Harmonic reducer, robotic arm, and cleaning device

Abstract

A harmonic reducer, a robotic arm, and a cleaning device. The harmonic reducer comprises a circular spline, a flexspline, and an output portion. During operation of the harmonic reducer, the output portion is connected to one of the flexspline and the circular spline to output power. The circular spline of the harmonic reducer comprises a ring portion, and the flexspline meshes with the ring portion. The ring portion is manufactured by means of an injection molding process, such that the production costs of the circular spline can be reduced, and the weight of the circular spline can be reduced.

Description

Harmonic reducers, robotic arms, and cleaning equipment Cross-references to related applications

[0001] This application claims priority to Chinese patent applications No. 202411464047.3 and 202422534133.9, filed on October 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of transmission technology, and in particular to a harmonic reducer, a robotic arm, and a cleaning device. Background Technology

[0003] A harmonic reducer is a new type of speed reduction device composed of a wave generator, a flexible wheel, and a rigid wheel. It utilizes the controllable elastic deformation of the flexible wheel to transmit motion and power, thereby achieving speed reduction.

[0004] In traditional harmonic generators, the rigid wheel is mostly made by precision machining of metal, resulting in high cost and heavy weight. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, a first aspect of the present invention provides a harmonic reducer.

[0007] A second aspect of the present invention provides a robotic arm.

[0008] A third aspect of the present invention provides a cleaning device.

[0009] In view of this, a harmonic reducer is provided according to a first aspect of the embodiments of this application, comprising:

[0010] A rigid wheel, the rigid wheel including a ring portion, is manufactured by injection molding;

[0011] A flexible wheel, the flexible wheel being used to engage with the ring portion; and

[0012] An output section is connected to one of the rigid wheel and the flexible wheel.

[0013] In one embodiment, the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion ranges from 1 to 1.5.

[0014] In one embodiment, the ring portion is a solid structure.

[0015] In one embodiment, a plug-in portion is provided on the first end face and / or the second end face of the ring portion, and the plug-in portion protrudes from the first end face and / or the second end face to be plugged into the output portion;

[0016] The insertion part and the ring part are an integral structure.

[0017] In one embodiment, the plug portion includes at least two first connecting posts and at least two second connecting posts, wherein the length of the second connecting posts in the axial direction of the ring portion is less than the length of the first connecting posts in the axial direction of the ring portion.

[0018] In one embodiment, when a stop is provided on the first end face and / or the second end face, the length of the first connecting post in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting post in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

[0019] In one embodiment, at least a portion of the first connecting post and at least a portion of the second connecting post are arranged alternately in the circumferential direction of the ring portion.

[0020] In one embodiment, at least two abutting portions are respectively provided on the first end face and / or the second end face, the abutting portions protruding from the first end face and / or the second end face to abut against the outer wall of the output portion.

[0021] In one embodiment, a plurality of meshing teeth are formed on the inner ring of the ring portion. The tooth surface of the meshing teeth includes a third arc surface segment and a fourth arc surface segment. The third arc surface segment and the fourth arc surface segment are arranged in a direction from the tooth root to the tooth tip. The curvature directions of the third arc surface segment and the fourth arc surface segment are different.

[0022] In one embodiment, the output section includes:

[0023] An output disk is connected to the ring portion.

[0024] In one embodiment, a first connector is formed on the output disk, and a plug portion on the ring portion is used to plug into the first connector.

[0025] In one embodiment, the rigid wheel further includes:

[0026] The ring portion is connected to the base.

[0027] In one embodiment, a second insertion interface is formed on the base, and the insertion portion on the ring portion is used to insert into the second insertion interface.

[0028] In one embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion, the positioning protrusion being used to abut against the seat body.

[0029] In one embodiment, the ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the fixed carrier.

[0030] In one embodiment, the harmonic reducer further includes: an external connection portion, said external connection portion comprising:

[0031] A housing, the housing being fitted onto at least a portion of the rigid wheel, the housing having a mounting portion formed thereon; and

[0032] A first bearing is disposed between the housing and the rigid wheel.

[0033] In one embodiment, the rigid wheel further includes:

[0034] A limiting member is provided, which is connected to the seat of the rigid wheel or is an integral structure with the seat. The first bearing is sleeved on the seat, and the limiting member is used to limit the first bearing.

[0035] In one embodiment, the harmonic reducer further includes:

[0036] A cover plate, which is connected to the housing.

[0037] In one embodiment, the flexible wheel includes:

[0038] A tooth segment, wherein a transmission tooth is provided on the outer wall of the tooth segment, and the tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, the first arc surface segment and the second arc surface segment being arranged along the direction from the tooth root to the tooth tip, and the curvature directions of the first arc surface segment and the second arc surface segment being different; and

[0039] A fixing part is connected to the tooth segment;

[0040] The fastener passes through the cover plate and the fixing part and is connected to the housing.

[0041] In one embodiment, the first bearing includes a rolling bearing.

[0042] In one embodiment, the harmonic reducer further includes:

[0043] Wave generator, the wave generator being connected to the flexible wheel; and

[0044] The input section is connected to the wave generator;

[0045] The wave generator includes a cam and a second bearing mounted on the cam.

[0046] In one embodiment, the harmonic reducer further includes:

[0047] The third bearing is provided, wherein the output section is sleeved on a portion of the input section, and the third bearing is disposed between the input section and the output section.

[0048] In one embodiment, the material used to fabricate the flexible wheel includes injection-molded engineering plastics; and / or

[0049] The material used to manufacture the rigid wheel includes injection-molded engineering plastics.

[0050] A robotic arm is provided according to a second aspect of the embodiments of this application, comprising:

[0051] Harmonic reducers as described in any of the above technical solutions.

[0052] A third aspect of the embodiments of this application provides a cleaning device, comprising:

[0053] The harmonic reducer or the robotic arm described in any of the above technical solutions.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects:

[0055] The harmonic reducer provided in this application includes a rigid wheel, a flexible wheel, and an output section. During operation, the output section can be connected to either the flexible wheel or the rigid wheel to output power. The rigid wheel of the harmonic reducer includes a ring section, and the flexible wheel meshes with the ring section. The rigid wheel is manufactured using an injection molding process. This injection molding process reduces the production cost and weight of the rigid wheel, thereby reducing the cost and weight of the harmonic reducer. This facilitates the widespread use of harmonic reducers, especially in portable smart home appliances, ensuring transmission performance while allowing for more flexible movement of these appliances. Attached Figure Description

[0056] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0057] Figure 1 is a schematic structural diagram of a harmonic reducer according to an embodiment of this application;

[0058] Figure 2 is a schematic structural diagram of a harmonic reducer according to an embodiment of this application from another angle;

[0059] Figure 3 is a schematic structural diagram of the ring portion of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0060] Figure 4 is a schematic structural diagram of the disassembled state of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0061] Figure 5 is a schematic structural diagram of the ring portion of a harmonic reducer according to an embodiment of this application;

[0062] Figure 6 is a schematic structural diagram of the ring portion of a harmonic reducer according to an embodiment of this application from another angle;

[0063] Figure 7 is a schematic structural diagram of the seat of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0064] Figure 8 is a schematic structural diagram of the seat of the rigid wheel of a harmonic reducer according to an embodiment of this application from another angle;

[0065] Figure 9 is a schematic structural diagram of the meshing teeth of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0066] Figure 10 is a schematic structural diagram of the flexible wheel of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0067] Figure 11 is a schematic structural diagram of the transmission teeth of the rigid wheel and the flexible wheel of a harmonic reducer according to an embodiment of this application;

[0068] Figure 12 is a schematic structural diagram of the output section of the rigid wheel of a harmonic reducer according to an embodiment of this application.

[0069] Figure 13 is a schematic structural diagram of a cleaning device and a robotic arm according to an embodiment of this application.

[0070] Reference numerals: 1. Cleaning equipment; 2. Robotic arm; 110 rigid wheel, 120 flexible wheel, 130 output section, 140 external connection section, 150 cover plate, 160 wave generator, 170 input section, 180 third bearing; 111 ring section, 112 insertion section, 113 abutment section, 114 base, 115 second insertion interface, 116 limiting member, 117 meshing tooth, 119 first end face, 1110 second end face, 1111 stop, 1121 first connecting post, 1122 second connecting post, 1171 third arc surface segment, 1172 fourth arc surface segment; 121 tooth segment, 122 transmission tooth, 123 fixing part, 1221 first arc surface segment, 1222 second arc surface segment; 131 output disk, 132 first insertion interface; 141 housing, 142 first bearing; 161 cam, 162 second bearing. Detailed Implementation

[0071] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0072] As shown in Figures 1 to 12, a harmonic reducer is provided according to a first aspect of the present application, comprising: a rigid wheel 110, the rigid wheel 110 including a ring portion 111, the rigid wheel 110 being manufactured by injection molding; a flexible wheel 120, the flexible wheel 120 being engaged with the ring portion 111; and an output portion 130, the output portion 130 being connected to one of the rigid wheel 110 and the flexible wheel 120.

[0073] The harmonic reducer provided in this application includes a rigid wheel 110, a flexible wheel 120, and an output section 130. During operation, the output section 130 can be connected to either the flexible wheel 120 or the rigid wheel 110 to output power. The rigid wheel 110 of the harmonic reducer includes a ring section 111, and the flexible wheel 120 meshes with the ring section 111. The rigid wheel 110 is manufactured using an injection molding process. Based on this, manufacturing the ring section 111 using an injection molding process can reduce the production cost and weight of the rigid wheel 110, thereby reducing the cost and weight of the harmonic reducer. This facilitates the widespread use of harmonic reducers, especially in portable smart home appliances, ensuring transmission performance while making the movement of smart home appliances more flexible.

[0074] The harmonic reducer provided in this application embodiment considers that the structure of the rigid wheel in conventional technology usually requires the addition of components to fix the rigid wheel, such as lugs. In some cases, the rigid wheel structure also serves as the housing of the harmonic reducer, making the rigid wheel structure relatively complex. Therefore, if the rigid wheel in conventional technology is manufactured using injection molding, it is difficult to guarantee injection molding accuracy, or even impossible to perform injection molding at all. Based on this, the harmonic reducer provided in this application embodiment includes a ring portion 111 in the rigid wheel 110. That is, the part where the rigid wheel 110 meshes with the flexible wheel 120 is manufactured using injection molding, and this component is approximately annular. This design facilitates the setting of a mold corresponding to the ring portion 111, facilitating the injection molding of the ring portion 111, ensuring injection molding accuracy, and making the meshing of the rigid wheel 110 and the flexible wheel 120 more reliable. This reduces costs while ensuring transmission accuracy.

[0075] It is understood that the materials used to prepare the ring portion 111 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the ring portion 111 include pure materials such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), and polyphenylene sulfide (PPS), as well as related materials reinforced with glass fiber and / or carbon fiber.

[0076] As shown in Figures 3, 5, and 6, in one embodiment, the ratio of the maximum radial thickness to the minimum radial thickness of the ring 111 ranges from 1 to 1.5. The radial thickness of the ring 111 refers to the distance between the outer wall surface and the inner wall surface of the ring 111.

[0077] In this technical solution, the style of the ring 111 is further provided. The ratio of the maximum radial thickness to the minimum radial thickness of the ring 111 is in the range of 1-1.5. Based on this, the thickness difference of the ring 111 can be controlled within a certain range, which makes the injection molding preparation of the ring 111 easier and can further ensure the injection molding accuracy.

[0078] It is understandable that the closer the ratio of the maximum radial thickness to the minimum radial thickness of the ring 111 is to 1, the easier it will be to manufacture the mold used to prepare the ring 111, and the higher the preparation accuracy of the ring 111 will be.

[0079] As shown in Figures 3, 5 and 6, in one embodiment, the ring portion 111 is a solid structure, that is, the ring portion 111 does not have any holes, that is, holes located between the inner wall surface and the outer wall surface of the ring portion 111 and / or holes penetrating the inner wall surface and the outer wall surface of the ring portion 111.

[0080] In this technical solution, the style of the ring 111 is further provided. The ring 111 can be a solid structure. Compared with the traditional solution where the rigid wheel 110 has holes, by designing the ring 111 as a solid structure, on the one hand, the mechanical strength of the ring 111 can be improved; on the other hand, it is easier to prepare the ring 111 by injection molding, which can improve the injection molding accuracy.

[0081] As shown in Figures 3 to 9, in some embodiments, a stop 1111 is provided on the first end face 119 and / or the second end face 1110 of the ring portion 111, and the output portion 130 and / or the seat 114 are also provided with corresponding stops. The ring portion 111 is inserted into the stop of the seat 114 or the output portion 130 through the stop 1111, which improves the positioning accuracy and the stability of the connection. The stop 1111 may be provided only on the first end face 119, only on the second end face 1110, or simultaneously on both the first end face 119 and the second end face 1110. The stop 1111 extends along the outer circle of the first end face 119 and / or the outer circle of the second end face 1110.

[0082] As shown in Figures 3 to 9, in one embodiment, a plug-in portion 112 is provided on the first end face 119 and / or the second end face 1110 of the ring portion 111. The plug-in portion 112 protrudes from the first end face 119 and / or the second end face 1110 to be plugged into the output portion 130. The plug-in portion 112 and the ring portion 111 are integral structures.

[0083] This technical solution further provides the structural composition of the ring portion 111. A protruding insertion portion 112 can be formed on the first end face 119 or the second end face 1110 of the ring portion 111. The ring portion 111 is then inserted into the output portion 130 via the insertion portion 112, thereby fixing the ring portion 111 to the output portion 130 and allowing the ring portion 111 to rotate synchronously with the output portion 130, thus achieving power output. Replacing the traditional lug fixing method with an insertion method enhances the anti-rotation effect of the ring portion 111 and makes its structure more regular, facilitating its fabrication via injection molding.

[0084] By providing the insertion portion 112 on the first end face 119 and / or the second end face 1110, the ring portion 111 can be connected to the output portion 130 through the outwardly protruding insertion portion 112 on the end face. This avoids the connection to the fixed carrier by providing a connecting hole in the rigid wheel or a connecting ear on the outside of the rigid wheel in the prior art. With the design of the rigid wheel 110 in this embodiment, the ring portion 111 can be manufactured by injection molding, and the injection molding yield is higher, which can meet the process requirements. At the same time, the design of the rigid wheel 110 in this embodiment can also make the physical properties of the ring portion 111 more consistent, and can maintain good stability during the movement of the flexible wheel 120, thereby improving the operating stability of the harmonic reducer.

[0085] It is understood that in some embodiments, the plug-in portion 112 may be provided only on the first end face 119, and then connected to the output portion 130 through the plug-in portion 112 on the first end face 119. In some embodiments, the plug-in portion 112 may also be provided on the second end face 1110, and then connected to the base 114 through the plug-in portion 112 on the second end face 1110. In other embodiments, as shown in FIG5 and 6, the plug-in portion 112 is provided on both the first end face 119 and the second end face 1110, and is connected to the output portion 130 and the base 114 of the rigid wheel 110 through the plug-in portion 112 on the first end face 119 and the plug-in portion 112 on the second end face 1110, respectively, thereby maintaining good connection strength.

[0086] It is understandable that the plug portion 112 protrudes from the first end face 119 and the second end face 1110 along the axial direction of the ring portion 111, that is, along the normal direction of the first end face 119 and the second end face 1110 where the plug portion 112 is located.

[0087] Understandably, the seat 114 of the rigid wheel 110 can be used to fix the ring 111, thereby fixing and supporting the ring 111. A second insertion interface 115 is provided on the rigid wheel 110 corresponding to the insertion portion 112. The insertion portion 112 is inserted into the second insertion interface 115, thereby limiting the ring 111 in the circumferential direction and preventing the ring 111 from rotating relative to the output portion 130 and / or the seat 114. A first insertion interface 132 can be formed on the output portion 130.

[0088] In some embodiments, the plug-in portion 112 includes a first connecting post 1121 and a second connecting post 1122. There are multiple first connecting posts 1121 and multiple second connecting posts 1122. The multiple first connecting posts 1121 are evenly arranged along the circumference of the ring portion 111 on the first end face 119 and the second end face 1110, and the multiple second connecting posts 1122 are evenly arranged along the circumference of the ring portion 111 on the first end face 119 and the second end face 1110.

[0089] The first end face 119 is provided with both a first connecting post 1121 and a second connecting post 1122.

[0090] The lengths of the first connecting posts 1121 and the lengths of the second connecting posts 1122 are the same.

[0091] As shown in Figures 3 to 9, the length of the first connecting post 1121 in the axial direction of the ring portion 111 is greater than the length of the stop 1111 in the axial direction of the ring portion 111. That is, the first connecting post 1121 protrudes from the stop 1111 in the axial direction of the ring portion 111, allowing the first connecting post 1121 to be inserted deeper into the second insertion interface 115 or the first insertion interface 132. The length of the second connecting post 1122 in the axial direction of the ring portion 111 is equal to the length of the stop 1111 in the axial direction of the ring portion 111. This satisfies the requirements for different insertion depths and facilitates injection molding.

[0092] The first connecting post 1121 and the second connecting post 1122 are both connected to the stop 1111, thereby improving the overall strength.

[0093] As shown in Figures 3 to 9, at least a portion of the first connecting post 1121 and at least a portion of the second connecting post 1122 are arranged alternately in the circumferential direction of the ring portion 111, which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0094] Specifically, a second connecting post 1122 is provided on both sides of the first connecting post 1121 in the circumferential direction of the ring portion 111, and a first connecting post 1121 is provided on both sides of the second connecting post 1122 in the circumferential direction of the ring portion 111.

[0095] The first connecting post 1121 on the first end face 119 and the first connecting post 1121 on the second end face 1110 are arranged opposite each other along the axial direction of the ring portion 111, and the second connecting post 1122 on the first end face 119 and the second connecting post 1122 on the second end face 1110 are arranged opposite each other along the axial direction of the ring portion 111, which further improves the connection reliability and overall balance.

[0096] As shown in Figures 3 to 9, in one embodiment, at least two abutting portions 113 are provided on the first end face 119 and / or the second end face 1110. The abutting portions 113 protrude from the first end face 119 and / or the second end face 1110 to abut against the outer wall of the output portion 130 and / or the base 114.

[0097] In this technical solution, by providing the abutment part 113, it is possible to achieve stable abutment with the outer wall of the output part 130 and / or the base 114, thereby ensuring that the rigid wheel 110 has good installation flatness, enhancing the connection stability between the rigid wheel 110 and the output part 130 and / or the base 114, and reducing vibration and noise.

[0098] In some embodiments, a plurality of abutment portions 113 on the first end face 119 protrude from the first end face 119 by an equal length, thereby achieving smooth contact with the end face of the output portion 130 and / or the base 114 and ensuring good mounting flatness.

[0099] Specifically, the multiple abutment portions 113 on the first end face 119 have the same shape and size, and are evenly arranged along the circumference of the first end face 119 to ensure that they can function effectively.

[0100] In some embodiments, a plurality of abutment portions 113 on the second end face 1110 protrude from the second end face 1110 by an equal length, thereby achieving smooth abutment with the end face of the output portion 130 and / or the base 114 and ensuring good mounting flatness.

[0101] Specifically, the multiple abutment portions 113 on the second end face 1110 have the same shape and size, and are evenly arranged along the circumference of the second end face 1110 to ensure that they can function effectively.

[0102] In some embodiments, the number of abutment portions 113 on the first end face 119 and / or the second end face 1110 can be set according to the size of the rigid wheel 110. Setting an appropriate number of abutment portions 113 can ensure a good abutment effect.

[0103] In one example, the abutting part 113 is provided only on the first end face 119 and abuts against the output part 130 opposite to the first end face 119.

[0104] In another example, the abutment portion 113 is provided only on the second end face 1110 and abuts against the seat 114 opposite to the second end face 1110.

[0105] As shown in Figures 3 to 9, in another example, the abutting part 113 is respectively disposed on the first end face 119 and the second end face 1110, and abuts against the output part 130 and / or the seat body 114 opposite to the first end face 119 and the second end face 1110.

[0106] The abutting portion 113 on the first end face 119 and the abutting portion 113 on the second end face 1110 are arranged opposite each other along the axial direction of the ring portion 111, which further improves the abutting reliability and overall balance.

[0107] As shown in Figures 3 to 9, in one embodiment, a plurality of meshing teeth 117 are formed on the inner ring of the ring portion 111. The tooth surface of the meshing teeth 117 includes a third arc surface segment 1171 and a fourth arc surface segment 1172. The third arc surface segment 1171 and the fourth arc surface segment 1172 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the third arc surface segment 1171 and the fourth arc surface segment 1172 are different.

[0108] In this technical solution, the design of the meshing tooth 117 is further provided. The tooth surface of the meshing tooth 117 includes a third arc surface segment 1171 and a fourth arc surface segment 1172. The third arc surface segment 1171 and the fourth arc surface segment 1172 are arranged along the direction from the tooth root to the tooth tip. The bending directions of the third arc surface segment 1171 and the fourth arc surface segment 1172 are different. Based on this, when the transmission tooth 122 on the flexible wheel 120 meshes with the meshing tooth 117 on the rigid wheel 110, the transmission tooth 122 and the meshing tooth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0109] As shown in Figure 9, in some embodiments, the third arc segment 1171 is concave and the fourth arc segment 1172 is convex. This arrangement can further improve the meshing effect.

[0110] In some embodiments, a second transition surface is formed between the third arc surface segment 1171 and the fourth arc surface segment 1172. The second transition surface is tangential to the third arc surface segment 1171 and the fourth arc surface segment 1172. This arrangement can further ensure the meshing effect and facilitate the preparation of the meshing teeth 117.

[0111] As shown in Figures 1, 2 and 12, in one embodiment, the output section 130 includes an output disk 131 connected to the ring section 111.

[0112] In this technical solution, an output section 130 is further provided, which can be connected to the rigid wheel 110. In some embodiments, the output section 130 includes an output disk 131 connected to the ring section 111. Based on this, during operation, when the wave generator 160 is loaded with the flexible wheel 120, the flexible wheel 120 is forced to undergo elastic deformation into an ellipse. The transmission teeth 122 near both ends of the major axis of the ellipse are fully engaged with the meshing teeth 117 on the rigid wheel 110, while the transmission teeth 122 near both ends of the minor axis of the ellipse are completely disengaged from the meshing teeth 117 on the rigid wheel 110. As the wave generator 160 rotates, the deformed part of the flexible wheel 120 also rotates, causing the engagement and disengagement states between the flexible wheel 120 and the rigid wheel 110 to continuously change, thereby achieving different rotational speeds between the flexible wheel 120 and the rigid wheel 110. The output disk 131 is then connected to the rigid wheel body, thus realizing power output and achieving a deceleration effect.

[0113] As shown in Figure 12, in one embodiment, a first plug-in interface 132 is formed on the output disk 131, and a plug-in portion 112 on the ring portion 111 is used to plug into the first plug-in interface 132.

[0114] In this technical solution, the structure of the output disk 131 is further provided. A first insertion interface 132 can be formed on the output disk 131. Based on this, the ring 111 can be connected to the output disk 131 by insertion, so that the output disk 131 can rotate synchronously with the ring 111, ensuring the reliability of the transmission.

[0115] As shown in Figure 2, in one embodiment, the rigid wheel 110 further includes a seat 114, and a ring portion 111 is connected to the seat 114.

[0116] In this technical solution, the structural composition of the rigid wheel 110 is further provided. The rigid wheel 110 may also include a seat 114. The seat 114 provides an installation position for the ring portion 111. The seat 114 can also serve as part of the outer shell of the harmonic reducer. The seat 114 can further suppress the rotation of the wheel.

[0117] Understandably, when process conditions permit, the ring 111 and the seat 114 can be an integral structure, meaning that the seat 114 and the ring 111 can be manufactured simultaneously through injection molding. However, if the injection molding process cannot guarantee machining accuracy, in order to ensure the meshing accuracy of the flexible wheel 120 and the rigid wheel 110, the ring 111 and the seat 114 can be designed as separate parts. Furthermore, when the ring 111 and the seat 114 are separate structures, considering cost issues, the seat 114 can also be manufactured through injection molding. Of course, if it is difficult to manufacture the seat 114 through injection molding, the seat 114 and the wheel body can be manufactured from different materials or using different processes.

[0118] As shown in FIG7, in one embodiment, a second insertion interface 115 is formed on the base 114, and the insertion portion 112 on the ring portion 111 is used to insert into the second insertion interface 115.

[0119] In this technical solution, the style of the base 114 is further provided. A second insertion interface 115 can be formed on the base 114. The ring 111 can be connected to the base 114 by insertion. The ring 111 and the base 114 can rotate together.

[0120] In one embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion 111, and the positioning protrusion is used to abut against the seat 114.

[0121] In this technical solution, a method is provided for limiting the ring portion 111 to the seat 114 in the circumferential direction. A positioning protrusion can be provided in the circumferential direction of the ring portion 111, and the positioning protrusion abuts against the seat 114, which can fix the ring portion 111.

[0122] In some embodiments, in order to further improve the connection effect between the seat 114 and the ring 111, the seat 114 may cover a portion of the ring 111.

[0123] In some embodiments, in order to further improve the connection effect between the seat 114 and the ring 111, a positioning groove may be provided on the seat 114, and a positioning protrusion may extend into the positioning groove.

[0124] In one embodiment, the ring portion 111 is in an interference fit and / or a transition fit and / or a clearance fit with the seat 114.

[0125] In this technical solution, another method of fixing the ring 111 and the seat 114 in the circumferential direction is provided. The ring 111 and the seat 114 can also be connected by interference fit or transition fit. Based on this, the same function of fixing the ring 111 can be achieved. With this structure, the outer wall of the ring 111 can be smooth, and no other limiting components are required, which makes it easier to precisely process the ring 111.

[0126] It is understandable that the ring 111 and the seat 114 can also be fitted with a small gap, which can also serve to fix the ring 111. With this structure, the outer wall of the ring 111 can be smooth, without the need for other limiting components, which makes it easier to precisely process the ring 111.

[0127] As shown in Figure 2, in one embodiment, the harmonic reducer further includes: an external connection portion 140, the external connection portion 140 including: a housing 141, the housing 141 being sleeved on at least a portion of the rigid wheel 110, the housing 141 having a mounting portion formed thereon; and a first bearing 142, the first bearing 142 being disposed between the housing 141 and the rigid wheel 110.

[0128] In this technical solution, the harmonic reducer may also include an external connection part 140, which is used to connect the harmonic reducer to other equipment. The external connection part 140 facilitates the fixing and assembly of the harmonic reducer.

[0129] In this technical solution, the structure of the external connection part 140 is further provided. Considering that the output part 130 is connected to the rigid wheel 110, the rigid wheel 110 will rotate. Therefore, the housing 141 of the external connection part 140 is sleeved on at least part of the rigid wheel 110 to play a protective role. At the same time, the first bearing 142 is placed between the housing 141 and the rigid wheel 110 to make the rotation of the rigid wheel 110 more stable.

[0130] Understandably, in order to facilitate the assembly and maintenance of the harmonic reducer, the housing 141 can be fitted onto part of the base 114, and the first bearing 142 can be fitted onto the base 114, located between the base 114 and the housing 141.

[0131] As shown in Figure 2, in one embodiment, the rigid wheel 110 further includes a limiting member 116, which is connected to the seat 114 of the rigid wheel 110 or is an integral structure with the seat 114. The first bearing 142 is sleeved on the seat 114, and the limiting member 116 is used to limit the first bearing 142.

[0132] In this technical solution, the rigid wheel 110 may also include a limiting member 116, which is connected to the seat 114. The limiting member 116 can limit the first bearing 142, thereby reducing the probability of the first bearing 142 falling off and ensuring the reliability of the harmonic reducer.

[0133] As shown in Figure 2, in one embodiment, the harmonic reducer further includes a cover plate 150, which is connected to the housing 141.

[0134] In this technical solution, the harmonic reducer may also include a cover plate 150, which is connected to the housing 141 and can cover the harmonic reducer, making the harmonic reducer more aesthetically pleasing and more integrated.

[0135] As shown in Figures 10 and 11, in one embodiment, the flexible wheel 120 includes: a toothed segment 121, and a transmission tooth 122 is provided on the outer wall of the toothed segment 121. The tooth surface of the transmission tooth 122 includes a first arcuate segment 1221 and a second arcuate segment 1222. The first arcuate segment 1221 and the second arcuate segment 1222 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the first arcuate segment 1221 and the second arcuate segment 1222 are different.

[0136] In this technical solution, the structure of the flexible wheel 120 is further provided. The tooth surface of the transmission tooth 122 includes a first arc surface segment 1221 and a second arc surface segment 1222. The first arc surface segment 1221 and the second arc surface segment 1222 are arranged in the direction from the tooth root to the tooth tip. The bending directions of the first arc surface segment 1221 and the second arc surface segment 1222 are different. Based on this, when the transmission tooth 122 on the flexible wheel 120 meshes with the meshing tooth 117 on the rigid wheel 110, the transmission tooth 122 and the meshing tooth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0137] In some embodiments, the first arc surface segment 1221 is concave and the second arc surface segment 1222 is convex, forming a first transition surface segment between the first and second arc surfaces. The first transition surface segment is tangential to the first arc surface segment 1221 and the second arc surface segment 1222. Based on this, when the transmission teeth 122 on the flexible wheel 120 meshes with the meshing teeth 117 on the rigid wheel 110, the transmission teeth 122 and the meshing teeth 117 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0138] As shown in Figures 10 and 11, in one embodiment, the flexible wheel 120 includes a fixing part 123 connected to the tooth segment 121; wherein a fastener passes through the cover plate 150 and the fixing part 123 and is connected to the housing 141.

[0139] In this technical solution, the flexible gear 120 may also include a fixing part 123. The fixing part 123 is arranged on the periphery of the tooth segment 121, so that the flexible gear 120 is roughly hat-shaped. The fastener passes through the cover plate 150 and the fixing part 123 and is then connected to the housing 141, which can complete the fixing of the flexible gear 120 and make the structure of the harmonic reducer more compact.

[0140] As shown in Figure 2, in one embodiment, the first bearing 142 includes a rolling bearing, which can further reduce costs.

[0141] Understandably, rolling bearings can be deep groove ball bearings.

[0142] As shown in Figure 2, in one embodiment, the harmonic reducer further includes: a wave generator 160, which is connected to the flexible wheel 120; and an input section 170, which is connected to the wave generator 160. The wave generator 160 includes a cam 161 and a second bearing 162 sleeved on the cam 161.

[0143] This technical solution further provides the structural composition of a harmonic reducer, which may include a wave generator 160 and an input section 170. During operation, the input section 170 is connected to the wave generator 160. When the wave generator 160 is fitted with the flexible wheel 120, it forces the flexible wheel 120 to undergo elastic deformation into an ellipse. When the input section 170 drives the wave generator 160 to rotate, the transmission teeth 122 near the ends of the major axis of the ellipse fully mesh with the meshing teeth 117 on the rigid wheel 110, while the transmission teeth 122 near the ends of the minor axis of the ellipse completely disengage from the meshing teeth 117 on the rigid wheel 110. As the wave generator 160 rotates, the deformed portion of the flexible wheel 120 also rotates, causing the meshing and disengagement states between the flexible wheel 120 and the rigid wheel 110 to continuously change, thereby achieving different rotational speeds between the flexible wheel 120 and the rigid wheel 110. The output disc 131 is then connected to the wheel body, thus realizing power output and achieving the deceleration effect.

[0144] In this technical solution, the wave generator 160 includes a cam 161 and a second bearing 162 sleeved on the cam 161, which enables the rotation of the wave generator 160 to be smoother. To reduce costs, the second bearing 162 can be an elastic bearing.

[0145] It is understandable that the connection between the wave generator 160 and the flexible wheel 120 may include, but is not limited to, interference fit, transition fit, or small clearance fit.

[0146] As shown in Figure 2, in one embodiment, the harmonic reducer further includes a third bearing 180, with the output section 130 sleeved on a portion of the input section 170, and the third bearing 180 disposed between the input section 170 and the output section 130.

[0147] In this technical solution, the structural composition of the harmonic reducer is further provided. The output part 130 is sleeved in a part of the input part 170, which makes the structure of the harmonic reducer more compact. The third bearing 180 is set between the input part 170 and the output part 130, which makes the rotation of the input part 170 and the output part 130 more stable, and can further ensure the transmission accuracy of the harmonic reducer.

[0148] In one embodiment, the material used to fabricate the flexible wheel 120 includes injection-molded engineering plastic. This arrangement facilitates the injection molding of the flexible wheel 120 while ensuring its mechanical strength.

[0149] In some embodiments, the materials used to prepare the flexible wheel 120 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the flexible wheel 120 include pure materials such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), and polyphenylene sulfide (PPS), as well as related materials reinforced with glass fiber and / or carbon fiber.

[0150] In one embodiment, the material used to manufacture the rigid wheel 110 includes injection-molded engineering plastic. This configuration ensures the machining accuracy and mechanical strength of the rigid wheel 110.

[0151] In some embodiments, the materials used to prepare the rigid wheel 110 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the rigid wheel 110 include pure materials such as polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), and polyphenylene sulfide (PPS), as well as related materials reinforced with glass fiber and / or carbon fiber.

[0152] As shown in Figures 1 to 12, a robotic arm is provided according to a second aspect of the embodiments of this application, including a harmonic reducer as described in any of the above technical solutions.

[0153] The robotic arm provided in this application embodiment includes a harmonic reducer as described in any of the above technical solutions, and therefore possesses all the beneficial effects of the harmonic reducer described in the above technical solutions.

[0154] In some embodiments, the robotic arm may include a robotic arm body and a power unit. The power unit can be connected to the robotic arm body through a harmonic reducer, which can regulate the rotational speed, making the robotic arm work more stably.

[0155] As shown in Figures 1 to 13, a cleaning device 1 is proposed according to a third aspect of the embodiments of this application, including: a harmonic reducer as described in any of the above technical solutions or a robotic arm 2 as described above.

[0156] The cleaning device 1 provided in this application embodiment includes a harmonic reducer as described in any of the above technical solutions or a robotic arm 2 as described in the above solutions. Therefore, the cleaning device has all the beneficial effects of the harmonic reducer or robotic arm 2 described in the above technical solutions.

[0157] The cleaning equipment provided in this application embodiment includes a harmonic reducer that can be connected to the main body of the cleaning equipment to reduce the speed of the power components within the main body of the cleaning equipment. The first cavity formed on the harmonic reducer facilitates the layout of the wiring or pipelines in the main body of the cleaning equipment. Furthermore, the second cavity on the harmonic reducer allows the wiring and pipelines to pass through the harmonic reducer, which simplifies the wiring and pipeline layout of the cleaning equipment.

[0158] It is understandable that the cleaning equipment can be automated, and may also include a base station. The main body of the cleaning equipment can be placed inside the base station, which can then clean the cleaning components of the main body, replenish water and cleaning agents, etc., making the cleaning equipment more convenient to use. In this case, the cleaning equipment requires more power components, such as the walking unit, cleaning rollers, and robotic arms for grasping obstacles. When the power components need to reduce speed, harmonic reducers can be used.

[0159] The harmonic reducer of the cleaning equipment provided in this application embodiment is lighter, which facilitates the flexible movement of the main body of the cleaning equipment. The harmonic reducer is also cheaper, thereby reducing the cost of the cleaning equipment.

[0160] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0161] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit 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 invention.

[0162] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0163] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A harmonic reducer characterized by, include: A rigid wheel, the rigid wheel including a ring portion, is manufactured by injection molding; A flexible wheel, which is used to engage with the ring portion; and An output section is connected to one of the rigid wheel and the flexible wheel.

2. The harmonic reducer according to claim 1, characterized in that, The ratio of the maximum radial thickness to the minimum radial thickness of the ring is in the range of 1-1.

5.

3. The harmonic reducer according to claim 1, characterized in that, The ring portion is a solid structure.

4. The harmonic reducer according to claim 1, characterized in that, The first end face and / or the second end face of the ring are respectively provided with a plug-in portion, the plug-in portion protruding from the first end face and / or the second end face to be plugged into the output portion; The insertion part and the ring part are an integral structure.

5. The harmonic reducer of claim 4, wherein, The plug-in portion includes at least two first connecting posts and at least two second connecting posts, wherein the length of the second connecting post in the axial direction of the ring portion is less than the length of the first connecting post in the axial direction of the ring portion.

6. The harmonic reducer of claim 5, wherein, When a stop is provided on the first end face and / or the second end face, the length of the first connecting post in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting post in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

7. The harmonic reducer of claim 5, wherein, At least a portion of the first connecting post and at least a portion of the second connecting post are arranged alternately in the circumferential direction of the ring portion.

8. The harmonic reducer according to claim 1, characterized in that, At least two abutting portions are respectively provided on the first end face and / or the second end face of the ring portion, and the abutting portions protrude from the first end face and / or the second end face to abut against the outer wall of the output portion.

9. The harmonic reducer according to claim 1, characterized in that, The inner ring of the ring portion has a plurality of meshing teeth, the tooth surface of the meshing teeth including a third arc surface segment and a fourth arc surface segment, the third arc surface segment and the fourth arc surface segment are arranged in the direction from the tooth root to the tooth tip, and the curvature direction of the third arc surface segment and the fourth arc surface segment are different.

10. The harmonic reducer of any one of claims 1 to 9, wherein, The output section includes: An output disk is connected to the ring portion.

11. The harmonic reducer according to claim 10, characterized in that, The output disk has a first plug-in interface, and the plug-in portion on the ring is used to plug into the first plug-in interface.

12. The harmonic reducer of any one of claims 1 to 9, wherein, The rigid wheel also includes: The ring portion is connected to the base.

13. The harmonic reducer according to claim 12, characterized in that, The base has a second insertion interface, and the insertion part on the ring is used to insert into the second insertion interface.

14. The harmonic reducer according to claim 12, characterized in that, The outer circumferential wall of the ring portion is provided with a positioning protrusion, which is used to abut against the seat body.

15. The harmonic reducer according to claim 12, characterized in that, The ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the seat body.

16. The harmonic reducer of any one of claims 1 to 9, wherein, Also includes: External connection portion, the external connection portion including: A housing, which is fitted onto at least a portion of the rigid wheel, and a mounting portion is formed on the housing; and A first bearing is disposed between the housing and the rigid wheel.

17. The harmonic reducer of claim 16, wherein, The rigid wheel also includes: A limiting member is provided, which is connected to the seat of the rigid wheel or is an integral structure with the seat. The first bearing is sleeved on the seat, and the limiting member is used to limit the first bearing.

18. The harmonic reducer of claim 16, wherein, Also includes: A cover plate, which is connected to the housing.

19. The harmonic reducer of claim 18, wherein, The flex wheel includes: A tooth segment, wherein a transmission tooth is provided on the outer wall of the tooth segment, and the tooth surface of the transmission tooth includes a first arc surface segment and a second arc surface segment, the first arc surface segment and the second arc surface segment being arranged along the direction from the tooth root to the tooth tip, and the curvature directions of the first arc surface segment and the second arc surface segment being different; and A fixing part is connected to the tooth segment; The fastener passes through the cover plate and the fixing part and is connected to the housing.

20. The harmonic reducer according to claim 16, characterized in that, The first bearing includes a rolling bearing.

21. The harmonic reducer of any one of claims 1 to 9, wherein, Also includes: A wave generator, the wave generator being connected to the flexible wheel; and The input section is connected to the wave generator; The wave generator includes a cam and a second bearing mounted on the cam.

22. The harmonic reducer of claim 21, wherein, Also includes: The third bearing is provided, wherein the output section is sleeved on a portion of the input section, and the third bearing is disposed between the input section and the output section.

23. The harmonic reducer according to any one of claims 1 to 9, characterized in that, The materials used to fabricate the flexible wheel include injection-molded engineering plastics; and / or The material used to manufacture the rigid wheel includes injection-molded engineering plastics.

24. A robotic arm, comprising: include: The harmonic reducer as described in any one of claims 1 to 23.

25. A cleaning apparatus, characterized by include: The robotic arm as described in claim 24.

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