Harmonic gearbox, mechanical arm, and cleaning device

Abstract

A harmonic gearbox, a mechanical arm, and a cleaning device. The harmonic gearbox comprises a wave generator (110) and an input assembly (120), a first cavity (122) being formed in an input shaft (121) of the input assembly (120). On this basis, during operation of the harmonic gearbox, power can be input by means of the input shaft (121), and the input shaft (121) drives the wave generator (110) to rotate. When it is necessary to introduce the harmonic gearbox into a cable or pipeline, the cable or pipeline can use the first cavity inside the input shaft (121), and the cable or pipeline can pass through the input shaft (121) by means of the first cavity, to complete deployment of the cable. On this basis, the space inside the input assembly (120) can be fully utilized, so that the layout of the cable or pipeline is more convenient, the volume of the harmonic gearbox is reduced, and the structure of the harmonic gearbox is more compact. In addition, the cable or pipeline passes through the input shaft (121) formed having the first cavity, so that winding can be avoided, the structure of the harmonic gearbox can be simplified, the cost of the harmonic gearbox can be reduced, and the working reliability of the harmonic gearbox can be improved.

Description

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

[0001] This application claims priority to Chinese patent application No. 202422534136.2, 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] Transmission equipment requires drive components to input power. When using harmonic reducers, they usually need to be connected to other equipment or devices. When inputting power and connecting to other components, cables, lines or pipes often need to be connected to the harmonic reducer. The wiring of harmonic reducers in traditional technology is inconvenient, resulting in a complex structure of harmonic reducers, which is not conducive to the promotion of harmonic reducers. 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] Wave generator; and

[0011] An input component, the input component being connected to the wave generator;

[0012] The input component includes an input shaft, a first cavity is formed within the input shaft, and the input shaft is connected to the wave generator.

[0013] In one embodiment, the harmonic reducer further includes:

[0014] A flexible wheel, wherein the wave generator is connected to the flexible wheel;

[0015] Rigid wheel, the flexible wheel being engaged with the rigid wheel; and

[0016] An output component, the output component being connected to the flexible wheel, and a second cavity being formed on the output component;

[0017] The second cavity is connected to the first cavity.

[0018] In one implementation, the output component includes:

[0019] Output shaft, the second cavity being formed within the output shaft; or

[0020] An output flange, wherein the second cavity is formed within the output flange.

[0021] In one embodiment, the flexible wheel is manufactured by injection molding; and / or

[0022] The rigid wheel is manufactured by injection molding.

[0023] In one embodiment, the harmonic reducer further includes:

[0024] A connecting portion is disposed on the flexible wheel and protrudes from the surface of the flexible wheel;

[0025] The output component is connected to the flexible wheel via the connecting part.

[0026] In one embodiment, the connecting part and the flexible wheel are an integral structure.

[0027] In one embodiment, the rigid wheel includes a ring portion and a plurality of meshing teeth, the plurality of meshing teeth being formed on the inner ring of the ring portion, the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion being in the range of 1-1.5;

[0028] The rigid wheel is manufactured by injection molding.

[0029] In one embodiment, the rigid wheel includes:

[0030] The base and the cover plate are provided with insertion portions on the first end face and / or the second end face of the ring, respectively. The insertion portions protrude from the first end face and / or the second end face to be inserted into the base and the cover plate.

[0031] In one embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion, and the positioning protrusion is used for the seat to abut against.

[0032] In one embodiment, the ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the seat body.

[0033] In one embodiment, the material used to fabricate the flexible wheel includes injection-molded engineering plastics; and / or

[0034] The material used to manufacture the rigid wheel includes injection-molded engineering plastics.

[0035] In one implementation, the input component further includes:

[0036] A sliding bearing or a rolling bearing, wherein the sliding bearing sleeve or the rolling bearing is disposed on the input shaft.

[0037] In one implementation, the input component further includes:

[0038] Rotor, the rotor being connected to the input shaft; and

[0039] A locking assembly for locking the rotor.

[0040] In one embodiment, the locking component includes:

[0041] A drive unit, the drive unit being connected to the housing of the harmonic reducer; and

[0042] A pin, the driving component is connected to the pin, and is used to drive the pin to move closer to or away from the rotor.

[0043] In one embodiment, the rotor has a plurality of insertion holes on the side facing the locking assembly, and the pin is used to insert into the insertion holes.

[0044] In one embodiment, the harmonic reducer further includes:

[0045] A control board, connected to the input component, and used at least to control the start and stop of the input component;

[0046] A detection element, which is used to detect the state of the input component.

[0047] A robotic arm is provided according to a second aspect of the embodiments of this application, comprising:

[0048] Harmonic reducers as described in any of the above technical solutions.

[0049] A third aspect of the embodiments of this application provides a cleaning device, comprising:

[0050] The main body of the cleaning equipment;

[0051] The harmonic reducer or the robotic arm described in any of the above technical solutions.

[0052] In one embodiment, the main body of the cleaning device includes:

[0053] A drive assembly and a first cable, the first cable passing through the first cavity and connected to the drive assembly.

[0054] In one embodiment, the main body of the cleaning device includes:

[0055] A sensor and a second cable, the second cable passing through the first cavity and connected to the sensor.

[0056] In one embodiment, the main body of the cleaning device includes:

[0057] Hydraulic components and hydraulic lines, wherein the hydraulic lines pass through the first cavity and are connected to the hydraulic components.

[0058] Compared with the prior art, this application includes at least the following beneficial effects.

[0059] The harmonic reducer provided in this application includes a wave generator and an input component. A first cavity is formed within the input shaft of the input component. Based on this, during operation, power can be input via the input shaft, which drives the wave generator to rotate. When cables or conduits need to be routed through the harmonic reducer, the cables or conduits can utilize the first cavity within the input shaft. The cables or conduits can pass through the first cavity to complete the cable routing. This fully utilizes the internal space of the input component, making cable and conduit routing more convenient, reducing the size of the harmonic reducer, and making its structure more compact. Furthermore, since the cables or conduits pass through the input shaft with the first cavity, the harmonic reducer can avoid winding without the need for or with fewer wiring loops, simplifying its structure, reducing its cost, and improving its operational reliability. Attached Figure Description

[0060] 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:

[0061] Figure 1 is a schematic structural diagram of a harmonic reducer according to an embodiment of this application;

[0062] Figure 2 is a schematic structural diagram of the first angle of a cross-section of a harmonic reducer according to an embodiment of this application;

[0063] Figure 3 is a schematic structural diagram of a cross-section of a harmonic reducer according to an embodiment of this application from a second angle;

[0064] Figure 4 is a schematic cross-sectional view of a harmonic reducer according to an embodiment of this application from a second angle;

[0065] Figure 5 is a schematic structural diagram of the flex wheel of a harmonic reducer according to an embodiment of this application;

[0066] Figure 6 is a schematic structural diagram of the flexure of a harmonic reducer according to an embodiment of this application from another angle;

[0067] Figure 7 is a schematic structural diagram of the transmission teeth of the flexure of a harmonic reducer according to an embodiment of this application;

[0068] Figure 8 is a schematic structural diagram of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0069] Figure 9 is a schematic structural diagram of the rigid wheel and the seat of a harmonic reducer according to an embodiment of this application, in a disassembled state.

[0070] Figure 10 is a schematic structural diagram of the first angle of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0071] Figure 11 is a schematic structural diagram of the second angle of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0072] Figure 12 is a schematic structural diagram of the first angle of the base of a harmonic reducer according to an embodiment of this application;

[0073] Figure 13 is a schematic structural diagram of the second angle of the base of a harmonic reducer according to an embodiment of this application;

[0074] Figure 14 is a schematic structural diagram of the meshing teeth of the rigid wheel of a harmonic reducer according to an embodiment of this application.

[0075] Figure 15 is a schematic structural diagram of a cleaning device and a robotic arm according to an embodiment of this application.

[0076] Figure 16 is a schematic block diagram of the main body of a cleaning device according to an embodiment of this application.

[0077] Reference numerals: 1 Cleaning equipment; 2 Robotic arm; 101 Drive assembly; 102 Sensor; 103 Hydraulic component; 104 First cable; 105 Second cable; 106 Hydraulic pipeline; 110 Wave generator; 120 Input assembly; 130 Flexible wheel; 140 Rigid wheel; 150 Output assembly; 160 Connecting part; 170 Sliding bearing; 180 Control board; 190 Detection component; 121 Input shaft; 122 First cavity; 123 Rotor; 124 Locking assembly; 1231 Insertion hole; 1241 Drive component; 1242 Pin; 131 Assembly hole; 132 Tooth segment; 133 Transmission tooth; 1331 First arc surface segment; 1332 Second arc surface segment; 141 Ring, 142 Engaging tooth, 143 Seat, 144 Cover; 145 Insertion part, 146 Abutment part, 147 Insertion interface, 148 First end face, 149 Second end face, 1410 Stop, 1421 Third arc surface segment, 1422 Fourth arc surface segment, 1451 First connecting post, 1452 Second connecting post; 151 Second cavity, 152 Output flange; 161 Connecting post. Detailed Implementation

[0078] 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.

[0079] As shown in Figures 1 to 14, a harmonic reducer is provided according to a first aspect of the embodiments of this application, comprising: a wave generator 110; an input component 120 connected to the wave generator 110; wherein the input component 120 includes an input shaft 121, a first cavity 122 is formed in the input shaft 121, and the input shaft 121 is connected to the wave generator 110.

[0080] The harmonic reducer provided in this embodiment includes a wave generator 110 and an input component 120. A first cavity 122 is formed within the input shaft 121 of the input component 120. Based on this, during operation, power can be input via the input shaft, which drives the wave generator 110 to rotate. When cables or conduits need to be routed through the harmonic reducer, the cables or conduits can utilize the first cavity 122 within the input shaft. The cables or conduits can pass through the first cavity 122 to complete the cable arrangement. This fully utilizes the internal space of the input component 120, making cable and conduit layout more convenient, reducing the size of the harmonic reducer, and making its structure more compact. Furthermore, since the cables or conduits pass through the input shaft with the first cavity 122, the harmonic reducer can avoid wire winding without the need for or with fewer wiring loops, simplifying its structure, reducing its cost, and improving its operational reliability.

[0081] As shown in Figures 1 to 4, in one embodiment, the harmonic reducer further includes: a flexible wheel 130, to which a wave generator 110 is connected; a rigid wheel 140, to which the flexible wheel 130 meshes; and an output assembly 150, to which the output assembly 150 is connected, and a second cavity 151 is formed on the output assembly 150; wherein the second cavity 151 is connected to the first cavity 122.

[0082] In this technical solution, the harmonic reducer may further include a flexible wheel 130, a rigid wheel 140, and an output component 150. During use, when the wave generator 110 is inserted into the flexible wheel 130, it forces the flexible wheel 130 to undergo elastic deformation into an ellipse. When the input component 120 is activated, the transmission teeth 133 near the ends of the major axis of the ellipse are fully engaged with the meshing teeth 142 on the rigid wheel 140, while the transmission teeth 133 near the ends of the minor axis of the ellipse are completely disengaged from the meshing teeth 142 on the rigid wheel 140. As the wave generator 110 rotates, the deformed portion of the flexible wheel 130 also rotates, causing the engagement and disengagement states between the flexible wheel 130 and the rigid wheel 140 to continuously change, thereby achieving a slow rotation of the flexible wheel 130 relative to the rigid wheel 140 and achieving a deceleration effect.

[0083] In this technical solution, a second cavity 151 is formed on the output component 150. Based on this, when the output component 150 of the harmonic reducer needs to connect or disconnect pipes and lines, the lines or pipes pass through the second cavity 151 through the output component 150. This makes full use of the internal space of the output component 150, making the layout of cables and pipes more convenient, which helps to reduce the size of the harmonic reducer and make the structure of the harmonic reducer more compact. At the same time, since the cables or pipes pass through the output component 150 with the second cavity 151, the harmonic reducer can avoid winding without the need for or with fewer connection rings. This simplifies the structure of the harmonic reducer, reduces the cost of the harmonic reducer, and improves the reliability of the harmonic reducer.

[0084] In this technical solution, the second cavity 151 is connected to the first cavity 122. Based on this, when the harmonic reducer needs to be connected to or contact lines and pipes, or when lines or pipes need to pass through the harmonic reducer, the lines and pipes can pass through the harmonic reducer using the first cavity 122 and the second cavity 151, which makes the layout of lines and pipes more convenient.

[0085] It is understandable that the connection between the wave generator 110 and the flexible wheel 130 may include, but is not limited to, interference fit, transition fit, or small clearance fit.

[0086] As shown in Figures 1 to 4, in one embodiment, the output assembly 150 includes an output shaft, and a second cavity 151 is formed within the output shaft; or in another embodiment, the output assembly 150 includes an output flange 152, and the second cavity 151 is formed within the output flange 152.

[0087] This technical solution further provides the structural composition of the output component. The output component 150 may include an output shaft or an output flange 152, allowing the output component 150 to output in two different ways, thereby increasing the application scenarios of the harmonic reducer. Simultaneously, both the output shaft and the output flange 152 can be hollow structures, forming a second cavity 151 within the output shaft or output flange for lines or pipes to pass through.

[0088] In one embodiment, the flexible wheel 130 is manufactured by injection molding. This configuration has two advantages: first, it improves the machining accuracy of the flexible wheel 130, thereby ensuring the transmission accuracy of the harmonic reducer; second, it reduces the cost of the harmonic reducer.

[0089] It is understood that the materials used to prepare the flexible wheel 130 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the flexible wheel 130 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.

[0090] In one embodiment, the rigid wheel 140 is manufactured by injection molding. This configuration has two advantages: first, it improves the machining accuracy of the rigid wheel 140, thereby ensuring the transmission accuracy of the harmonic reducer; second, it reduces the cost of the harmonic reducer.

[0091] It is understood that the materials used to prepare the rigid wheel 140 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the rigid wheel 140 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.

[0092] As shown in Figures 5 to 7, in one embodiment, the harmonic reducer further includes: a connecting part 160 disposed on the flexure 130, the connecting part 160 protruding from the surface of the flexure 130; and an output component 150 connected to the flexure 130 through the connecting part 160.

[0093] In conventional technologies, connecting holes are typically provided on the flexible wheel 130, and then a connecting part 160, such as a bolt, passes through the connecting hole to connect to the power output assembly 150. However, during manufacturing, the connecting hole shrinks, resulting in defects such as incomplete filling of the tooth profile during injection molding, affecting transmission accuracy and reducing the strength of the flexible wheel 130. Therefore, the harmonic reducer provided in this embodiment includes a flexible wheel 130, a connecting part 160, and an output assembly 150. During the manufacturing process of the harmonic reducer, a protruding connecting part 160 is formed on the surface of the flexible wheel 130, which facilitates the production and processing of the flexible wheel 130 and the connecting part 160, improving processing accuracy. For example, the flexible wheel 130 and the connecting part 160 can be integrally molded using injection molding, replacing the conventional method of providing connecting holes on the flexible wheel 130. This reduces or eliminates the probability of deformation of the connecting part 160, thereby ensuring the transmission accuracy of the harmonic reducer.

[0094] In the assembly process of the harmonic reducer provided in this application embodiment, the output component 150 is connected to the flexible wheel 130 through the connecting part 160. The connecting part 160 protrudes from the surface of the flexible wheel 130, and at least a portion of the connecting part 160 can extend into the output component 150. In other words, at least a portion of the output component 150 is sleeved on the connecting part 160. Based on this, it is convenient to quickly assemble the output component 150 and the connecting part 160, and to connect the output component 150 and the flexible wheel 130.

[0095] In the operation of the harmonic reducer provided in this application embodiment, after transmission, the flexible wheel 130 is connected to the output component 150 as the source of power output. During the process of the flexible wheel 130 driving the output component 150 to move, the connecting part 160 protruding from the surface of the flexible wheel 130 can play the role of transmitting torque, making the movement of the output component 150 more stable. At the same time, by forming the connecting part 160 protruding on the flexible wheel 130, the overall mechanical strength of the flexible wheel 130 can be improved, which can improve the service life of the harmonic reducer.

[0096] As shown in Figures 5 to 7, in one embodiment, the connecting part 160 includes a plurality of connecting posts 161, which are disposed on the inner surface and / or outer surface of the bottom of the flexible wheel 130.

[0097] In this technical solution, the connecting part 160 may include a plurality of connecting posts 161. Based on this, in the first aspect, the output component 150 is connected to the flexible wheel 130 through the plurality of connecting posts 161, so that there are multiple connection points between the output component 150 and the flexible wheel 130, which makes the connection between the output component 150 and the flexible wheel 130 more reliable. At the same time, the torque output through the plurality of connecting posts 161 can ensure the stability of the operation of the output component 150.

[0098] In some embodiments, all connecting parts 160 can be arranged on the inner surface of the flexible wheel 130. Based on this, some components of the output assembly 150 can be arranged on the inner surface of the flexible wheel 130 connecting post 161, and other components can be arranged on the outer surface of the flexible wheel 130. In addition to connecting with the flexible wheel 130 through the connecting parts 160, the output assembly 150 can also clamp the flexible wheel 130, which can further ensure transmission accuracy.

[0099] In some embodiments, all connecting posts 161 can be arranged on the outer surface of the flexible wheel 130. This arrangement facilitates the alignment of the output assembly 150 and the connecting part 160, thereby improving assembly efficiency.

[0100] In some embodiments, some connecting posts 161 may be distributed on the inner surface of the flexure 130, and other connecting posts 161 may be distributed on the outer surface of the flexure 130. That is, connecting posts 161 may be distributed on both the inner and outer surfaces of the flexure 130, which can make the contact between the connecting part 160 and the output component 150 more sufficient and further ensure transmission accuracy.

[0101] It is understandable that the connecting post 161 can be cylindrical, frustum-shaped, prismatic, prism-shaped, or conical. It is only necessary to ensure that the output component 150 and the connecting part 160 are aligned.

[0102] In some embodiments, the connecting post 161 has a cylindrical structure. This configuration facilitates, firstly, the manufacturing and processing of the connecting post 161; secondly, it facilitates the connection post 161's cooperation with the output component 150, allowing the connecting post 161 to be inserted into parts of the output component 150.

[0103] In some embodiments, when the multiple connecting posts 161 are cylindrical, the multiple connecting posts 161 have the same diameter and the same height. That is to say, the structure and style of the connecting posts 161 can be the same, which facilitates the rapid alignment of the output component 150 with the multiple connecting posts 161.

[0104] In some embodiments, the maximum width of the cross-section of the multiple connecting posts 161 is the same, and the height of the multiple connecting posts 161 is the same. That is to say, the structure and style of the connecting posts 161 can be the same, which facilitates the rapid alignment of the output component 150 with the multiple connecting posts 161.

[0105] As shown in Figures 5 to 7, in some embodiments, the multiple connecting posts 161 are at least divided into a first group and a second group. The connecting posts 161 in the first group have the same maximum cross-sectional width, and the connecting posts 161 in the second group have the same maximum cross-sectional width. However, the maximum cross-sectional widths of the connecting posts 161 in the first group and the second group are different. The connecting posts 161 in the first group are arranged radially opposite to each other along the flexure 130, and the connecting posts 161 in the second group are also arranged radially opposite to each other along the flexure 130. The heights of the connecting posts 161 in the first group and the second group are the same. In this technical solution, the diameters of the connecting posts 161 in different groups can be different. Based on this, when assembling the output component 150 with the connecting part 160, the different diameters can prevent mistaken assembly, ensuring accurate assembly of the output component 150 and the flexure 130. Furthermore, during the operation of the harmonic reducer, the output torque is generated by the connecting posts 161 in the same group with the same maximum cross-sectional width and those in different groups with different maximum cross-sectional widths, making the transmission of the output component 150 more reliable.

[0106] In one embodiment, the bottom of the flexible wheel 130 is provided with an assembly hole 131, and a plurality of connecting posts 161 are evenly arranged along the circumference of the assembly hole 131.

[0107] In this technical solution, the flexible wheel 130 can also have a mounting hole 131. The mounting hole 131 can serve as a mounting stop for the flexible wheel 130. The output component 150 is fixed by cooperating with the connecting post 161 through the mounting hole 131. Part of the output component 150 can extend into the mounting hole 131, which facilitates the establishment of a connection between the output component 150 and the flexible wheel 130.

[0108] In some embodiments, the connecting portion 160 is disposed at the bottom of the flexible wheel 130, and the location of the connecting portion 160 is further provided. This arrangement facilitates the injection molding of the connecting portion 160 and the flexible wheel 130, and also facilitates the connection of the output component 150 to the connecting portion 160.

[0109] As shown in Figures 5 to 7, in one embodiment, the flexible wheel 130 includes: a toothed segment 132, and a transmission tooth 133 is provided on the outer wall of the toothed segment 132. The tooth surface of the transmission tooth 133 includes a first arcuate segment 1331 and a second arcuate segment 1332. The first arcuate segment 1331 and the second arcuate segment 1332 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the first arcuate segment 1331 and the second arcuate segment 1332 are different.

[0110] In this technical solution, the flexible wheel 130 may include a toothed segment 132, on which multiple transmission teeth 133 may be formed. Through the arrangement of these multiple transmission teeth 133, during operation, when the wave generator 110 is inserted into the flexible wheel 130, it is forced to undergo elastic deformation into an ellipse. The transmission teeth 133 near the ends of the major axis of the ellipse are fully engaged with the meshing teeth 142 on the rigid wheel 140, while the transmission teeth 133 near the ends of the minor axis of the ellipse are completely disengaged from the meshing teeth 142 on the rigid wheel 140. As the wave generator 110 rotates, the deformed portion of the flexible wheel 130 also rotates, causing the engagement and disengagement states between the flexible wheel 130 and the rigid wheel 140 to continuously change, thereby achieving a slow rotation of the flexible wheel 130 relative to the rigid wheel 140, thus achieving a deceleration effect.

[0111] In this technical solution, a tooth profile structure for the transmission tooth 133 is further provided. The tooth surface of the transmission tooth 133 includes a first arc surface segment 1331 and a second arc surface segment 1332. The first arc surface segment 1331 and the second arc surface segment 1332 are arranged along the direction from the tooth root to the tooth tip. The first arc surface segment 1331 and the second arc surface segment 1332 have different curvature directions. Based on this, when the transmission tooth 133 on the flexible wheel 130 meshes with the meshing tooth 142 on the rigid wheel 140, the transmission tooth 133 and the meshing tooth 142 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0112] As shown in Figures 5 to 7, in some embodiments, the first arc surface segment 1331 is concave and the second arc surface segment 1332 is convex, forming a transition surface segment between the first and second arc surfaces. The transition surface segment is tangential to the first arc surface segment 1331 and the second arc surface segment 1332. Based on this, when the transmission teeth 133 on the flexible wheel 130 mesh with the meshing teeth 142 on the rigid wheel 140, the transmission teeth 133 and the meshing teeth 142 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0113] As shown in Figures 4 to 7, in one embodiment, the harmonic reducer further includes: a mounting hole 131 is provided at the bottom of the flexible wheel 130, and at least a portion of the output component 150 is located within the mounting hole 131.

[0114] In this technical solution, the output component 150 can be inserted into the mounting hole 131 at the bottom of the flex wheel 130. The mounting hole 131 serves as a mounting stop, which can make the coaxiality between the movement of the flex wheel 130 and the movement of the output component higher, and can further ensure the reliability of the flex wheel 130 transmission.

[0115] In one embodiment, the flexible wheel 130 and the connecting part 160 are an integral structure.

[0116] In this technical solution, the flexible wheel 130 and the connecting part 160 are an integral structure. This design has two advantages: First, it ensures the mechanical strength of the flexible wheel 130 and the connecting part 160. When the transmission is carried out through the harmonic reducer, the connecting part 160 can serve as the main force-bearing point to drive the output component 150 to rotate. The integral structural design can extend the service life of the harmonic reducer. Second, it facilitates the manufacturing of the flexible wheel 130 and the connecting part 160, ensuring processing accuracy and reducing costs.

[0117] In one embodiment, the flexible wheel 130 and the connecting portion 160 are manufactured by injection molding.

[0118] This technical solution further provides a manufacturing process for the flexible wheel 130 and the connecting part 160. The flexible wheel 130 and the connecting part 160 can be manufactured by injection molding, and the connecting part 160 is designed to protrude from the flexible wheel 130. This facilitates the preparation of the injection mold and ensures the manufacturing accuracy. Compared with the opening scheme in the traditional technology, it can avoid the shrinkage of the hole structure in the connecting part 160, thus ensuring the reliability of the flexible wheel 130 and the connecting part 160.

[0119] As shown in Figures 1 to 4 and Figures 8 to 14, in one embodiment, the harmonic reducer further includes: a rigid wheel 140, and a flexible wheel 130 for meshing with the rigid wheel 140; wherein the rigid wheel 140 includes a ring portion 141 and a plurality of meshing teeth 142, the plurality of meshing teeth 142 being formed on the inner ring of the ring portion 141, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 141 being in the range of 1-1.5; the radial thickness of the ring portion 141 refers to the distance between the outer wall surface and the inner wall surface of the ring portion 141. The rigid wheel 140 is manufactured by injection molding.

[0120] Considering that the rigid wheel 140 of the harmonic generator 110 in traditional technology is mostly made by precision machining of metal, resulting in high cost and heavy weight of the harmonic generator 110, this technical solution further provides the structural composition of a harmonic reducer. The harmonic reducer may also include a rigid wheel 140, which includes a ring portion 141 and meshing teeth 142 formed on the ring portion 141. The rigid wheel 140 is made by injection molding. Based on this, the production cost of the rigid wheel 140 can be reduced by manufacturing the ring portion 141 through injection molding, thereby reducing the cost and weight of the harmonic reducer and facilitating its widespread use. In particular, it is convenient to apply the harmonic reducer to mobile smart home appliances, which can make the movement of smart home appliances more flexible while ensuring the transmission effect.

[0121] The harmonic reducer provided in this embodiment addresses the issue that the structure of the rigid wheel 140 in conventional technology typically requires components for fixing the rigid wheel 140, such as lugs. Furthermore, the rigid wheel 140 sometimes serves as the housing of the harmonic reducer, making its structure quite complex. Therefore, if the rigid wheel 140 in conventional technology were manufactured using injection molding, it would be difficult to guarantee injection molding accuracy, or even impossible to perform injection molding at all. Based on this, the harmonic reducer provided in this embodiment includes a ring portion 141 in the rigid wheel 140, which is the part where the rigid wheel 140 meshes with the flexible wheel 130. This ring portion is manufactured using injection molding, and it is approximately annular. This design facilitates the creation of a mold corresponding to the ring portion 141, ensuring injection molding accuracy and making the meshing of the rigid wheel 140 and the flexible wheel 130 more reliable. This, in turn, reduces costs while ensuring transmission accuracy.

[0122] As shown in Figures 8 to 14, in one embodiment, the tooth surface of the meshing tooth 142 includes a third arc surface segment 1421 and a fourth arc surface segment 1422. The third arc surface segment 1421 and the fourth arc surface segment 1422 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the third arc surface segment 1421 and the fourth arc surface segment 1422 are different.

[0123] In this technical solution, the design of the meshing tooth 142 is further provided. The tooth surface of the meshing tooth 142 includes a third arc surface segment 1421 and a fourth arc surface segment 1422. The third arc surface segment 1421 and the fourth arc surface segment 1422 are arranged along the direction from the tooth root to the tooth tip. The curvature directions of the third arc surface segment 1421 and the fourth arc surface segment 1422 are different. Based on this, when the transmission tooth 133 on the flexible wheel 130 meshes with the meshing tooth 142 on the rigid wheel 140, the transmission tooth 133 and the meshing tooth 142 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0124] In some embodiments, the third arc segment 1421 is concave and the fourth arc segment 1422 is convex, which can further improve the meshing effect.

[0125] In some embodiments, a second transition surface is formed between the third arc surface and the fourth arc surface. The second transition surface is tangent to the third arc surface and the fourth arc surface. This arrangement can further ensure the meshing effect and facilitate the preparation of the meshing teeth 142.

[0126] As shown in Figures 3-4 and 8 to 14, in some embodiments, a stop 1410 is provided on the first end face 148 and / or the second end face 149 of the ring portion 141. The seat body 143 and the cover body 144 are also provided with corresponding stops. The ring portion 141 is inserted into the stops of the seat body 143 and the cover body 144 through the stops 1410, which improves positioning accuracy and connection stability. The stop 1410 may be provided only on the first end face 148, only on the second end face 149, or simultaneously on both end faces 148 and 149. The stop 1410 extends along the outer circumference of the first end face 148 and the second end face 149.

[0127] In one embodiment, a plug-in portion 145 is provided on the first end face 148 and / or the second end face 149 of the ring portion 141. The plug-in portion 145 protrudes from the first end face 148 and / or the second end face 149 to be plugged into the seat 143 and the cover 144 of the ring portion 141.

[0128] In this technical solution, a ring portion 141 is further provided. A protruding insertion portion 145 can be formed on the first end face 148 or the second end face 149 of the ring portion 141. This insertion portion 145 is then inserted into the base 143 and the cover 144, fixing the ring portion 141 to the base 143 and the cover 144 and preventing rotation of the ring portion 141 on the base 143 and the cover 144. This provides support for the rigid wheel 140, which in turn supports the rotation of the flexible wheel 130, allowing the flexible wheel 130 to rotate and thus achieve power output. Replacing the traditional lug fixing method with an insertion method enhances the anti-rotation effect of the ring portion 141 and makes its structure more regular, facilitating its fabrication through injection molding.

[0129] In this technical solution, by providing the insertion part 145 on the first end face 148 and / or the second end face 149, the ring part 141 can be connected to the seat body 143 and the cover body 144 through the outwardly protruding insertion part 145 on the end face. This avoids the connection to the seat body 143 and the cover body 144 by providing a connecting hole in the rigid wheel 140 or a connecting ear on the outside of the rigid wheel 140 in the prior art. With the design of the rigid wheel 140 in this embodiment, the rigid wheel 140 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 140 in this embodiment can also make the various physical properties of the rigid wheel 140 more consistent, and can maintain good stability during the movement of the flexible wheel 130, thereby improving the operating stability of the harmonic reducer.

[0130] It is understood that the insertion part 145 may be provided only on the first end face 148, and thus connected to the base 143 and the cover 144 through the insertion part 145 on the first end face 148. Alternatively, the insertion part 145 may be provided only on the second end face 149, and thus connected to the base 143 and the cover 144 through the insertion part 145 on the second end face 149. In this embodiment, the insertion part 145 is provided on both the first end face 148 and the second end face 149, and is connected to the base 143 and the cover 144 respectively through the insertion part 145 on the first end face 148 and the insertion part 145 on the second end face 149, thereby ensuring good connection strength.

[0131] It is understandable that the insertion portion 145 protrudes from the first end face 148 and the second end face 149 along the axial direction of the ring portion 141, that is, along the normal direction of the first end face 148 and the second end face 149.

[0132] Understandably, the base 143 and cover 144 are used to fix the ring 141, thereby fixing and supporting the ring 141. The base 143 and cover 144 are provided with insertion interfaces 147 corresponding to the insertion part 145. The insertion part 145 is inserted into the insertion interface 147, thereby limiting the ring 141 in the circumferential direction and preventing the ring 141 from rotating relative to the base 143 and cover 144.

[0133] As shown in Figures 8 to 14, in some embodiments, the insertion portion 145 includes at least two first connecting posts 1451 and at least two second connecting posts 1452. The length of the second connecting post 1452 in the axial direction of the ring portion 141 is less than the length of the first connecting post 1451 in the axial direction of the ring portion 141, which can meet the requirements of different insertion depths.

[0134] In some embodiments, there are multiple first connecting posts 1451 and multiple second connecting posts 1452. The multiple first connecting posts 1451 are evenly arranged along the circumference of the ring portion 141 on the first end face 148 and the second end face 149, and the multiple second connecting posts 1452 are evenly arranged along the circumference of the ring portion 141 on the first end face 148 and the second end face 149.

[0135] In some embodiments, the first end face 148 is provided with both a first connecting post 1451 and a second connecting post 1452.

[0136] In some embodiments, the lengths of the first connecting posts 1451 are the same, and the lengths of the second connecting posts 1452 are the same.

[0137] In some embodiments, the length of the first connecting post 1451 in the axial direction of the ring portion 141 is greater than the length of the stop 1410 in the axial direction of the ring portion 141, that is, the first connecting post 1451 protrudes beyond the stop 1410 in the axial direction of the ring portion 141, allowing the first connecting post 1451 to be inserted deeper into the insertion interface 147. The length of the second connecting post 1452 in the axial direction of the ring portion 141 is equal to the length of the stop 1410 in the axial direction of the ring portion 141, which satisfies different insertion depth requirements while facilitating injection molding.

[0138] As shown in Figures 8 to 14, in some embodiments, the first connecting post 1451 and the second connecting post 1452 are both connected to the stop 1410, thereby improving the overall strength.

[0139] In some embodiments, at least a portion of the first connecting post 1451 and at least a portion of the second connecting post 1452 are alternately arranged in the circumferential direction of the ring portion 141, which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0140] The first connecting post 1451 has a second connecting post 1452 on both sides of the ring portion 141 in the circumferential direction, and the second connecting post 1452 has a first connecting post 1451 on both sides of the ring portion 141 in the circumferential direction.

[0141] The first connecting post 1451 on the first end face 148 and the first connecting post 1451 on the second end face 149 are arranged opposite each other along the axial direction of the ring portion 141, and the second connecting post 1452 on the first end face 148 and the second connecting post 1452 on the second end face 149 are arranged opposite each other along the axial direction of the ring portion 141, which further improves the connection reliability and overall balance.

[0142] As shown in Figures 8 to 14, in one embodiment, at least two abutting portions 146 are provided on the first end face 148 and / or the second end face 149. The abutting portions 146 protrude from the first end face 148 and / or the second end face 149 to abut against the outer walls of the seat body 143 and the cover body 144.

[0143] In this technical solution, by setting the abutment part 146, it is possible to achieve stable abutment with the outer wall of the seat 143 and the cover 144, thereby ensuring that the rigid wheel 140 has good installation flatness, enhancing the connection stability between the rigid wheel 140 and the seat 143 and the cover 144, and reducing vibration and noise.

[0144] In some embodiments, a plurality of abutment portions 146 on the first end face 148 protrude from the first end face 148 by an equal length, thereby achieving smooth contact with the end faces of the base 143 and the cover 144 and ensuring good installation flatness.

[0145] Specifically, the multiple abutment portions 146 on the first end face 148 have the same shape and size, and are evenly arranged along the circumference of the first end face 148 to ensure that they can function effectively.

[0146] As shown in Figures 8 to 14, in some embodiments, a plurality of abutting portions 146 on the second end face 149 protrude from the second end face 149 by an equal length, thereby achieving smooth contact with the end faces of the base 143 and the cover 144 and ensuring good installation flatness.

[0147] Specifically, the multiple abutment portions 146 on the second end face 149 have the same shape and size, and are evenly arranged along the circumference of the second end face 149 to ensure that they can function effectively.

[0148] As shown in Figures 8 to 14, in some embodiments, the number of abutment portions 146 on the first end face 148 and / or the second end face 149 can be set according to the size of the rigid wheel 140, and setting an appropriate number of abutment portions 146 ensures a good abutment effect.

[0149] In one example, the abutment portion 146 is provided only on the first end face 148 and abuts against the seat 143 and the cover 144 opposite to the first end face 148.

[0150] In another example, the abutment portion 146 is provided only on the second end face 149 and abuts against the seat 143 and the cover 144 opposite to the second end face 149.

[0151] In another example, the abutting part 146 is respectively disposed on the first end face 148 and the second end face 149, and abuts against the seat body 143 and the cover body 144 opposite to the first end face 148 and the second end face 149.

[0152] The abutting portion 146 on the first end face 148 and the abutting portion 146 on the second end face 149 are arranged opposite each other along the axial direction of the ring portion 141, which further improves the abutting reliability and overall balance.

[0153] As shown in Figures 3 to 4 and Figures 8 to 14, in one embodiment, the rigid wheel 140 includes a cover 144 and a seat 143, with an insertion interface 147 formed on the cover 144 and the seat 143, and an insertion part 145 for insertion into the insertion interface 147; the rigid wheel 140 includes a rolling bearing, which is sleeved on the input shaft 121 of the input assembly 120 and located between the seat 143 and the input shaft 121.

[0154] In this technical solution, the structure of the seat 143 and the cover 144 is further provided. The rigid wheel 140 may include the cover 144 and the seat 143. The insertion part 145 is inserted into the cover 144 and the seat 143, which can fix the ring part 141 and further prevent rotation.

[0155] In some embodiments, a portion of the end face of the cover 144 is disposed opposite to the first end face 148, and a portion of the end face of the seat 143 is disposed opposite to the second end face 149. The abutment portion 146 on the first end face 148 is firmly abutted against the end face of the cover 144, and the abutment portion 146 on the second end face 149 is firmly abutted against the end face of the seat 143.

[0156] Specifically, the end face of the cover 144 that abuts against the abutment portion 146 is a plane and is perpendicular to the axis of the rigid wheel 140. The end face of the seat 143 that abuts against the abutment portion 146 is a plane and is perpendicular to the axis of the rigid wheel 140.

[0157] Specifically, the plane where the contact surface of the abutment part 146 abuts against the seat body 143 and the cover body 144 is located is also perpendicular to the axis of the rigid wheel 140.

[0158] In some embodiments, at least some abutting portions and at least some plugging portions 145 are arranged alternately in the circumferential direction of the ring portion 141, which can ensure good mounting flatness while ensuring the connection strength of the connecting portion 160.

[0159] In some embodiments, when the plug portion 145 includes only the first connecting post 1451, at least a portion of the abutting portion and at least a portion of the first connecting post 1451 are alternately arranged in the circumferential direction of the ring portion 141.

[0160] Specifically, in the circumferential direction of the ring portion 141, abutment portions 146 are respectively provided on both sides of a portion of the first connecting post 1451, and first connecting posts 1451 are respectively provided on both sides of a portion of the abutment portions 146.

[0161] In some embodiments, when the plug portion 145 includes a first connecting post 1451 and a second connecting post 1452, at least a portion of the abutting portion 146 and at least a portion of the first connecting post 1451 and the second connecting post 1452 are alternately arranged in the circumferential direction of the ring portion 141.

[0162] Specifically, in the circumferential direction of the ring portion 141, abutment portions 146 are respectively provided on both sides of some of the first connecting posts 1451, and abutment portions are respectively provided on both sides of some of the second connecting posts 1452, thereby forming a cycle of abutment portions 146, first connecting posts 1451, abutment portions 146, second connecting posts 1452, and abutment portions 146 in the circumferential direction.

[0163] In some embodiments, the first end face 148 and the second end face 149 may be provided with positioning marks. When the positioning marks occupy the position of the abutment portion 146, the first connecting post 1451, or the second connecting post 1452, the abutment portion 146, the first connecting post 1451, or the second connecting post 1452 at that position is replaced.

[0164] Specifically, when the positioning mark occupies the position of the abutment 146, the two sides of the positioning mark in the circumferential direction can be the first connecting post 1451 and the second connecting post 1452. When the positioning mark occupies the position of the first connecting post 1451, the two sides of the positioning mark in the circumferential direction can be the abutment 146. When the positioning mark occupies the position of the second connecting post 1452, the two sides of the positioning mark in the circumferential direction can be the abutment 146.

[0165] In some embodiments, the length of the abutment portion 146 in the axial direction of the ring portion 141 is less than the length of the connecting portion 160 in the axial direction of the ring portion 141. This allows the connecting portion 160 to be inserted into the insertion interface 147 on the end faces of the seat body 143 and the cover body 144 when the abutment portion 146 abuts against the end faces of the seat body 143 and the cover body 144. This ensures both good connection strength and good mounting flatness.

[0166] The hole depth of the insertion interface 147 is not less than the length of the corresponding connecting part 160, so that the connecting part 160 is fully inserted into the corresponding insertion interface 147, ensuring that the abutting part 146 is firmly abutted against the end face of the base 143 and the cover 144.

[0167] In some embodiments, a portion of the end face of the cover 144 is disposed opposite to the first end face 148, and a portion of the end face of the seat 143 is disposed opposite to the second end face 149. The abutment portion 146 on the first end face 148 is firmly abutted against the end face of the cover 144, and the abutment portion 146 on the second end face 149 is firmly abutted against the end face of the seat 143.

[0168] In one embodiment, a positioning protrusion is provided on the circumferential outer wall of the outer ring 141, and the positioning protrusion is used to abut against the seat 143.

[0169] In this technical solution, a method is provided for limiting the ring portion 141 in the circumferential direction with the seat body 143. A positioning protrusion can be provided in the circumferential direction of the ring portion 141, and the positioning protrusion abuts against the seat body 143, which can fix the ring portion 141.

[0170] In some embodiments, in order to further improve the connection effect between the seat 143 and the ring 141, the seat 143 may cover a portion of the ring 141.

[0171] In some embodiments, in order to further improve the connection effect between the seat 143 and the ring 141, a positioning groove may be provided on the seat 143, and a positioning protrusion may extend into the positioning groove.

[0172] In one embodiment, the ring portion 141 is in an interference fit and / or a transition fit and / or a clearance fit with the seat 143.

[0173] In this technical solution, another method of fixing the ring 141 and the seat 143 in the circumferential direction is provided. The ring 141 and the seat 143 can also be connected by interference fit or transition fit. Based on this, the same function of fixing the ring 141 can be achieved. With this structure, the outer wall of the ring 141 can be smooth, and no other limiting components are required, which makes it easier to precisely process the ring 141.

[0174] It is understandable that the ring 141 and the seat 143 can also be connected by a small gap fit, which can also serve to fix the ring 141. With this structure, the outer wall of the ring 141 can be smooth, without the need for other limiting components, which makes it easier to precisely process the ring 141.

[0175] In one embodiment, the material used to manufacture the flexible wheel 130 includes injection-molded engineering plastic. This arrangement facilitates the injection molding of the flexible wheel 130 while ensuring its mechanical strength.

[0176] In some embodiments, the flexible wheel 130 and the connecting portion 160 can be made of the same material. The materials used to make the flexible wheel 130 and the connecting portion 160 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to make the flexible wheel 130 and the connecting portion 160 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.

[0177] In one embodiment, the material used to manufacture the rigid wheel 140 includes injection-molded engineering plastic. This configuration ensures the machining accuracy and mechanical strength of the rigid wheel 140.

[0178] In some embodiments, the materials used to prepare the rigid wheel 140 include, but are not limited to, injection-molded engineering plastics. In some embodiments, the materials used to prepare the rigid wheel 140 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.

[0179] In one embodiment, the seat 143 is fitted onto a portion of the ring 141, and a positioning groove is formed on the seat 143, with a positioning protrusion for being positioned within the positioning groove.

[0180] In this technical solution, the structure of the seat 143 is further provided. A positioning groove can be formed on the seat 143. The positioning groove cooperates with the positioning protrusion to further prevent the ring 141 from rotating.

[0181] In one embodiment, the ring portion 141 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.

[0182] In this technical solution, the style of the ring 141 is further provided. The ring 141 can be a solid structure. Compared with the traditional solution where the rigid wheel 140 has a hole, by designing the ring 141 as a solid structure, on the one hand, the mechanical strength of the ring 141 can be improved; on the other hand, it is easier to prepare the ring 141 by injection molding, which can improve the injection molding accuracy.

[0183] As shown in Figures 1 to 4, in one embodiment, the input component 120 further includes a sliding bearing 170 or a rolling bearing, which is sleeved on the input shaft 121.

[0184] In this technical solution, the input component 120 may also include a sliding bearing 170. By sleeved on the input shaft 121, the input shaft 121 can rotate smoothly. At the same time, the thin-walled structure of the sliding bearing 170 can be used to make the input shaft 121 have a larger inner cavity, thereby increasing the volume of the first inner cavity, making it easier for lines or pipes to pass through the input shaft 121, and facilitating the passage of more lines and pipes through the input shaft 121.

[0185] It is understandable that by using rolling bearings, the wall thickness can also be reduced, allowing the input shaft 121 to have a larger inner cavity, which in turn makes it easier to increase the volume of the first inner cavity, making it easier for lines or pipes to pass through the input shaft 121, and allowing more lines and pipes to pass through the input shaft 121.

[0186] It is understood that the sliding bearing 170 may include an oil-impregnated bearing.

[0187] As shown in Figures 1 to 4, in one embodiment, the input component 120 further includes: a rotor 123 connected to the input shaft; and a locking component 124 for locking the rotor 123.

[0188] This technical solution further provides the structural composition of the input component 120, which may include a rotor 123 connected to the input shaft 121. Rotation of the rotor 123 drives the input shaft to rotate, which in turn drives the wave generator 110 to rotate. By setting up the locking component 124, when the rotor 123 is locked by the locking component 124, the rotor 123 stops rotating, which in turn stops the input shaft, facilitating rapid shutdown of the harmonic reducer.

[0189] In some embodiments, to facilitate the layout of the locking assembly 124, the rotor 123 of the input assembly 120 may be arranged outside the stator so that the input assembly 120 forms an outer rotor 123 drive structure.

[0190] As shown in Figure 4, in one embodiment, the locking assembly 124 includes a drive member 1241 and a pin 1242. The drive member 1241 is connected to the housing of the harmonic reducer. The drive member 1241 is connected to the pin 1242 and is used to drive the pin 1242 to move closer to or away from the rotor 123.

[0191] In this technical solution, the structure of the locking assembly 124 is further provided. The locking assembly 124 may include a driving member 1241 and a pin 1242. The driving member 1241 is used to drive the pin 1242 to move closer to or away from the rotor 123. When it is necessary to lock the rotor 123 through the locking assembly 124, the driving member 1241 can be opened, so that the driving member 1241 drives the pin 1242 to move closer to the rotor 123, so that the pin 1242 abuts or inserts into the rotor 123. By restricting the degree of freedom of the rotor 123 through the pin 1242, the rotor 123 can be locked, which facilitates the rapid shutdown of the harmonic reducer.

[0192] It is understood that the specific form of the driving component 1241 is not limited in this application. The driving component 1241 may include any structure that can drive the pin 1242 to move, such as electromagnetic drive, cylinder, electric push rod, hydraulic cylinder, worm gear, gear rack, etc.

[0193] As shown in FIG4, in one embodiment, the rotor 123 has a plurality of insertion holes 1231 formed on the side facing the locking assembly 124, and the pin 1242 is used to be inserted into the insertion holes 1231.

[0194] In this technical solution, a rotor 123 is further provided. Multiple insertion holes 1231 can be formed on the rotor 123. Based on this, when the driving member 1241 drives the pin 1242 to move in the direction of the rotor 123, the pin 1242 can be inserted into the insertion hole 1231 to lock the rotor 123, thereby improving the locking strength.

[0195] As shown in Figures 1 to 4, in one embodiment, the harmonic reducer further includes: a control board 180, which is connected to the input component 120 and is used to control the start and stop of the input component 120; and a detection element 190, which is used to detect the state of the input component 120.

[0196] In this technical solution, the structural composition of the harmonic reducer is further provided. The harmonic reducer may include a control board 180. The control board 180 facilitates the control of the start, stop and rotation speed of the input component 120. The detection element 190 can detect the rotation state of the input component 120, making the control of the harmonic reducer more convenient.

[0197] Understandably, the detection element 190 may include an encoder, and the control board 180 may be connected to the drive element 1241 of the locking assembly 124 to control the movement of the pin 1242.

[0198] As shown in Figures 1 to 14, a robotic arm is provided according to a second aspect of the embodiments of this application, comprising: a harmonic reducer as described in any of the above technical solutions.

[0199] 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.

[0200] 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.

[0201] As shown in Figures 1 to 16, a cleaning device 1 is provided according to a third aspect of the embodiments of this application, comprising: a cleaning device body; a harmonic reducer as described in any of the above technical solutions or a robotic arm as described in any of the above technical solutions 2.

[0202] The cleaning device 1 provided in this application embodiment includes a harmonic reducer or robotic arm 2 as described in any of the above technical solutions, and therefore the cleaning device has all the beneficial effects of the harmonic reducer or robotic arm 2 described in the above technical solutions.

[0203] The cleaning device 1 provided in this application embodiment has a harmonic reducer that can be connected to the main body of the cleaning device to reduce the speed of the power components inside the main body of the cleaning device. The first cavity formed on the harmonic reducer facilitates the layout of the wiring or pipelines of the main body of the cleaning device. 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 device.

[0204] It is understandable that cleaning equipment 1 can be an automatic cleaning device. The cleaning equipment may also include a base station, and the main body of the cleaning equipment can be placed inside the base station. The base station can be used to clean the cleaning components of the main body of the cleaning equipment, and to 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 perform speed reduction transmission, harmonic reducers can be equipped.

[0205] In one embodiment, the main body of the cleaning device includes a drive assembly 101 and a first cable 104, the first cable 104 passing through a first cavity 122 and connected to the drive assembly 101.

[0206] In this technical solution, the main body of the cleaning equipment may include a drive component 101, which can serve as a power source for the movement or cleaning of the main body of the cleaning equipment. The first cable adapted to the drive component can be connected to the drive component through the first cavity 122, making the wiring layout more convenient and simpler.

[0207] In one embodiment, the main body of the cleaning device includes a sensor 102 and a second cable 105, the second cable passing through a first cavity 122 and connected to the sensor.

[0208] In this technical solution, in order to ensure cleaning efficiency and improve cleaning effect, the main body of the cleaning equipment may include multiple sensors 102, and the second cable adapted to the sensor can pass through the first cavity 122 to connect to the sensor, making the wiring layout more convenient and simpler.

[0209] It is understood that sensors include, but are not limited to, position sensors, temperature sensors, liquid level sensors, infrared sensors, and vision sensors.

[0210] In one embodiment, the main body of the cleaning equipment includes a hydraulic component 103 and a hydraulic pipeline 106, the hydraulic pipeline passing through a first cavity 122 and connected to the hydraulic component.

[0211] In this technical solution, in some cases, in order to enable the main body of the cleaning equipment to have sufficient power, hydraulic components can also be installed inside the main body of the cleaning equipment. The hydraulic pipeline used to supply hydraulic oil to the hydraulic components can also pass through the first cavity 122 and be connected to the drive component, making the hydraulic pipeline more convenient and simpler.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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: Wave generator; and An input component, the input component being connected to the wave generator; The input component includes an input shaft, a first cavity is formed within the input shaft, and the input shaft is connected to the wave generator.

2. The harmonic reducer of claim 1, wherein, Also includes: A flexible wheel, wherein the wave generator is connected to the flexible wheel; Rigid wheel, the flexible wheel is used to mesh with the rigid wheel; and An output component, the output component being connected to the flexible wheel, and a second cavity being formed on the output component; The second cavity is connected to the first cavity.

3. The harmonic reducer of claim 2, wherein, The output component includes: Output shaft, the second cavity being formed within the output shaft; or An output flange, wherein the second cavity is formed within the output flange.

4. The harmonic reducer according to claim 2, characterized in that, The flexible wheel is manufactured using an injection molding process; and / or The rigid wheel is manufactured by injection molding.

5. The harmonic reducer of claim 2, wherein, Also includes: A connecting portion is disposed on the flexible wheel and protrudes from the surface of the flexible wheel; The output component is connected to the flexible wheel via the connecting part.

6. The harmonic reducer according to claim 5, characterized in that, The connecting part and the flexible wheel are an integral structure.

7. The harmonic reducer of claim 2, wherein, The rigid wheel includes a ring portion and a plurality of meshing teeth, the plurality of meshing teeth being formed on the inner ring of the ring portion, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion being in the range of 1-1.5; The rigid wheel is manufactured by injection molding.

8. The harmonic reducer of claim 7, wherein, The rigid wheel includes: The base and the cover plate are provided with insertion portions on the first end face and / or the second end face of the ring, respectively. The insertion portions protrude from the first end face and / or the second end face to be inserted into the base and the cover plate.

9. The harmonic reducer according to claim 8, characterized in that, The outer circumferential wall of the ring portion is provided with a positioning protrusion, which is used for the seat to abut against.

10. The harmonic reducer according to claim 9, characterized in that, The ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the seat body.

11. The harmonic reducer according to any one of claims 2 to 10, 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.

12. The harmonic reducer of any one of claims 2 to 10, wherein, The input component further includes a sliding bearing or a rolling bearing, which is sleeved on the input shaft.

13. The harmonic reducer of any one of claims 2 to 10, wherein, The input component further includes: a rotor connected to the input shaft; and A locking assembly for locking the rotor.

14. The harmonic reducer of claim 13, wherein, The locking component includes: A drive unit, the drive unit being connected to the housing of the harmonic reducer; and A pin, the driving component is connected to the pin, and is used to drive the pin to move closer to or away from the rotor.

15. The harmonic reducer according to claim 14, characterized in that, The rotor has a plurality of insertion holes on the side facing the locking assembly, and the pin is used to insert into the insertion holes.

16. The harmonic reducer of any one of claims 1 to 10, wherein, Also includes: A control board, connected to the input component, and used at least to control the start and stop of the input component; A detection element, which is used to detect the state of the input component.

17. A robot arm, characterized in that include: The harmonic reducer as described in any one of claims 1 to 16.

18. A cleaning apparatus, characterized by include: The main body of the cleaning equipment; The harmonic reducer as described in any one of claims 1 to 16 or the robotic arm as described in claim 17.

19. The cleaning apparatus of claim 18, wherein, The main body of the cleaning equipment includes: A drive component and a first cable, the first cable being connected to the drive component.

20. The cleaning apparatus of claim 18, wherein, The main body of the cleaning equipment includes: A sensor and a second cable, the second cable being connected to the sensor.

21. The cleaning apparatus of claim 18, wherein, The main body of the cleaning equipment includes: Hydraulic components and hydraulic lines, wherein the hydraulic lines are connected to the hydraulic components.

Images