about 60% longer than the thickness of the flexible gear part, the rigid gear part, and the waveform generator bearing), the existing solution is to make the axial length of the flexible gear longer than the length of the gear part, the waveform generator, and the axial dimension of the rigid gear. This results in the overall axial length of the harmonic reducer being longer, which increases the overall axial dimension of the harmonic reducer and reduces the transmission stiffness. To address this problem, the flange part is set as an integrated thin-walled elastic structure in the existing technology. However, due to the difficulty of processing such flexible gears in actual production and the low yield rate, it is difficult to mass-produce them.

[0003] Regarding the aforementioned technologies, existing harmonic reducers suffer from drawbacks such as large axial dimensions and poor transmission torque.

[0004] Summary of the Invention

[0005] This application provides a novel harmonic reducer to address the shortcomings of existing harmonic reducers, such as large axial dimensions and poor transmission torque.

[0006] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a novel harmonic reducer, which includes four components: a rigid gear, a flexible gear, a waveform generator, and a torque transmission component, wherein:

[0007] The rigid gear has an annular internal gear formed along its inner circumferential surface;

[0008] The waveform generator includes a cam having N protrusions that rotate about an axis and a flexible bearing that engages with the outer peripheral surface of the cam. The rolling elements of the flexible bearing can be ball bearings, needle bearings, or roller bearings. N of the N protrusions is an integer ≥2. The waveform generator is nested within the rigid gear.

[0009] The flexible gear has an annular external gear formed along its outer peripheral surface, the number of teeth of the annular external gear being less than the number of teeth of the annular internal gear. The flexible gear has a torque output section adjacent to the annular external gear along the axial direction. The flexible gear is nested between the rigid gear and the waveform generator. The inner peripheral side of the flexible gear and the outer peripheral side of the waveform generator are deformed to cause the outer gear of the flexible gear to partially mesh with the inner gear of the rigid gear.

[0010] The torque transmission element is distributed along the circumferential direction of the inner or outer periphery of the torque output part with the axis as the center. The torque transmission element includes an input connection part, a deformable elastic part, and an output connection part. The input connection part is combined with the outer or inner peripheral surface of the torque output part to receive torque. The output connection part is used to connect with a fixed connection part to transmit torque.

[0011] By adopting the above technical solution, and through the setting of the torque transmission component, the conventional flexible gear structure is set as a separate flexible gear and torque transmission component. The torque of the flexible gear is transmitted outward through the torque transmission component. The torque transmission component is made elastic by the setting of the deformable elastic part. Compared with the traditional harmonic reducer, the flexibility of the flexible gear is improved when transmitting torque, thereby increasing the effective meshing length between the inner and outer ring gears, allowing them to approach full tooth length meshing, improving the service life and safe torque transmission capability of the flexible gear.

[0012] In conventional harmonic reducers, when the flexible gear deforms, the end of the flexible gear meshing with the rigid gear undergoes slight deformation, while the side of the flexible gear near the flange is less prone to deformation. This results in the axial cross-section of the flexible gear in conventional harmonic reducers deforming into a conical shape during deformation. Consequently, when using roller bearings in the waveform generator of conventional harmonic reducers, the wear on the flexible gear increases. However, the novel harmonic reducer described in this application separates the flexible gear from the torque transmission component, making the deformation degrees at both ends of the flexible gear similar during elastic deformation. Using needle roller bearings or roller bearings improves the support effect of the flexible bearings on the flexible gear, reduces the wear on the flexible gear during elastic deformation, and increases the service life of the flexible gear.

[0013] Preferably, the torque output part of the flexible gear is combined with the input connection part of the torque transmission component, and the combination method includes, but is not limited to, welding, bonding, interference fit, spline connection, pressure contact and / or injection molding.

[0014] Preferably, the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing.

[0015] Preferably, the cross-section of the deformable elastic part may be, but is not limited to, a straight plate shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape;

[0016] The deformable elastic portion includes at least one ring in the axial direction; and / or

[0017] The cross-section of the deformable elastic portion includes at least one layer in the radial direction; and / or

[0018] The deformable elastic part is either a single, integral circle or a single circle composed of multiple arcs in the circumferential direction.

[0019] By adopting the above technical solutions, the cross-sectional shape of the torque transmission component can be a combination of the above-mentioned forms, or the torque transmission component with the same cross-sectional shape can be combined and used in a multi-turn or multi-layer manner, or a complete circular structure can be formed by multiple arcs in the circumferential direction.

[0020] Preferably, the torque transmission component may be made of, but is not limited to, alloy spring steel, high carbon spring steel, stainless steel spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material.

[0021] Preferably, the flexible bearing of the waveform generator comprises four main components: an outer bearing ring, an inner bearing ring, the rolling elements, and a cage.

[0022] Preferably, the novel harmonic reducer further includes a bearing, which is composed of the rigid gear, the fixed connector, and the rolling element disposed between the rigid gear and the fixed connector;

[0023] Alternatively, the bearing may include a first bearing ring, rolling elements, and a second bearing ring, wherein the first bearing ring is connected to the rigid gear, and the second bearing ring is connected to the fixed connecting member.

[0024] This application also provides a flexible gear assembly, which includes two components: a flexible gear and a torque transmission element, wherein:

[0025] The flexible gear is nested between the rigid gear and the waveform generator and has an external gear. The flexible gear is supported by the waveform generator to form a non-standard circle so as to partially mesh with the rigid gear.

[0026] A torque transmission element is coupled to the outer or inner peripheral wall of the flexible gear in the radial direction. A first side of the torque transmission element is connected to the flexible gear to receive torque, and a second side of the torque transmission element is used to connect to a fixed connector to transmit torque.

[0027] By adopting the above technical solution, the torque transmission component, due to the design of the deformable elastic part, can easily undergo radial deformation together with the flexible gear, and can be used to transmit the torque output by the flexible gear.

[0028] Preferably, the torque transmission component is made of alloy spring steel, high carbon spring steel, stainless steel spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material and has elasticity. The torque transmission component is connected to the flexible gear by welding, bonding, interference fit, pressure contact and / or injection molding.

[0029] This application also provides a robot that employs the novel harmonic reducer described in any of the above-mentioned methods.

[0030] The beneficial effects of this application are: by separating the flexible gear and the torque transmission component in the novel harmonic reducer, the axial dimension of the flexible gear can be reduced. This reduces the overall axial dimension and weight of the novel harmonic reducer while maintaining the safety and service life of the flexible gear deformation. It also increases the effective meshing length between the flexible gear and the rigid gear, allowing them to mesh close to the full tooth length, thereby improving the torque transmission capability of the novel harmonic reducer. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0032] Figure 1 is a schematic diagram of the assembly structure of a conventional top hat type harmonic reducer;

[0033] Figure 2 is a schematic diagram of the flexible gear and rigid gear in the conventional top hat type harmonic reducer shown in Figure 1;

[0034] Figure 3 is a schematic diagram of the structure of the flexible gear in the conventional hat-shaped harmonic reducer in Figure 1 after elastic deformation;

[0035] Figure 4 is a schematic diagram of the assembly structure of a conventional cup-type harmonic reducer;

[0036] Figure 5 is a schematic diagram of the flexible gear and rigid gear in the conventional cup-shaped harmonic reducer shown in Figure 4;

[0037] Figure 6 is a schematic diagram of the structure of the flexible gear in the conventional cup-shaped harmonic reducer in Figure 4 after elastic deformation.

[0038] Figure 7 is a structural assembly diagram of the novel harmonic reducer provided in the embodiment of this application;

[0039] Figure 8 is a schematic diagram of the first type of bearing in the novel harmonic reducer provided in the embodiments of this application;

[0040] Figure 9 is a schematic diagram of the second type of bearing in the novel harmonic reducer provided in the embodiments of this application;

[0041] Figure 10 is a schematic diagram of the flexible gear structure of the novel harmonic reducer in Figure 7;

[0042] Figure 11 is a schematic diagram of the torque transmission component of the new harmonic reducer in Figure 7;

[0043] Figure 12 is a schematic diagram of the radial state of the waveform generator of the new harmonic reducer in Figure 7 when the number of protrusions is 2.

[0044] Figure 13 is a schematic diagram of the radial state of the waveform generator of the new harmonic reducer in Figure 7 when the number of protrusions is 3;

[0045] Figure 14 is a schematic diagram of the radial state of the waveform generator of the new harmonic reducer in Figure 7 when the number of protrusions is 4.

[0046] Figure 15 is a cross-sectional view of the assembly structure of a conventional top hat type harmonic reducer;

[0047] Figure 16 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, a torque transmission component with a U-shaped cross section, a ball bearing, and the torque transmission component is disposed on the outside of the flexible gear.

[0048] Figure 17 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, a torque transmission component with a C-shaped cross section, a ball bearing, and the torque transmission component is disposed on the outside of the flexible gear.

[0049] Figure 18 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, a torque transmission component with a C-shaped cross section, a single-sided roller flexible bearing, and the torque transmission component is disposed on the outside of the flexible gear.

[0050] Figure 19 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, a torque transmission component with a C-shaped cross section, a double-sided roller flexible bearing, and the torque transmission component is disposed on the outside of the flexible gear.

[0051] Figure 20 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs an axial cross bearing, a torque transmission component with a C-shaped cross section, a ball bearing, and the torque transmission component being disposed on the outside of the flexible gear.

[0052] Figure 21 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, an S-shaped torque transmission component, a ball bearing, and the torque transmission component is disposed outside the flexible gear.

[0053] Figure 22 is a cross-sectional view of a novel harmonic reducer provided in this application embodiment, which employs a radial cross bearing, an S-shaped torque transmission component, a ball bearing, and the torque transmission component is disposed inside the flexible gear.

[0054] Figure 23 is a cross-sectional structural diagram of the C-shaped torque transmission component and its combined use in the novel harmonic reducer provided in the embodiments of this application;

[0055] Figure 24 is a cross-sectional structural diagram of the V-shaped torque transmission component and its combined use in the novel harmonic reducer provided in the embodiments of this application.

[0056] Figure 25 is a cross-sectional structural schematic diagram of the torque transmission component with an O-shaped cross section in the novel harmonic reducer provided in the embodiment of this application;

[0057] Figure 26 is a cross-sectional view of the torque transmission component in the novel harmonic reducer provided in the embodiment of this application, which has a double V-shaped cross-section in the axial direction.

[0058] Figure 27 is a cross-sectional structural diagram of the U-shaped torque transmission component and its combined use in the novel harmonic reducer provided in the embodiments of this application.

[0059] Figure 28 is a cross-sectional view of the torque transmission component with an S-shaped cross section in the novel harmonic reducer provided in the embodiment of this application;

[0060] Figure 29 is a cross-sectional structural schematic diagram of the torque transmission component with an N-shaped cross section in the novel harmonic reducer provided in the embodiment of this application;

[0061] Figure 30 is a cross-sectional view of the torque transmission component with a straight plate cross-section in the novel harmonic reducer provided in the embodiment of this application;

[0062] Figure 31 is a simulation diagram of the meshing of flexible and rigid gears in a conventional harmonic reducer.

[0063] Figure 32 is a simulation diagram of the meshing of flexible and rigid gears in the novel harmonic reducer provided in the embodiments of this application.

[0064] Explanation of reference numerals in the attached drawings: 100, Waveform generator; 110, Cam; 120, Flexible bearing; 121, Rolling element; 122, Ball; 123, Roller; 124, Bearing outer ring; 125, Bearing inner ring; 126, Cage; 130, Torque transmission component; 131, Input connection; 132, Deformable elastic part; 133, Output connection; 140, Flexible gear; 141, External gear portion; 142, Flexible gear wall portion; 143, Thin-walled flange portion; 144, Fixed flange portion; 145, Initial position of flexible gear wall; 146, Ring external gear; 147, Torque output part; 150, Rigid gear; 151, Ring internal gear; 152, First shaft ring; 153, Second shaft ring; 160, Fixed connection component; 170, Actual meshing length range; 180, Theoretical meshing length range. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0066] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0067] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0068] Please refer to Figures 7-11. This application provides a novel harmonic reducer. As shown in Figure 7, the novel harmonic reducer includes four basic components: a rigid gear 150, a flexible gear 140, a waveform generator 100, and a torque transmission component 130.

[0069] The rigid gear 150 has an annular internal gear 151 formed along its inner circumferential surface.

[0070] Please refer to Figures 12, 13, and 14. The waveform generator 100 includes a cam 110 having N protrusions that rotate about an axis and a flexible bearing 120 that engages with the outer peripheral surface of the cam 110. The rolling elements 121 of the flexible bearing 120 can be implemented as balls 122, needle rollers, or rollers 123. N of the N protrusions is an integer greater than or equal to 2. The waveform generator 100 is nested within a rigid gear 150.

[0071] The flexible gear 140 has an annular external gear 146 formed along its outer peripheral surface. The number of teeth on the annular external gear 146 is less than the number of teeth on the annular internal gear 151. The flexible gear 140 has a torque output section 147 adjacent to the annular external gear 146 along the axial direction. The flexible gear 140 is nested between the rigid gear 150 and the waveform generator 100. The inner peripheral side of the flexible gear 140 is deformed in conjunction with the outer peripheral side of the waveform generator 100, causing the external gear of the flexible gear 140 to partially mesh with the internal gear of the rigid gear 150.

[0072] The torque transmission element 130 is distributed along the circumferential direction of the inner or outer periphery of the torque output part 147 with the axis as the center. The torque transmission element 130 includes an input connection part 131, a deformable elastic part 132 and an output connection part 133. The input connection part 131 is combined with the outer or inner peripheral surface of the torque output part 147 to receive torque. The output connection part 133 is used to connect with the fixed connection part 160 to transmit torque.

[0073] By adopting the above technical solution, the conventional flexible gear 140 structure is configured as a separate flexible gear 140 and torque transmission component 130 through the setting of torque transmission component 130. The torque of the flexible gear 140 is transmitted outward through the torque transmission component 130. The torque transmission component 130 is made elastic by the setting of deformable elastic part 132. Compared with the traditional harmonic reducer, the flexibility of the flexible gear 140 is improved when transmitting torque, thereby increasing the effective meshing length of the inner ring gear 151 and the outer ring gear 146, so that it can approach full tooth length meshing, improving the service life and safe torque transmission capability of the flexible gear 140.

[0074] Please refer to Figures 1-6. In conventional harmonic reducers, when the flexible gear 140 deforms, the end of the flexible gear 140 that meshes with the rigid gear 150 undergoes slight deformation, while the side of the flexible gear 140 near the flange does not easily deform. This causes the axial cross-section of the flexible gear 140 to deform into a conical shape during deformation. Consequently, when the waveform generator 100 of the conventional harmonic reducer uses roller bearings 123, the wear on the flexible gear 140 increases. However, the novel harmonic reducer used in this application separates the flexible gear 140 from the torque transmission component 130, making the deformation degrees of the two ends of the flexible gear 140 similar during elastic deformation. Using needle bearings or roller bearings 123 can improve the support effect of the flexible bearing 120 on the flexible gear 140, reduce the wear on the flexible gear 140 during elastic deformation, and improve the service life of the flexible gear 140.

[0075] Please refer to Figures 1-6. In conventional cap-type harmonic reducers and conventional cup-type harmonic reducers, the flexible gear 140 includes an external tooth portion 141 that meshes with the rigid gear 150, a flexible gear wall portion 142, a thin-walled flange portion 143, and a fixed flange portion 144.

[0076] Please refer to Figure 15, which shows a cross-sectional schematic diagram of a common top hat type harmonic reducer currently on the market.

[0077] Please refer to Figures 31 and 32. In Figure 31, the indicated area represents the actual meshing length range 170 and the theoretical meshing length range 180 of the conventional harmonic reducer. In Figure 32, the indicated area represents the actual meshing length range 170 and the theoretical meshing length range 180 of the new harmonic reducer. According to the simulation diagram, the actual meshing length range 170 of the new harmonic reducer is larger than that of the conventional harmonic reducer. Compared with the conventional harmonic reducer, the new harmonic reducer increases the meshing length between the flexible gear and the rigid gear, enabling full-tooth-length meshing, thereby improving the torque transmission capacity and transmission efficiency of the new harmonic reducer. Under various load conditions, the new harmonic reducer increases the meshing length between the flexible gear 140 and the rigid gear 150.

[0078] The torque output part 147 of the flexible gear 140 is combined with the input connection part 131 of the torque transmission member 130. The combination method includes, but is not limited to, welding, bonding, interference fit, spline connection, pressure contact and / or injection molding. The welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding and brazing.

[0079] Please refer to Figures 23-30. The cross-section of the deformable elastic part 132 may be, but is not limited to, a straight plate shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape. The deformable elastic part 132 includes at least one ring in the axial direction, and / or the cross-section of the deformable elastic part 132 includes at least one layer in the radial direction, and / or the deformable elastic part 132 is a whole circle in the circumferential direction or a whole circle composed of multiple arcs.

[0080] The cross-sectional shape of the torque transmission component 130 can be a combination of the above-mentioned forms, or the same cross-sectional shape of the torque transmission component 130 can be combined in multiple turns or multiple layers, or multiple arcs can be used to form a complete circular structure in the circumferential direction.

[0081] The torque transmission component 130 may be made of, but is not limited to, alloy spring steel, high carbon spring steel, stainless steel spring steel, copper alloy, aluminum alloy, carbon fiber material and / or resin material, and the torque transmission component 130 may be made of a material that can be processed into an elastic deformation structure.

[0082] Please refer to Figures 1-6. The flexible bearing 120 of the waveform generator 100 includes four main components: an outer bearing ring 124, an inner bearing ring 125, rolling elements 121, and a cage 126. The rolling elements 121 can be rollers 123 or rollers 124. In conventional harmonic reducers, the flexible gear 140 undergoes uneven axial deformation during deformation, resulting in a tapered cross-section. Therefore, the flexible bearing 120 in conventional harmonic reducers uses rollers 124 or rollers 125. Using rollers 123 as rolling elements 121 can lead to easy damage to the flexible gear 140. However, in the novel harmonic reducer provided in this application, the flexible gear 140 has a uniform deformation degree when deformed due to the design of the deformable elastic part 132 of the torque transmission element 130. Using rollers 123 as rolling elements 121 of the flexible bearing 120 can improve the support effect of the flexible bearing 120 on the flexible gear 140, reduce the loss generated by the flexible gear 140 when deformed, and thus improve the service life of the flexible gear 140.

[0083] Please refer to Figure 8. The new harmonic reducer also includes a bearing, which consists of a rigid gear 150, a fixed connector 160, and a rolling element 121 disposed between the rigid gear 150 and the fixed connector 160.

[0084] Please refer to Figure 9. Alternatively, the bearing may include a first shaft ring 152, a rolling element 121, and a second shaft ring 153. The first shaft ring 152 is connected to the rigid gear 150, and the second shaft ring 153 is connected to the fixed connector 160.

[0085] This application also provides a flexible gear assembly, which includes two components: a flexible gear 140 and a torque transmission component 130. The flexible gear 140 is nested between the rigid gear 150 and the waveform generator 100 and has an external gear. The flexible gear 140 is supported by the waveform generator 100 to form a non-standard circle for partial meshing with the rigid gear 150.

[0086] The torque transmission element 130 is combined with the outer or inner peripheral wall of the flexible gear 140 in the radial direction. The first side of the torque transmission element 130 is connected to the flexible gear 140 to receive torque, and the second side of the torque transmission element 130 is used to connect with the fixed connector 160 to transmit torque. Because the torque transmission element 130 is designed with a deformable elastic part 132, it is easy to undergo radial deformation together with the flexible gear 140 and can be used to transmit the torque output by the flexible gear 140.

[0087] The torque transmission component 130 is made of alloy spring steel, high carbon spring steel, stainless steel spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material and is elastic. The torque transmission component 130 is connected to the flexible gear 140 by welding, bonding, interference fit, pressure contact and / or injection molding.

[0088] This application also provides a robot that employs any of the novel harmonic reducers described above.

[0089] Specific Embodiment 1: Please refer to Figures 16, 17, 18, 19, and 21. The novel harmonic reducer uses the rotation of the waveform generator 100 to induce elastic deformation in the flexible gear 140. The flexible gear 140 transmits torque outward through the torque transmission element 130 and the staggered meshing between the flexible gear 140 and the rigid gear 150. The waveform generator 100 consists of a cam 110 and a flexible bearing 120. The flexible bearing 120 can also be a needle roller bearing, a roller bearing, or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexible gear 140 through the flexible bearing 120, causing the flexible gear 140 to deform. One end of the flexible gear 140, equipped with an external gear, meshes with the inner staggered teeth of the rigid gear 150, thereby transmitting torque to the rigid gear 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing, thereby transmitting the radial... The crossed bearing is used directly as the rigid gear 150. The torque transmission element 130 is connected to the outer wall of the flexible gear 140 away from the external gear. The fixed connector 160 can also be made into a torque sensor to measure the torque output by the torque transmission element 130. The fixed connector 160 is set on one side of the bearing and connected to the torque transmission element 130. The cross section of the deformable elastic part 132 of the torque transmission element 130 can be, but is not limited to, a straight plate shape, U shape, S shape, V shape, N shape, C shape, and / or O shape. It can also be used in multiple layers along the axial direction or multiple layers in the radial direction. By separating the flexible gear 140 and the torque transmission element 130, the new harmonic reducer reduces the overall axial height and weight of the new harmonic reducer while maintaining the safety and service life of the flexible gear 140's deformation rotation, thereby improving the transmission efficiency of the new harmonic reducer.

[0090] Specific Embodiment Two: As shown in Figure 20, the novel harmonic reducer causes the flexible gear 140 to undergo elastic deformation due to the rotation of the waveform generator 100. The flexible gear 140 transmits torque outward through the torque transmission component 130 and the staggered meshing between the flexible gear 140 and the rigid gear 150. The waveform generator 100 consists of a cam 110 and a flexible bearing 120. The flexible bearing 120 can also be a needle roller bearing, a roller bearing, or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexible gear 140 through the flexible bearing 120, causing the flexible gear 140 to deform. One end of the flexible gear 140, which is provided with an external gear, meshes with the inner staggered teeth of the rigid gear 150, thereby transmitting torque to the rigid gear 150. In this embodiment, an internal gear is provided on the inner wall of the axial cross bearing, so that the axial cross bearing is directly used as the rigid gear 150. The torque transmission component 130 is connected to the flexible gear. On the outer side wall of the end away from the external gear on 140, the fixed connector 160 can also be made into a torque sensor to measure the torque output by the torque transmission component 130. The fixed connector 160 is integrally set with the axial cross bearing and connected to one side of the torque transmission component 130. The cross section of the deformable elastic part 132 of the torque transmission component 130 can be, but is not limited to, straight plate shape, U shape, S shape, V shape, N shape, C shape and / or O shape. It can also be used in multiple layers along the axial direction or multiple layers in the radial direction. By setting the flexible gear 140 and the torque transmission component 130 separately, the new harmonic reducer reduces the overall axial height of the new harmonic reducer while maintaining the safety and service life of the flexible gear 140's deformation rotation. The integral setting of the fixed connector 160 and the axial cross bearing further reduces the overall axial dimension of the new harmonic reducer and reduces the weight of the new harmonic reducer, thereby improving the transmission efficiency of the new harmonic reducer.

[0091] Specific Embodiment 3: Referring to Figure 22, the novel harmonic reducer causes the flexible gear 140 to undergo elastic deformation due to the rotation of the waveform generator 100. The flexible gear 140 transmits torque outward through the torque transmission component 130 and the staggered meshing between the flexible gear 140 and the rigid gear 150. The waveform generator 100 consists of a cam 110 and a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexible gear 140 through the flexible bearing 120, causing the flexible gear 140 to deform. One end of the flexible gear 140, which is provided with an external gear, meshes with the inner staggered teeth of the rigid gear 150, thereby transmitting torque to the rigid gear 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing, so that the radial cross bearing is directly used as the rigid gear 150. The torque transmission component 130 is provided on the inner wall of the flexible gear 140 at the end away from the external gear. The fixed connector 160 is used to measure the torque output of the torque transmission component 130. The fixed connector 160 is disposed on one side of the radial cross bearing and sleeved on the flexible gear 140 and connected to the torque transmission component 130. A rotary bearing is also provided between the fixed connector 160 and the cam 110 to improve the assembly stability of the fixed connector 160. The cross section of the deformable elastic part 132 of the torque transmission component 130 can be, but is not limited to, a straight plate shape, U shape, S shape, V shape, N shape, C shape, and / or O shape. It can also be used in multiple layers along the axial direction or multiple layers in the radial direction. By separating the flexible gear 140 and the torque transmission component 130, the new harmonic reducer reduces the overall axial height and weight of the new harmonic reducer while maintaining the safety and service life of the flexible gear 140's deformation rotation, thereby improving the transmission efficiency of the new harmonic reducer.

[0092] In summary, by separating the flexible gear 140 and the torque transmission component 130 in the novel harmonic reducer, the axial dimension of the flexible gear 140 can be reduced. This reduces the overall axial dimension and weight of the novel harmonic reducer while maintaining the safety and service life of the flexible gear 140 under deformation. It also increases the effective meshing length between the flexible gear 140 and the rigid gear 150, allowing them to mesh close to full tooth length, thereby improving the torque transmission capability of the novel harmonic reducer.

[0093] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

A new type of harmonic reducer, characterized in that: The new harmonic reducer comprises four components: rigid gear (150), flexible gear (140), wave generator (100) and torque transmission (130), wherein: The rigid gear (150) has an annular internal gear (151) made along the inner circumferential surface; The wave generator (100) comprises a cam (110) with N convex parts rotating around an axis and a flexible bearing (120) combined with the outer circumferential surface of the cam (110), the rolling elements (121) of the flexible bearing (120) can be realized by balls (122), needles or rollers (123), N is an integer greater than or equal to 2, the wave generator (100) is nested in the rigid gear (150); The flexible gear (140) has an annular external gear (146) made along the outer circumferential surface, the number of teeth of the annular external gear (146) is less than that of the annular internal gear (151), the flexible gear (140) has a torque output part (147) adjacent to the annular external gear (146) in the axial direction, the flexible gear (140) is nested between the rigid gear (150) and the wave generator (100), the inner circumferential side of the flexible gear (140) is deformed in cooperation with the outer circumferential side of the wave generator (100), so that the external gear of the flexible gear (140) is partially engaged with the internal gear of the rigid gear (150); The torque transmission (130) is distributed along the circumferential direction of the inner or outer circumference of the torque output part (147) with the axis as the center, the torque transmission (130) comprises an input connecting part (131), a deformable elastic part (132) and an output connecting part (133), the input connecting part (131) is combined with the outer or inner circumferential surface of the torque output part (147) to receive torque, and the output connecting part (133) is used to connect with a fixed connecting part (160) to transmit torque. The novel harmonic speed reducer according to claim 1, characterized in that: The torque output part (147) of the flexible gear (140) is combined with the input connecting part (131) of the torque transmission (130), and the combination mode adopts welding, bonding, interference fit, spline connection, pressure contact and / or injection molding inlaying. The welding mode includes but is not limited to laser welding, friction welding, resistance welding, electromagnetic induction welding and brazing welding. The new harmonic speed reducer according to claim 2, characterized in that: The cross section of the deformable elastic part (132) can be straight plate, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped and / or O-shaped. The novel harmonic speed reducer according to claim 1, characterized in that: The deformable elastic part (132) includes at least one circle in the axial direction; and / or The cross section of the deformable elastic part (132) includes at least one layer in the radial direction; and / or The deformable elastic part (132) is an integral circle in the circumferential direction or an integral circle combined by multiple arcs. ​ The novel harmonic speed reducer according to claim 1, characterized in that: The torque transmission member (130) can be made of, but not limited to, alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material. The novel harmonic speed reducer according to claim 1, characterized in that: The flexible bearing (120) of the wave generator (100) comprises four main components: bearing outer ring (124), bearing inner ring (125), rolling elements (121), and retainer (126). The novel harmonic speed reducer according to claim 1, characterized in that: The new harmonic reducer further comprises a bearing composed of the rigid gear (150), the fixed connecting member (160), and the rolling elements (121) arranged between the rigid gear (150) and the fixed connecting member (160). The rolling elements (121) are composed of the rigid gear (150), the fixed connecting member (160), and the rolling elements (121) arranged between the rigid gear (150) and the fixed connecting member (160). The rolling elements (121) are composed of the rigid gear (150), the fixed connecting member (160), and the rolling elements (121) arranged between the rigid gear (150) and the fixed connecting member (160). A flexible gear assembly characterized by The flexible gear assembly comprises two components: flexible gear (140) and torque transmission member (130). The flexible gear (140) is used to be nested between the rigid gear (150) and the wave generator (100) and has external gear teeth, and the flexible gear (140) is used to be non-circularly supported by the wave generator (100) to partially mesh with the rigid gear (150); The torque transmission member (130) is combined with the outer or inner circumferential wall of the flexible gear (140) in the radial direction of the flexible gear (140), the first side of the torque transmission member (130) is connected with the flexible gear (140) to receive torque, and the second side of the torque transmission member (130) is used to be connected with the fixed connecting member (160) to transmit torque. The flexible gear assembly of claim 8, wherein: The torque transmission member (130) is made of alloy spring steel, high-carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy, and / or resin material and has elasticity, and the torque transmission member (130) is connected with the flexible gear (140) by welding, bonding, interference fit, pressure contact, and / or injection molding. A robot, characterized in that: The robot adopts the new harmonic reducer according to any one of claims 1 to 7.

Images