Flexible wheel, harmonic reducer, robotic arm, and automatic cleaning device

Abstract

A flexible wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device. The flexible wheel comprises a wheel body and a connecting portion, wherein the connecting portion is arranged on the wheel body, and the connecting portion protrudes from the surface of the wheel body.

Description

Flexible wheels, harmonic reducers, robotic arms, and automated cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411465039.0, filed on October 18, 2024, entitled "Flexible Gear, Harmonic Reducer, Robotic Arm and Automatic Cleaning Equipment", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202422536869.X, filed on October 18, 2024, entitled "Flexible Gear, Harmonic Reducer, Robotic Arm and Automatic Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of transmission equipment technology, specifically relating to a flexible wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device. Background Technology

[0004] 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.

[0005] The wave generator is the input component of the harmonic reducer. When the wave generator is fitted with a flexure, it forces the flexure to undergo elastic deformation, forming an ellipse. The flexure has fewer teeth than the rigid wheel. Near the major axis of the ellipse, the flexure teeth are fully engaged with the rigid wheel teeth, while near the minor axis, they are completely disengaged. As the wave generator rotates, the deformed portion of the flexure also rotates, causing the engagement and disengagement states between the flexure and rigid wheel to continuously change. This results in the flexure rotating slowly relative to the rigid wheel, achieving a speed reduction effect.

[0006] Existing flexible wheels are made in one piece through injection molding. During injection molding, connecting holes are formed on the flexible wheel, and connecting components such as bolts pass through the connecting holes to connect to the power output components. However, during injection molding, the connecting holes shrink, causing defects such as incomplete filling of the tooth profile, which affects the transmission accuracy. Summary of the Invention

[0007] Therefore, the technical problem to be solved by this application is to provide a flexible wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device that can reduce the impact of the injection molding process on the precision of the flexible wheel.

[0008] To address the aforementioned problems, a first aspect of this application provides a flexible wheel, including a wheel body and a connecting portion, wherein the connecting portion is disposed on the wheel body and protrudes from the surface of the wheel body.

[0009] Optionally, the connecting part is located at the bottom of the wheel body.

[0010] Optionally, the connecting part includes a plurality of connecting posts, which are disposed at the bottom of the wheel body and protrude from the surface of the wheel body. The connecting posts are used to connect with the torque output carrier.

[0011] Optionally, the connecting post is disposed on the inner and / or outer surface of the bottom of the wheel body.

[0012] Optionally, the bottom of the wheel body is provided with an assembly hole, and a plurality of connecting posts are evenly arranged along the circumference of the assembly hole.

[0013] Optionally, the connecting column can be a cylindrical structure, a prism structure, or a cone structure.

[0014] Optionally, the maximum width of the cross-section of each of the connecting posts is the same, and the height of each of the connecting posts is the same.

[0015] Optionally, the plurality of connecting posts are at least divided into a first connecting group and a second connecting group. The maximum width of the cross-section of the connecting post in the first connecting group is different from the maximum width of the cross-section of the connecting post in the second connecting group. The connecting posts in the first connecting group are arranged opposite each other in the radial direction of the wheel body, and the connecting posts in the second connecting group are arranged opposite each other in the radial direction of the wheel body. The height of the connecting posts in the first connecting group is the same as the height of the connecting posts in the second connecting group.

[0016] Optionally, the wheel body includes a tooth segment, and a transmission tooth is provided on the outer wall of the tooth segment. 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 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the first arc surface segment and the second arc surface segment are different.

[0017] Optionally, the first arc segment is concave, and the second arc segment is convex.

[0018] Optionally, the wheel body includes a waist section, the wall thickness of which increases in the direction from the opening of the wheel body toward the bottom of the wheel body.

[0019] Optionally, the wall thickness of the waist segment is 0.2 to 3 mm.

[0020] Optionally, the wall thickness of the waist segment is 0.25 to 1 mm.

[0021] Optionally, the ratio of the axial length to the radial length of the flexible wheel is I, and the range of I is 0.2 to 1.

[0022] Optionally, the flexible wheel is injection molded.

[0023] Optionally, the material used to manufacture the flexible wheel includes injection-molded engineering plastics.

[0024] A second aspect of this application provides a harmonic reducer, including the flex wheel as described above.

[0025] Optionally, the torque output carrier of the harmonic reducer includes an output section, a first stop is provided on the flexible wheel, and a second stop is provided on the output section, wherein the first stop and the second stop are inserted into each other.

[0026] Optionally, the output part includes a limiting member and an output member. The limiting member has a limiting hole, the connecting part is used to pass through the limiting hole, and the output member is connected to the limiting member. The connecting part is disposed on the inner surface of the bottom of the flexible wheel, and the limiting member and the output member are respectively located on both sides of the bottom of the flexible wheel. The bottom of the flexible wheel is provided with an assembly hole, and at least part of the output member is located in the assembly hole. The harmonic reducer includes a fastener, and the fastener passes through the limiting member and is connected to the output member.

[0027] A third aspect of this application provides a robotic arm, including a flexible wheel as described above or a harmonic reducer as described above.

[0028] A fourth aspect of this application provides an automatic cleaning device, including a flexible wheel as described above, a harmonic reducer as described above, or a robotic arm as described above.

[0029] The embodiments of this application provide a flexible wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device. The flexible wheel, by incorporating a wheel body and a connecting portion protruding from the wheel body surface, avoids the shrinkage problem that occurs during injection molding of connecting holes in existing technologies. This effectively prevents defects such as incomplete filling of the tooth profile due to connecting hole shrinkage, thereby improving transmission accuracy and ensuring that the flexible wheel can stably and accurately transmit power during transmission. It also makes the flexible wheel easier to integrally mold using injection molding, improving the yield rate. By incorporating multiple connecting posts, the force can be distributed, making the connection between the flexible wheel and the torque output carrier more stable and reliable. Compared to the existing method of forming connecting holes on the flexible wheel, the flexible wheel in this embodiment has higher overall strength, which can improve the service life of the harmonic reducer.

[0030] Attached Figure Description

[0031] Figure 1 is a first three-dimensional structural schematic diagram of the flexible wheel according to an embodiment of this application;

[0032] Figure 2 is a schematic diagram of the second three-dimensional structure of the flexible wheel according to an embodiment of this application;

[0033] Figure 3 is a top view of the flexible wheel according to an embodiment of this application;

[0034] Figure 4 is an enlarged view of point A in Figure 3;

[0035] Figure 5 is a bottom view of the flexible wheel according to an embodiment of this application;

[0036] Figure 6 is a front view of the flexible wheel according to an embodiment of this application;

[0037] Figure 7 is a three-dimensional structural diagram of the flexible wheel in the harmonic reducer according to an embodiment of this application;

[0038] Figure 8 is a cross-sectional view of a harmonic reducer according to an embodiment of this application.

[0039] The reference numerals in the attached figures are as follows:

[0040] 1. Wheel body; 11. Assembly hole; 12. Transmission gear; 121. First arc surface segment; 122. Second arc surface segment; 13. Waist segment; 14. First stop; 2. Connecting column; 3. Fastener; 4. Limiting component; 41. Limiting hole; 5. Output component. Detailed Implementation

[0041] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0045] Referring to Figures 1 to 6, according to a first aspect of an embodiment of this application, a flexible wheel is provided, including a wheel body 1 and a connecting portion, the connecting portion being disposed on the wheel body 1 and protruding from the surface of the wheel body 1.

[0046] By setting the wheel body 1 and the connecting part protruding from the surface of the wheel body 1, the shrinkage problem caused by injection molding of the connecting hole in the prior art is avoided. This effectively prevents defects such as incomplete filling of the tooth profile due to shrinkage of the connecting hole, thereby improving transmission accuracy and ensuring that the flex wheel can transmit power stably and accurately during transmission. It also makes it easier to use injection molding to integrally mold the flex wheel, improving the yield rate. By setting multiple connecting posts 2, the force can be distributed, making the connection between the flex wheel and the torque output carrier more stable and reliable. Compared with the method of forming connecting holes on the flex wheel in the prior art, the overall strength of the flex wheel in this embodiment is higher, which can improve the service life of the harmonic reducer.

[0047] In this embodiment, the wheel body 1 and the connecting part are integrally formed using injection molding.

[0048] The surface of wheel 1 includes an inner surface and an outer surface.

[0049] Specifically, the wheel body 1 is roughly cup-shaped, with an internal space for accommodating the wave generator. The inner wall of the cup-shaped structure of the wheel body 1 is the inner surface, and the outer wall is the outer surface.

[0050] The connecting part is located at the bottom of wheel body 1, allowing the flexible wheel to connect to the torque output carrier via the bottom, thereby outputting power from the bottom of the flexible wheel and distributing the torque more evenly. This design helps optimize force distribution and improves the stability and reliability of the flexible wheel during operation. Furthermore, it improves the connection stability between the flexible wheel and the torque output carrier, thus enhancing transmission stability and reducing energy loss and transmission errors caused by unstable connections. Positioning the connecting part at the bottom of wheel body 1 also makes the flexible wheel structure more compact and the overall layout more rational.

[0051] The bottom of wheel 1 refers to the bottom of the cup-shaped structure formed by wheel 1, that is, the side away from the opening.

[0052] The connecting part includes multiple connecting posts 2, which are located at the bottom of the wheel body 1 and protrude from the surface of the wheel body 1. The connecting posts 2 are used to connect with the torque output carrier. By setting the connecting posts 2, the shrinkage problem caused by injection molding of the connecting holes in the prior art can be avoided, while ensuring that the flexible wheel can stably and accurately transmit power during transmission. By setting multiple connecting posts 2, the force is effectively distributed, making the connection between the flexible wheel and the torque output carrier more stable and reliable. Moreover, the connecting posts 2 are also easy to assemble and disassemble, improving the efficiency of assembly and disassembly.

[0053] The connecting post 2 can be a cylindrical, prismatic, or conical structure. As shown in Figure 1, in this embodiment, the connecting post 2 is taken as a cylinder. This facilitates the manufacturing and processing of the connecting post 2. Furthermore, it facilitates the connection post 2's fit with the torque output carrier, allowing it to be inserted into certain components of the torque output carrier.

[0054] The connecting post 2, located on its outer edge furthest from the bottom of the wheel body 1, has a guide surface to facilitate its insertion into certain components of the torque output carrier. The guide surface can be an inclined plane or an arc surface, and its angle and dimensions need to be optimized according to the actual assembly requirements. A suitable guide surface can guide the connecting post 2 during assembly, allowing it to be smoothly inserted into the corresponding component, reducing assembly resistance, improving assembly efficiency, and preventing damage to the connecting post 2 and other components during assembly.

[0055] In another feasible example, the connecting column 2 is a prism structure, specifically a regular prism structure, such as a rhomboid column or a square column, which can also facilitate production and processing as well as facilitate cooperation with the torque output carrier.

[0056] In another feasible example, the connecting column 2 is a conical structure, which can also facilitate production and processing as well as facilitate cooperation with the torque output carrier.

[0057] The parallel arrangement of multiple connecting posts 2 facilitates assembly and disassembly, and makes the connection between the flexible wheel and the torque output carrier more stable and reliable. The parallel arrangement of the connecting posts 2 ensures that each post 2 is subjected to uniform force during assembly, improving the stability and reliability of the connection. Furthermore, the parallel arrangement of the connecting posts 2 is easier to implement when designing the mold, reducing the manufacturing difficulty and cost.

[0058] The connecting post 2 is disposed on the inner surface and / or outer surface of the bottom of the wheel body 1.

[0059] In one feasible example, the connecting post 2 is only disposed on the inner surface of the bottom of the wheel body 1. Based on this, some components of the torque output carrier can be disposed on the connecting post 2 on the inner surface of the flex wheel, while other components of the torque output carrier can be disposed on the outer surface of the flex wheel. In addition to connecting with the flex wheel, the torque output carrier can also clamp the flex wheel, which can further ensure transmission accuracy.

[0060] In this example, the bottom of the wheel body 1 is provided with a mounting hole 11, and multiple connecting posts 2 are evenly arranged circumferentially along the mounting hole 11. By providing the mounting hole 11, at least a portion of the torque output carrier can enter the receiving space of the flexspline through the mounting hole 11, and then connect with the connecting posts 2 on the inner surface of the bottom of the wheel body 1, thereby clamping the flexspline and further ensuring transmission accuracy. The size and shape of the mounting hole 11 need to be designed according to the structure and assembly requirements of the torque output carrier. For example, the diameter of the mounting hole 11 should be slightly larger than the size of the corresponding component of the torque output carrier to facilitate its smooth passage. At the same time, the edges of the mounting hole 11 can be chamfered to avoid scratching the components during assembly.

[0061] In this example, by arranging multiple connecting posts 2 evenly along the circumference of the mounting hole 11, the force distributed among the connecting posts 2 is more even when the flexure is subjected to torque, avoiding excessive local stress. This improves the overall stability and service life of the flexure and reduces the risk of loosening or failure at the connection points. It also makes the structure of the flexure more balanced, reducing deformation or vibration caused by uneven stress, further improving the working performance and reliability of the flexure. The evenly arranged connecting posts 2 make it easier to accurately align with corresponding components during assembly, ensuring assembly precision and reducing the impact of assembly errors on the performance of the flexure.

[0062] In this example, the mounting hole 11 can serve as the mounting stop for the flexible wheel. The torque output carrier is fixed by engaging with the connecting post 2 through the mounting hole 11. Part of the torque output carrier can extend into the receiving space of the flexible wheel, which facilitates the establishment of a connection with the flexible wheel.

[0063] In another feasible example, the connecting post 2 is only set on the outer surface of the bottom of the wheel body 1. This setting facilitates the alignment of the torque output carrier with the connecting post 2 and can improve assembly efficiency.

[0064] In another feasible example, some of the connecting posts 2 can be distributed on the inner surface of the flexure, and other connecting posts 2 can be distributed on the outer surface of the flexure. That is to say, connecting posts 2 can be distributed on both the inner and outer surfaces of the flexure, which can make the contact between the connecting posts 2 and the torque output carrier more sufficient and further ensure the transmission accuracy.

[0065] In a feasible example, the maximum width of the cross-section of each connecting post 2 is the same, and the height of each connecting post 2 is the same. That is to say, the structure and style of the connecting post 2 can be the same. The same diameter and height make the connecting post 2 have better consistency during the assembly process, which facilitates the rapid alignment of the torque output carrier with multiple connecting posts 2, and also improves the load-bearing capacity and service life of the connecting post 2.

[0066] In this context, the cross-section of connecting column 2 refers to the section perpendicular to its own central axis. When connecting column 2 is a cylindrical or conical structure, the maximum width of the cross-section is the diameter of the circle formed by the cross-section. When connecting column 2 is a prism structure, the maximum width is the width of each diagonal in the cross-section.

[0067] In another feasible example, the multiple connecting posts 2 are divided into at least a first connecting group and a second connecting group. The maximum width of the cross-section of the connecting posts 2 in the first connecting group is different from that in the second connecting group. The connecting posts 2 in the first connecting group are arranged radially opposite to each other along the wheel body 1, and the connecting posts 2 in the second connecting group are also arranged radially opposite to each other along the wheel body 1. The height of the connecting posts 2 in the first connecting group is the same as that in the second connecting group. By setting different diameters for the connecting posts 2 in different groups, a mistake-proof assembly effect can be achieved when assembling the torque output carrier with the connecting part, ensuring accurate assembly of the torque output carrier with the flexible wheel. Simultaneously, during the operation of the harmonic reducer, the torque output carrier's transmission is made more reliable by outputting torque through connecting posts 2 of different diameters. In practical applications, the diameter differences and layout of the different connecting groups need to be determined according to the specific assembly process and transmission requirements. For example, the optimal diameter combination and radial relative position can be determined through experiments and simulation analysis to achieve the best assembly effect and transmission performance.

[0068] The first connection group includes at least two connecting posts 2. The second connection group also includes at least two connecting posts 2. This design ensures that each connection group can effectively distribute the force, improving the stability and reliability of the connection.

[0069] Among them, the connecting columns 2 in the same group have the same diameter. This helps to ensure the consistency of the connecting columns 2 in the same group during the force and transmission process, and reduces stress concentration and transmission error caused by diameter differences.

[0070] Specifically, in this embodiment, the diameter of the connecting post 2 of the first connecting group is larger than the diameter of the connecting post 2 of the second connecting group.

[0071] More specifically, in this embodiment, the first connecting group includes six connecting posts 2, and the second connecting group includes two connecting posts 2. The two connecting posts 2 in the second connecting group are arranged radially opposite to each other along the wheel body 1. The six connecting posts 2 in the first connecting group are arranged in pairs radially opposite to each other along the wheel body 1. This layout can make full use of the space at the bottom of the wheel body 1 to achieve a reasonable force distribution while ensuring connection stability. At the same time, the radially opposite connecting posts 2 can better resist torque and radial force, improving the overall performance of the flexible wheel.

[0072] In this configuration, the central axes of all connecting posts 2 are evenly distributed circumferentially along the central axis of the wheel body 1. This even distribution ensures that the force distributed among the connecting posts 2 is more uniform when the flexible wheel is subjected to torque, thereby further improving the stability and reliability of the flexible wheel.

[0073] The wheel body 1 includes a toothed segment, and a transmission tooth 12 is provided on the outer wall of the toothed segment. The tooth surface of the transmission tooth 12 includes a first arc surface segment 121 and a second arc surface segment 122. The first arc surface segment 121 and the second arc surface segment 122 are arranged in the direction from the tooth root to the tooth tip. The bending directions of the first arc surface segment 121 and the second arc surface segment 122 are different.

[0074] The flexible wheel includes a toothed segment with multiple transmission teeth 12. During operation, when the wave generator is inserted into the flexible wheel, it is forced to undergo elastic deformation into an ellipse. The transmission teeth 12 near the major axis of the ellipse fully mesh with the meshing teeth on the steel wheel, while the transmission teeth 12 near the minor axis completely disengage from the meshing teeth on the steel wheel. As the wave generator rotates, the deformed portion of the flexible wheel also rotates, causing the meshing and disengagement states between the flexible wheel and the steel wheel to continuously change, thereby achieving a slow rotation of the flexible wheel relative to the steel wheel and thus a deceleration effect.

[0075] When the transmission teeth 12 on the flexible wheel mesh with the meshing teeth on the steel wheel, the transmission teeth 12 and the meshing teeth have a larger contact area, which greatly improves the meshing rate and strength, and further ensures the transmission and deceleration effect. At the same time, the arc-shaped sections with different curvature directions can better adapt to the changes in force and motion trajectory during the meshing process, thereby improving the smoothness and accuracy of meshing.

[0076] The first arc segment 121 is concave, and the second arc segment 122 is convex.

[0077] Specifically, the first arc-shaped segment 121 is located near the tooth root, and the second arc-shaped segment 122 is located near the tooth tip. The first arc-shaped segment 121 is concave, while the second arc-shaped segment 122 is convex, allowing the transmission tooth 12 to achieve a tighter and more precise contact when meshing with the meshing tooth. In the initial stage of meshing, the concave first arc-shaped segment 121 guides the mating components smoothly into the meshing position, providing good guidance and reducing impact and misalignment during meshing. The concave shape provides a gradually guiding path during contact, allowing the mating components to enter the meshing state more smoothly, avoiding damage and instability that may be caused by sudden collisions. As meshing progresses, the convex second arc-shaped segment 122 forms a more stable contact with the meshing tooth, increasing the contact area and improving the reliability and stability of the transmission. The convex shape causes the contact area to gradually increase as the meshing depth increases, thereby distributing the load, reducing the pressure per unit area, and lowering the risk of wear and deformation. The interplay of arc segments with different curvature directions makes the meshing process smoother and reduces vibration and noise caused by mismatch in tooth surfaces.

[0078] The wheel body 1 includes a waist section 13, the wall thickness of which increases in the direction from the opening of the wheel body 1 toward the bottom of the wheel body 1.

[0079] By increasing the wall thickness of the waist segment 13 along the direction from the opening of the wheel body 1 towards the bottom of the wheel body 1, the thicker bottom portion of the waist segment 13 can provide a greater bending section modulus when subjected to bending loads. During the operation of the flexure, especially when subjected to radial force or torque, the waist segment 13 needs to withstand a certain bending stress. For example, when the harmonic reducer is running, the flexure is subjected to forces from the wave generator and the steel wheel, which can cause the waist segment 13 of the flexure to bend and deform. The design of increasing wall thickness can effectively reduce the bending deformation of the waist segment 13, improve the overall structural strength and stability of the flexure, ensure its normal operation under complex working conditions, and extend its service life. Moreover, the torsional performance of the waist segment 13 is crucial. Under the action of torque, the waist segment 13 with increasing wall thickness has a correspondingly increased torsional stiffness due to the larger bottom wall thickness, which allows the flexure to better maintain its shape and structural integrity when transmitting torque, reduce transmission errors and energy losses caused by torsional deformation, and improve transmission efficiency and accuracy.

[0080] Among them, the part of the waist segment 13 near the tooth segment extends along the axial direction of the flexible wheel, and the part near the bottom of the flexible wheel forms an arc surface and gradually extends to be perpendicular to the central axis of the flexible wheel.

[0081] In a feasible example, the wall thickness of the waist section 13 is 0.2–3 mm, which provides sufficient structural strength for the flexible wheel waist section 13. As an important connecting part of the wheel body 1, the waist section 13 needs to withstand certain loads and stresses. A suitable wall thickness can ensure that the waist section 13 is not prone to deformation, breakage, or other damage during operation, ensuring the stability and reliability of the overall flexible wheel structure, enabling it to effectively transmit power and withstand various working loads, and extending the service life of the flexible wheel.

[0082] For example, when the flexure is subjected to torque, the waist segment 13 needs to have a certain strength to resist torsional deformation. The wall thickness within this range can provide suitable torsional stiffness, preventing the waist segment 13 from being excessively twisted, which would affect the transmission accuracy and the normal operation of the flexure.

[0083] In another feasible example, the wall thickness of the waist segment 13 is 0.25–1 mm, which helps to reduce the overall weight of the flexspline while meeting structural strength requirements. Lightweight design can reduce the energy consumption of the entire system and improve the operating efficiency and performance of the equipment. For example, when the flexspline in this embodiment is applied to a high-speed mechanical system, a lighter flexspline can reduce inertial forces, lower the requirements on the drive device, and also improve the system's response speed and dynamic performance.

[0084] The ratio of the axial length to the radial length of the flexible wheel is I, and the range of I is 0.2 to 1. This means that the ratio of the axial length to the radial length of the flexible wheel is 0.2 to 1, which allows the flexible wheel to adapt to diverse installation space requirements, make full use of space, and improve the design flexibility of the system.

[0085] Specifically, when the ratio is small, such as close to 0.2, the flexspline is relatively "flatter," and its radial stiffness may be relatively large, enabling it to better withstand radial loads. However, its axial flexibility may be reduced. This is advantageous in applications requiring high radial load-bearing capacity but relatively small axial deformation, such as certain transmission systems requiring high-precision radial positioning. When the ratio is small, such as close to 1, the flexspline's axial flexibility increases, which is more conducive to absorbing and buffering axial impact forces and vibrations generated during transmission, improving the system's impact resistance and stability. However, its radial stiffness may be relatively weakened. Therefore, a suitable flexspline ratio can be selected based on actual usage requirements.

[0086] Furthermore, the ratio of the axial to radial length of the flexspline also affects its transmission efficiency in transmission systems such as harmonic reducers. A reasonable ratio can optimize the fit between the flexspline and components such as the rigid wheel and wave generator, thereby reducing energy loss.

[0087] The flexible wheel is injection molded. The materials used to prepare the flexible wheel include injection-molded engineering plastics. The flexible wheel and the connecting parts can be prepared from the same material. The materials used to prepare the flexible wheel and the connecting parts include, but are not limited to, injection-molded engineering plastics, such as pure materials of polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS), etc., as well as related materials reinforced with glass fiber and / or carbon fiber.

[0088] [Detailed Rules 91, 08.12.2025] In a second aspect of this embodiment, as shown in Figures 7 and 8, a harmonic reducer is provided, including the flex wheel as described above, which can improve the transmission accuracy, efficiency and stability of the entire reducer, reduce noise and vibration, extend the service life of the reducer, and also reduce the manufacturing difficulty of the harmonic reducer.

[0089] The torque output carrier of the harmonic reducer includes an output section, a first stop 14 is provided on the flex wheel, and a second stop is provided on the output section. The first stop 14 and the second stop are connected.

[0090] By setting the first stop 14 and the second stop, which are interlocked, a clear positioning reference is provided for the flexure and the output section. During assembly, the fit of the stops ensures the accurate positional relationship between the flexure and the output section in the axial and radial directions, allowing for quick and accurate alignment and installation. This significantly reduces adjustment time and errors during assembly, improving assembly precision. This is crucial for devices like harmonic reducers, which require high precision in the fit between components. It ensures the accuracy and stability of power transmission and reduces transmission errors and vibrations caused by assembly deviations.

[0091] The first stop 14 is located at the bottom of the flexspline and on the outer periphery of the mounting hole 11. The first stop 14 is coaxial with the mounting hole 11. This design allows for more uniform force transmission when the flexspline is connected to the output section, reducing the impact of eccentric loads on the transmission.

[0092] The first stop 14 and the second stop are inserted into each other along the axial direction of the flexible wheel. During assembly, the first stop 14 on the flexible wheel is aligned with the second stop on the output section, and then they are inserted into each other along the axial direction. During this process, it is necessary to ensure smooth and accurate insertion. Guide structures, such as chamfers or ramps, can be designed on the edges of the stops to facilitate smooth insertion during assembly.

[0093] The output part includes a limiting member 4 and an output member 5. A limiting hole 41 is formed on the limiting member 4, and a connecting part is used to pass through the limiting hole 41. The output member 5 is connected to the limiting member 4.

[0094] When the output part is connected to the flexure, a limiting member 4 can be set on the flexure, and the connecting part passes through the limiting hole 41. A limiting is formed between the limiting member 4 and the connecting part. Then, the output part is connected to the limiting member 4, so that the output part 5 and the flexure can be connected. During the operation of the harmonic reducer, the torque is transmitted to the connecting part through the flexure. The connecting part first transmits the torque to the limiting member 4, and then to the output part 5, which can make the transmission more precise.

[0095] Specifically, the limiting member 4 can be plate-shaped or gasket-shaped. When the connecting part includes multiple connecting posts 2, the number of limiting holes 41 is adapted to the number of connecting posts 2. By choosing between plate-shaped and gasket-shaped, the thickness of the limiting member 4 can be reduced while ensuring the limiting effect, facilitating the connection between the limiting member 4 and the output member 5, and making the layout of the harmonic reducer more compact. The plate-shaped limiting member 4 can provide a larger contact area, increasing the stability of the limiting; the gasket-shaped limiting member 4 can better adapt to structural requirements when space is limited.

[0096] The connecting part is located on the inner surface of the bottom of the flexible wheel, and the limiting member 4 and the output member 5 are located on both sides of the bottom of the flexible wheel, respectively.

[0097] The flexible wheel is roughly cup-shaped, with the connecting part located on the inner surface of the bottom of the flexible wheel, that is, inside the cup shape. The limiting member 4 is also arranged inside the cup-shaped structure, while the output member 5 is arranged outside the cup shape. Based on this, the connecting part extends into the limiting hole 41 of the limiting member 4, and the limiting member 4 and the output member 5 are connected. The limiting member 4 and the output member 5 can clamp the bottom of the flexible wheel, making the connection between the output member and the flexible wheel more reliable.

[0098] The bottom of the flexible wheel is provided with a mounting hole 11, and at least part of the output component 5 is located in the mounting hole 11.

[0099] The output component 5 can be inserted into the mounting hole 11 at the bottom of the flex wheel. The mounting hole 11 serves as a mounting stop, which can improve the coaxiality between the movement of the flex wheel and the movement of the output component 5, and further ensure the reliability of the flex wheel transmission.

[0100] The harmonic reducer includes a fastener 3, which passes through a limiting member 4 and is connected to the output member 5.

[0101] By setting fastener 3, the limiting member 4 can be fixedly connected to the output member 5. Combined with the cooperation between the connecting part and the limiting member 4, the connection between the output part and the flexible wheel is more reliable.

[0102] It is understood that there can be multiple fasteners 3, and the styles and structures of multiple fasteners 3 can be the same or different. Fasteners 3 include, but are not limited to, bolts, pins, etc.

[0103] The output component 5 includes an output shaft or an output flange, which allows the output component 5 to output in two different ways, thereby increasing the application scenarios of the harmonic reducer.

[0104] A third aspect of this embodiment provides a robotic arm, including a flexible wheel as described above or a harmonic reducer as described above.

[0105] The robotic arm can include a robotic arm body and a power unit. The power unit can be connected to the robotic arm body through a harmonic reducer. The harmonic reducer can regulate the rotation speed, making the robotic arm work more stably.

[0106] In a fourth aspect of this embodiment, an automatic cleaning device is provided, including a flexible wheel as described above or a harmonic reducer as described above, which can improve the operational stability and accuracy of the device, reduce the failure rate, extend the service life of the device, thereby improving the overall performance and reliability of the automatic cleaning device.

[0107] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0108] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely implementation methods of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A flexible wheel, wherein, include: Wheel body; A connecting part is provided on the wheel body, and the connecting part protrudes from the surface of the wheel body.

2. The flexible wheel according to claim 1, wherein, The connecting part is located at the bottom of the wheel body.

3. The flexible wheel according to claim 1, wherein, The connecting part includes multiple connecting posts, which are disposed at the bottom of the wheel body and protrude from the surface of the wheel body. The connecting posts are used to connect with the torque output carrier.

4. The flexible wheel according to claim 3, wherein, The connecting post is disposed on the inner surface and / or outer surface of the bottom of the wheel body.

5. The flexible wheel according to claim 3, wherein, The bottom of the wheel body is provided with an assembly hole, and a plurality of connecting posts are evenly arranged along the circumference of the assembly hole.

6. The flexible wheel according to claim 3, wherein, The connecting column is a cylindrical structure, a prism structure, or a cone structure.

7. The flexible wheel according to claim 6, wherein, The maximum width of the cross-section of each of the connecting columns is the same, and the height of each of the connecting columns is the same.

8. The flexible wheel according to claim 6, wherein, The plurality of connecting posts are at least divided into a first connecting group and a second connecting group. The maximum width of the cross-section of the connecting post in the first connecting group is different from the maximum width of the cross-section of the connecting post in the second connecting group. The connecting posts in the first connecting group are arranged opposite to each other in the radial direction of the wheel body, and the connecting posts in the second connecting group are arranged opposite to each other in the radial direction of the wheel body. The height of the connecting post in the first connecting group is the same as the height of the connecting post in the second connecting group.

9. The flexible wheel according to claim 1, wherein, The wheel body includes a tooth segment, and a transmission tooth is provided on the outer wall of the tooth segment. 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 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the first arc surface segment and the second arc surface segment are different.

10. The flexible wheel according to claim 9, wherein, The first arc segment is concave, and the second arc segment is convex.

11. The flexible wheel according to claim 1, wherein, The wheel body includes a waist section, the wall thickness of which increases in the direction from the opening of the wheel body toward the bottom of the wheel body.

12. The flexible wheel according to claim 11, wherein, The wall thickness of the waist section is 0.2 to 3 mm.

13. The flexible wheel according to claim 11, wherein, The wall thickness of the waist section is 0.25 to 1 mm.

14. The flexible wheel according to claim 1, wherein, The ratio of the axial length to the radial length of the flexible wheel is I, and the range of I is 0.2 to 1.

15. The flexible wheel according to claim 1, wherein, The flexible wheel is injection molded.

16. The flexible wheel according to claim 15, wherein, The materials used to manufacture the flexible wheel include injection-molded engineering plastics.

17. The flexible wheel according to claim 1, wherein, The wheel body has an internal storage space.

18. A harmonic reducer, wherein, Includes the flexible wheel as described in any one of claims 1 to 17.

19. The harmonic reducer according to claim 18, wherein, The torque output carrier of the harmonic reducer includes an output section, a first stop is provided on the flexible wheel, and a second stop is provided on the output section, wherein the first stop and the second stop are inserted into each other.

20. The harmonic reducer according to claim 19, wherein, The output part includes a limiting member and an output member. A limiting hole is formed on the limiting member. The connecting part is used to pass through the limiting hole. The output member is connected to the limiting member. The connecting part is disposed on the inner surface of the bottom of the flexible wheel, and the limiting member and the output member are respectively located on both sides of the bottom of the flexible wheel; The bottom of the flexible wheel is provided with a mounting hole, and at least part of the output component is located in the mounting hole; The harmonic reducer includes a fastener that passes through the limiting member and is connected to the output member.

21. A robotic arm, wherein, Includes the flexible gear as described in any one of claims 1 to 17 or the harmonic reducer as described in any one of claims 18 to 20.

22. An automatic cleaning device, wherein, Includes the flexible wheel as described in any one of claims 1 to 17, the harmonic reducer as described in any one of claims 18 to 20, or the robotic arm as described in claim 21.

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