Harmonic reducer, robotic arm and cleaning apparatus

Abstract

A harmonic reducer, a robotic arm and a cleaning apparatus. The harmonic reducer comprises a flexspline, a connecting portion and an output portion. During manufacturing of the harmonic reducer, forming a protruding connecting portion on the surface of the flexspline facilitates the production and machining of the flexspline and the connecting portion, thereby improving machining precision; for example, the flexspline and the connecting portion can be integrally formed by means of injection molding instead of the conventional connecting hole process in the prior art, such that the probability of deformation in the connecting portion can be reduced or eliminated, thereby ensuring the transmission accuracy of the harmonic reducer. During assembly, the output portion is connected to the flexspline via the connecting portion, and the connecting portion protrudes from the surface of the flexspline, such that at least part of the connecting portion can extend into the output portion, that is, at least some components of the output portion are sleeved on the connecting portion, thereby allowing for rapid assembly of the output portion and the connecting portion, and facilitating the connection between the output portion and the flexspline.

Description

Harmonic reducers, robotic arms, and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411466819.7, filed on October 18, 2024, entitled “Harmonic Reducer, Robotic Arm and Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202422532013.5, filed on October 18, 2024, entitled “Harmonic Reducer, Robotic Arm and Cleaning Equipment”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] 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

[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 inventors discovered that in conventional technologies, connecting holes are often set on the flexible gear, and then bolts or other connecting components are passed through these holes to connect it to the power output component. However, during manufacturing, the connecting holes shrink, causing defects such as incomplete filling of the tooth profile during injection molding, affecting transmission accuracy and reducing the strength of the flexible gear. (Application Content)

[0006] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0007] Therefore, the first aspect of this application provides a harmonic reducer.

[0008] A second aspect of this application provides a robotic arm.

[0009] A third aspect of this application provides a cleaning device.

[0010] In view of this, a harmonic reducer is provided according to a first aspect of the embodiments of this application, comprising:

[0011] Flexible wheel;

[0012] A connecting portion is disposed on the flexible wheel, and the connecting portion protrudes from the surface of the flexible wheel;

[0013] The output section is connected to the flexible wheel via the connecting section.

[0014] In one feasible implementation, the connecting portion includes a plurality of connecting posts disposed on the inner and / or outer surfaces of the bottom of the flexible wheel.

[0015] In one feasible implementation, the bottom of the flexible wheel is provided with an assembly hole, and a plurality of the connecting posts are evenly arranged circumferentially along the assembly hole.

[0016] In one feasible implementation, the flexible wheel includes:

[0017] The tooth segment has transmission teeth on its outer wall. The tooth surface of the transmission teeth 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. The first arc surface segment and the second arc surface segment have different curvature directions.

[0018] In one feasible implementation, the output unit includes:

[0019] A first limiting member has a limiting hole formed thereon, and the connecting portion is used to pass through the limiting hole.

[0020] An output component, which is connected to the first limiting component.

[0021] In one feasible implementation, the connecting portion is disposed on the inner surface of the bottom of the flexible wheel, and the first limiting member and the output member are respectively located on both sides of the bottom of the flexible wheel.

[0022] In one feasible implementation, the harmonic reducer further includes: a mounting hole is provided at the bottom of the flexspline, and at least a portion of the output component is located within the mounting hole.

[0023] In one possible implementation, the harmonic reducer further includes a first fastener, which passes through the first limiting member and is connected to the output member.

[0024] In one feasible implementation, the output component includes an output shaft or an output flange.

[0025] In one feasible implementation, the flexible wheel and the connecting portion are an integral structure; and / or

[0026] The flexible wheel and the connecting part are manufactured by injection molding.

[0027] In one feasible implementation, the harmonic reducer further includes: a rigid wheel, wherein the flexible wheel is used to mesh with the rigid wheel;

[0028] 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 to 1.5.

[0029] The rigid wheel is manufactured by injection molding.

[0030] In one feasible implementation, the tooth surface of the meshing tooth includes a third arcuate segment and a fourth arcuate segment, the third arcuate segment and the fourth arcuate segment being arranged along the direction from the tooth root to the tooth tip, and the curvature direction of the third arcuate segment and the fourth arcuate segment being different.

[0031] In one feasible implementation, a plug-in portion is provided on the first end face and / or the second end face of the ring portion, the plug-in portion protruding from the first end face and / or the second end face to be plugged into the fixing carrier of the ring portion.

[0032] In one feasible implementation, at least two abutting portions are provided on the first end face and / or the second end face, the abutting portions protruding from the first end face and / or the second end face to abut against the outer wall of the fixed carrier.

[0033] In one feasible implementation, a positioning protrusion is provided on the circumferential outer wall of the outer ring portion, the positioning protrusion being used to abut against the fixing carrier of the ring portion.

[0034] In one feasible implementation, the fixing carrier includes:

[0035] A cover and a base, wherein the cover and the base are provided with insertion interfaces, and the insertion part is used to be inserted into the insertion interfaces;

[0036] A rolling bearing or a sliding bearing is sleeved on the output shaft of the output section and located between the base and the output shaft.

[0037] In one possible implementation, the seat is fitted onto a portion of the ring, and a positioning groove is formed on the seat, with the positioning protrusion positioned within the positioning groove.

[0038] In one feasible implementation, the ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the fixed carrier.

[0039] In one feasible implementation, the material used to fabricate the flexible wheel includes injection-molded engineering plastics; and / or

[0040] The material used to manufacture the rigid wheel includes injection-molded engineering plastics.

[0041] In one feasible implementation, the harmonic reducer further includes: a first external connection portion connected to the ring portion, the first external connection portion being used to fix the harmonic reducer.

[0042] In one feasible implementation, the ring portion is a solid structure.

[0043] In one feasible implementation, the harmonic reducer further includes:

[0044] A wave generator, the wave generator being connected to the flexible wheel;

[0045] The input section is connected to the wave generator;

[0046] The wave generator includes a cam and a flexible bearing mounted on the cam.

[0047] In one feasible implementation, a limiting flange is formed on the cam, the limiting flange being used to limit the flexible bearing.

[0048] In one feasible implementation, the harmonic reducer further includes: a second external connection portion, the second external connection portion including:

[0049] An external end cap is provided on the housing of the harmonic reducer near the output section.

[0050] A second fastener, which passes through the outer end cap and is connected to the housing;

[0051] The second limiting member passes through the external end cap and is connected to the housing;

[0052] A twist groove is formed on the outer connecting end cap;

[0053] An external bearing is provided, which is arranged between the output section and the external end cover.

[0054] In one feasible implementation, the harmonic reducer further includes a connecting hole, the connecting hole being formed on the flex wheel, and the output portion being connected to the flex wheel through the connecting portion and the connecting hole.

[0055] In one feasible implementation, at least a portion of the output portion is located within the flexible wheel.

[0056] A robotic arm is provided according to a second aspect of the embodiments of this application, comprising:

[0057] Harmonic reducers as described in any of the above technical solutions.

[0058] A third aspect of the embodiments of this application provides a cleaning device, comprising:

[0059] The harmonic reducer as described in any of the above technical solutions, or the robotic arm as described in the above technical solutions.

[0060] Compared with the prior art, this application has at least the following beneficial effects:

[0061] The harmonic reducer provided in this application includes a flexible wheel, a connecting part, and an output part. During the manufacturing process of the harmonic reducer, by forming a protruding connecting part on the surface of the flexible wheel, it is easier to produce and process the flexible wheel and the connecting part, which can improve the processing accuracy. For example, the flexible wheel and the connecting part can be integrally molded by injection molding, replacing the connecting hole process in the traditional technology. This can reduce or eliminate the probability of deformation of the connecting part, thereby ensuring the transmission accuracy of the harmonic reducer. During assembly, the output section is connected to the flexure via a connecting section, which protrudes from the surface of the flexure. At least a portion of the connecting section can extend into the output section, or at least a portion of the output section is fitted onto the connecting section. This facilitates quick assembly of the output section and the connecting section, and makes it easy to connect the output section to the flexure. During the operation of the harmonic reducer, after transmission, the flexure connects to the output section as the source of power output. As the flexure drives the output section, the connecting section protruding from the surface of the flexure can transmit torque, making the movement of the output section smoother. At the same time, forming a protruding connecting section on the flexure can improve the overall mechanical strength of the flexure and extend the service life of the harmonic reducer. Attached Figure Description

[0062] 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:

[0063] Figure 1 is a schematic structural diagram of a harmonic reducer according to an embodiment of this application;

[0064] Figure 2 is a schematic cross-sectional structural diagram of a harmonic reducer according to an embodiment of this application;

[0065] Figure 3 is a schematic structural diagram of the connection between the flex wheel and the output section of a harmonic reducer according to an embodiment of this application;

[0066] Figure 4 is a schematic structural diagram of the flex wheel of a harmonic reducer according to an embodiment of this application;

[0067] Figure 5 is a schematic structural diagram of the flexure of a harmonic reducer according to an embodiment of this application from another angle;

[0068] Figure 6 is a schematic structural diagram of the transmission teeth of the flexure of a harmonic reducer according to an embodiment of this application;

[0069] Figure 7 is a schematic structural diagram of the disassembled state of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0070] Figure 8 is a schematic structural diagram of the first angle of the ring portion of a harmonic reducer according to an embodiment of this application;

[0071] Figure 9 is a schematic structural diagram of the second angle of the ring portion of a harmonic reducer according to an embodiment of this application;

[0072] Figure 10 is a schematic structural diagram of the base of a harmonic reducer according to an embodiment of this application;

[0073] Figure 11 is a schematic structural diagram of the base of a harmonic reducer according to an embodiment of this application from another angle;

[0074] Figure 12 is a schematic structural diagram of the cover of a harmonic reducer according to an embodiment of this application;

[0075] Figure 13 is a schematic structural diagram of the meshing teeth of the rigid wheel of a harmonic reducer according to an embodiment of this application;

[0076] Figure 14 is a schematic structural diagram of a harmonic reducer according to another embodiment of this application;

[0077] Figure 15 is a schematic cross-sectional structural diagram of a harmonic reducer according to another embodiment of this application.

[0078] The correspondence between the reference numerals and component names in Figures 1 to 15 is as follows:

[0079] 110 Flexible wheel, 120 Connecting part, 130 Output part, 140 First fastener, 150 Rigid wheel, 160 Rolling bearing, 170 Wave generator, 180 Input part, 190 Second external connection part, 200 First external connection part, 210 Connecting hole;

[0080] 111 Assembly hole, 112 Tooth segment, 113 Transmission tooth, 1131 First arc surface segment, 1132 Second arc surface segment;

[0081] 121 connecting post;

[0082] 131 First limiting component, 132 Output component, 1311 Limiting hole, 1321 Output shaft, 1322 Output flange;

[0083] 151 Ring portion, 152 Meshing tooth, 153 Insertion portion, 154 Abutment portion, 155 Positioning protrusion, 156 Fixing carrier, 157 First end face, 158 Second end face, 1511 Stop, 1521 Third arc surface segment, 1522 Fourth arc surface segment, 1531 First connecting post, 1532 Second connecting post, 1561 Cover, 1562 Base, 1563 Insertion interface;

[0084] 171 Cam, 172 Flexible bearing, 173 Limiting flange;

[0085] 191 External end cap, 192 Second fastener, 193 Second limiting member, 194 Torque groove, 195 External bearing. Detailed Implementation

[0086] 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.

[0087] As shown in Figures 1 to 15, a harmonic reducer is provided according to a first aspect of the present application, comprising: a flexible wheel 110; a connecting portion 120 disposed on the flexible wheel 110 and protruding from the surface of the flexible wheel 110; and an output portion 130 connected to the flexible wheel 110 via the connecting portion 120.

[0088] The harmonic reducer provided in this application includes a flexible wheel 110, a connecting part 120, and an output part 130. During the manufacturing process of the harmonic reducer, by forming a protruding connecting part 120 on the surface of the flexible wheel 110, it is easier to produce and process the flexible wheel 110 and the connecting part 120, which can improve the processing accuracy. For example, the flexible wheel 110 and the connecting part 120 can be integrally molded by injection molding, replacing the connecting hole 210 process in the traditional technology. This can reduce or eliminate the probability of deformation of the connecting part 120, thereby ensuring the transmission accuracy of the harmonic reducer.

[0089] In the assembly process of the harmonic reducer provided in this application embodiment, the output part 130 is connected to the flexible wheel 110 through the connecting part 120. The connecting part 120 protrudes from the surface of the flexible wheel 110, and at least a portion of the connecting part 120 can extend into the output part 130. In other words, at least a portion of the output part 130 is sleeved on the connecting part 120. Based on this, it is convenient to quickly assemble the output part 130 and the connecting part 120, and to connect the output part 130 and the flexible wheel 110.

[0090] In the operation of the harmonic reducer provided in this application embodiment, after transmission, the flexible wheel 110 is connected to the output part 130 as the source of power output. During the process of the flexible wheel 110 driving the output part 130 to move, the connecting part 120 protruding from the surface of the flexible wheel 110 can play the role of transmitting torque, making the movement of the output part 130 more stable. At the same time, by forming the connecting part 120 protruding on the flexible wheel 110, the overall mechanical strength of the flexible wheel 110 can be improved, which can improve the service life of the harmonic reducer.

[0091] In some examples, at least part of the output section 130 is located inside the flex wheel 110, which makes the connection between the output section 130 and the flex wheel 110 more reliable and reduces the probability of the output section 130 becoming detached from the flex wheel 110.

[0092] As shown in Figures 2 to 5, in one feasible embodiment, the connecting part 120 includes a plurality of connecting posts 121, which are disposed on the inner surface and / or outer surface of the bottom of the flexible wheel 110.

[0093] In this technical solution, a further provision is provided for the arrangement of the connecting part 120. The connecting part 120 may include multiple connecting posts 121. Based on this, in the first aspect, the output part 130 is connected to the flexible wheel 110 through multiple connecting posts 121, so that there are more connection points between the output part 130 and the flexible wheel 110, which makes the connection between the output part 130 and the flexible wheel 110 more reliable. At the same time, the torque output through multiple connecting posts 121 can ensure the stability of the operation of the output part 130.

[0094] In this technical solution, all connecting posts 121 can be arranged on the inner surface of the flexible wheel 110. Based on this, some components of the output part 130 can be set on the connecting posts 121 on the inner surface of the flexible wheel 110, while other components can be arranged on the outer surface of the flexible wheel 110. In addition to connecting with the flexible wheel 110 through the connecting part 120, the output part 130 can also clamp the flexible wheel 110, which can further ensure transmission accuracy.

[0095] In this technical solution, all connecting posts 121 can be arranged on the outer surface of the flexible wheel 110. This arrangement facilitates the alignment of the output part 130 and the connecting part 120, thereby improving assembly efficiency.

[0096] In this technical solution, some connecting posts 121 can be distributed on the inner surface of the flexible wheel 110, and other connecting posts 121 can be distributed on the outer surface of the flexible wheel 110. That is to say, connecting posts 121 can be distributed on both the inner and outer surfaces of the flexible wheel 110, which can make the contact between the connecting part 120 and the output part 130 more sufficient and further ensure the transmission accuracy.

[0097] It is understandable that the connecting post 121 can be cylindrical, frustum-shaped, prismatic, prism-shaped, or conical. It is only necessary to ensure that the output part 130 and the connecting part 120 are aligned.

[0098] In some examples, the connecting post 121 is a cylindrical structure. This design facilitates the manufacturing and processing of the connecting post 121, and also facilitates the connection of the connecting post 121 with the output part 130, allowing the connecting post 121 to be inserted into certain components of the output part 130.

[0099] In some examples, when multiple connecting posts 121 are cylindrical, the diameter of the connecting posts 121 is the same and the height of the multiple connecting posts 121 is the same. That is to say, the structure and style of the connecting posts 121 can be the same, which facilitates the quick alignment of the output part 130 with the multiple connecting posts 121.

[0100] In some examples, the maximum width of the cross-section of the multiple connecting posts 121 is the same, and the height of the multiple connecting posts 121 is the same. That is to say, the structure and style of the connecting posts 121 can be the same, which facilitates the quick alignment of the output part 130 with the multiple connecting posts 121.

[0101] In some examples, the multiple connecting posts 121 are at least divided into a first group and a second group. The maximum width of the cross-section of the connecting posts 121 in the first group is different from that in the second group. The connecting posts 121 in the first group are arranged radially opposite to each other along the flexure 110, and the connecting posts 121 in the second group are also arranged radially opposite to each other along the flexure 110. The height of the connecting posts 121 in the first group is the same as that in the second group. In this technical solution, the diameter of the connecting posts 121 in different groups can be different. Based on this, when assembling the output part 130 and the connecting part 120, the different diameters can prevent mistaken assembly, ensuring accurate assembly of the output part 130 and the flexure 110. Furthermore, during the operation of the harmonic reducer, the output torque through the connecting posts 121 with different maximum cross-sectional widths makes the transmission of the output part 130 more reliable.

[0102] As shown in Figures 3 to 5, in one feasible embodiment, the bottom of the flexible wheel 110 is provided with an assembly hole 111, and a plurality of connecting posts 121 are evenly arranged along the circumference of the assembly hole 111.

[0103] In this technical solution, the flexible wheel 110 can also have a mounting hole 111. The mounting hole 111 can serve as a mounting stop for the flexible wheel 110. The output part 130 is fixed by cooperating with the connecting post 121 through the mounting hole 111. Part of the output part 130 can extend into the mounting hole 111, which facilitates the establishment of a connection between the output part 130 and the flexible wheel 110.

[0104] In some examples, the connecting part 120 is located at the bottom of the flexible wheel 110. Based on this, the location of the connecting part 120 is further provided. This arrangement facilitates the injection molding of the connecting part 120 and the flexible wheel 110, and also facilitates the connection between the output part 130 and the connecting part 120.

[0105] As shown in Figures 3 to 5, in one feasible embodiment, the flexible wheel 110 includes: a toothed segment 112, and a transmission tooth 113 is provided on the outer wall of the toothed segment 112. The tooth surface of the transmission tooth 113 includes a first arcuate segment 1131 and a second arcuate segment 1132. The first arcuate segment 1131 and the second arcuate segment 1132 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the first arcuate segment 1131 and the second arcuate segment 1132 are different.

[0106] In this technical solution, the flexible wheel 110 may include a toothed segment 112, on which multiple transmission teeth 113 may be formed. Through the arrangement of these multiple transmission teeth 113, during operation, when the wave generator 170 is inserted into the flexible wheel 110, it is forced to undergo elastic deformation into an ellipse. The transmission teeth 113 near the ends of the major axis of the ellipse are fully engaged with the meshing teeth 152 on the rigid wheel 150, while the transmission teeth 113 near the ends of the minor axis are completely disengaged from the meshing teeth 152 on the rigid wheel 150. As the wave generator 170 rotates, the deformed portion of the flexible wheel 110 also rotates, causing the engagement and disengagement states between the flexible wheel 110 and the rigid wheel 150 to continuously change, thereby achieving a slow rotation of the flexible wheel 110 relative to the rigid wheel 150 and achieving a deceleration effect.

[0107] In this technical solution, a tooth profile structure for the transmission tooth 113 is further provided. The tooth surface of the transmission tooth 113 includes a first arc surface segment 1131 and a second arc surface segment 1132. The first arc surface segment 1131 and the second arc surface segment 1132 are arranged along the direction from the tooth root to the tooth tip. The first arc surface segment 1131 and the second arc surface segment 1132 have different curvature directions. Based on this, when the transmission tooth 113 on the flexible wheel 110 meshes with the meshing tooth 152 on the rigid wheel 150, the transmission tooth 113 and the meshing tooth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0108] In some examples, the first arc segment 1131 is concave and the second arc segment 1132 is convex. A first transition surface is formed between the first arc and the second arc. The first transition surface is tangential to the first arc segment 1131 and the second arc segment 1132. Based on this, when the transmission teeth 113 on the flexible wheel 110 mesh with the meshing teeth 152 on the rigid wheel 150, the transmission teeth 113 and the meshing teeth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0109] As shown in FIG3, in one feasible embodiment, the output part 130 includes: a first limiting member 131, on which a limiting hole 1311 is formed, and a connecting part 120 for passing through the limiting hole 1311; and an output member 132 connected to the first limiting member 131.

[0110] In this technical solution, the structure of the output section 130 is further provided. The output section 130 may include a first limiting member 131 and an output member 132. Based on this, when the output section 130 is connected to the flexible wheel 110, the first limiting member 131 can be set on the flexible wheel 110, and the connecting part 120 passes through the limiting hole 1311, forming a limit between the first limiting member 131 and the connecting part 120. Then, the output section 130 is connected to the first limiting member 131, so that the output member 132 and the flexible wheel 110 can have a connection relationship. During the operation of the harmonic reducer, the torque will be transmitted to the connecting part 120 through the flexible wheel 110. The connecting part 120 first transmits the torque to the first limiting member 131, and then transmits it to the output member 132, which can make the transmission more precise.

[0111] In some examples, the first limiting member 131 can be plate-shaped or gasket-shaped. When the connecting portion 120 includes multiple connecting posts 121, the number of limiting holes 1311 is adapted to the number of connecting posts 121. By choosing between plate-shaped or gasket-shaped, the thickness of the first limiting member 131 can be reduced while ensuring the limiting effect, facilitating the connection between the first limiting member 131 and the output member 132, and making the layout of the harmonic reducer more compact.

[0112] In one feasible embodiment, the connecting part 120 is disposed on the inner surface of the bottom of the flexible wheel 110, and the first limiting member 131 and the output member 132 are respectively located on both sides of the bottom of the flexible wheel 110.

[0113] In this technical solution, the layout relationship between the connecting part 120, the first limiting member 131, and the output member 132 is further provided. The flexible wheel 110 is roughly cup-shaped. The connecting part 120 is located on the inner surface of the bottom of the flexible wheel 110, that is, inside the cup shape. The first limiting member 131 is also arranged inside the cup-shaped structure. The output member 132 is arranged on the outside of the cup shape. Based on this, the connecting part 120 extends into the limiting hole 1311 of the first limiting member 131, and then connects the first limiting member 131 and the output member 132. The first limiting member 131 and the output member 132 can clamp the bottom of the flexible wheel 110, which can make the connection between the output part 130 and the flexible wheel 110 more reliable.

[0114] As shown in Figures 4 and 5, in one feasible embodiment, the harmonic reducer further includes: a mounting hole 111 is provided at the bottom of the flexible wheel 110, and at least part of the output component 132 is located in the mounting hole 111.

[0115] In this technical solution, the output component 132 can be inserted into the mounting hole 111 at the bottom of the flexible wheel 110. The mounting hole 111 serves as a mounting stop, which can make the coaxiality between the movement of the flexible wheel 110 and the movement of the output component 132 higher, and further ensure the reliability of the transmission of the flexible wheel 110.

[0116] As shown in Figure 3, in one feasible embodiment, the harmonic reducer further includes a first fastener 140, which passes through the first limiting member 131 and is connected to the output member 132.

[0117] In this technical solution, the harmonic reducer may also include a first fastener 140, which enables the first limiting member 131 to be fixedly connected to the output member 132. Combined with the cooperation between the connecting part 120 and the first limiting member 131, the connection between the output part 130 and the flexible wheel 110 is more reliable.

[0118] It is understood that there can be multiple first fasteners 140, and the styles and structures of multiple first fasteners 140 can be the same or different. The first fasteners 140 include, but are not limited to, bolts, pins, etc.

[0119] As shown in Figures 2 and 15, in one possible embodiment, the output component 132 includes an output shaft 1321 or an output flange 1322.

[0120] In this technical solution, the structural composition of the output component 132 is further provided. The output component 132 may include an output shaft 1321 or an output flange 1322, so that the output component 132 can output in two different ways, which can increase the application scenarios of the harmonic reducer.

[0121] In one feasible implementation, the flexible wheel 110 and the connecting part 120 are an integral structure.

[0122] In this technical solution, the flexible wheel 110 and the connecting part 120 are an integral structure. This design has two advantages: First, it ensures the mechanical strength of the flexible wheel 110 and the connecting part 120. When the transmission is carried out through the harmonic reducer, the connecting part 120 can serve as the main force-bearing point to drive the output part 130 to rotate. The integral structural design can extend the service life of the harmonic reducer. Second, it facilitates the manufacturing of the flexible wheel 110 and the connecting part 120, ensuring processing accuracy and reducing costs.

[0123] In one feasible embodiment, the flexible wheel 110 and the connecting part 120 are manufactured by injection molding.

[0124] This technical solution further provides a manufacturing process for the flexible wheel 110 and the connecting part 120. The flexible wheel 110 and the connecting part 120 can be manufactured by injection molding, and the connecting part 120 is designed to protrude from the flexible wheel 110. This facilitates the preparation of the injection mold and ensures manufacturing accuracy. Compared with the opening scheme in the traditional technology, it can avoid the shrinkage of the hole structure in the connecting part 120, thus ensuring the reliability of the flexible wheel 110 and the connecting part 120.

[0125] In some examples, the materials used to prepare the flexible wheel 110 and the connecting part 120 include, but are not limited to, injection-molded engineering plastics such as pure polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS), and related materials reinforced with glass fiber and / or carbon fiber.

[0126] In some examples, the flexible roller 110 includes a waist section whose wall thickness increases from the opening of the flexible roller 110 toward the bottom of the flexible roller 110. This configuration facilitates the injection molding of the flexible roller 110 and ensures the mechanical strength of the flexible roller 110.

[0127] In some examples, the wall thickness of the waist section is 0.2–3 mm. This setting further provides the style of the flexible gear 110, and by selecting this range, both meshing efficiency and mechanical strength are ensured.

[0128] In some examples, the wall thickness of the waist section is 0.25–1 mm. This setting further provides the style of the flexible gear 110, and by selecting this range, both meshing efficiency and mechanical strength are ensured.

[0129] In some examples, the ratio of the axial length to the radial length of the flexible gear 110 is I, where I ranges from 0.2 to 1. This configuration significantly reduces the axial space and ensures good meshing contact of the transmission teeth 113 in the tooth direction. At the same time, the flexible gear 110 exhibits low creep stress, meeting the life requirements.

[0130] As shown in Figures 2 and 7 to 13, in one feasible embodiment, the harmonic reducer further includes: a rigid wheel 150, and a flexible wheel 110 for meshing with the rigid wheel 150; wherein, the rigid wheel 150 includes a ring portion 151 and a plurality of meshing teeth 152, the plurality of meshing teeth 152 being formed on the inner ring of the ring portion 151, and the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion 151 being in the range of 1 to 1.5; wherein, the rigid wheel 150 is manufactured by injection molding.

[0131] In this technical solution, considering that the rigid wheel 150 of the harmonic generator 170 in traditional technology is mostly made by precision machining of metal, resulting in high cost and heavy weight of the harmonic generator 170, a structural composition of the harmonic reducer is further provided. The harmonic reducer may also include the rigid wheel 150, which includes a ring portion 151 and meshing teeth 152 formed on the ring portion 151. The rigid wheel 150 is made by injection molding. Based on this, the production cost and weight of the rigid wheel 150 can be reduced by injection molding, thereby reducing the cost and weight of the harmonic reducer. This is conducive to the promotion and use of the harmonic reducer, especially to its application in mobile smart home appliances, which can make the movement of smart home appliances more flexible while ensuring the transmission effect.

[0132] The harmonic reducer provided in this embodiment addresses the issue that the structure of the rigid wheel 150 in conventional technology typically requires components for fixing the rigid wheel 150, such as lugs. Furthermore, the rigid wheel 150 sometimes serves as the housing of the harmonic reducer, making its structure quite complex. Therefore, if the rigid wheel 150 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 151 in the rigid wheel 150. This means that the part where the rigid wheel 150 meshes with the flexible wheel 110 is manufactured using injection molding, and this component is approximately annular. This arrangement facilitates the placement of the mold corresponding to the ring portion 151, ensuring injection molding accuracy and making the meshing of the rigid wheel 150 and the flexible wheel 110 more reliable. This, in turn, reduces costs while ensuring transmission accuracy.

[0133] As shown in Figure 13, in one feasible embodiment, the tooth surface of the meshing tooth 152 includes a third arc surface segment 1521 and a fourth arc surface segment 1522. The third arc surface segment 1521 and the fourth arc surface segment 1522 are arranged in the direction from the tooth root to the tooth tip, and the bending directions of the third arc surface segment 1521 and the fourth arc surface segment 1522 are different.

[0134] In this technical solution, the design of the meshing tooth 152 is further provided. The tooth surface of the meshing tooth 152 includes a third arc surface segment 1521 and a fourth arc surface segment 1522. The third arc surface segment 1521 and the fourth arc surface segment 1522 are arranged along the direction from the tooth root to the tooth tip. The bending directions of the third arc surface segment 1521 and the fourth arc surface segment 1522 are different. Based on this, when the transmission tooth 113 on the flexible wheel 110 meshes with the meshing tooth 152 on the rigid wheel 150, the transmission tooth 113 and the meshing tooth 152 can have a larger contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effect.

[0135] In some examples, the third arc segment 1521 is concave and the fourth arc segment 1522 is convex, which can further improve the meshing effect.

[0136] In some examples, a second transition surface is formed between the third and fourth arc surfaces. The second transition surface is tangent to the third and fourth arc surfaces. This arrangement can further ensure the meshing effect and facilitate the preparation of the meshing teeth 152.

[0137] As shown in Figures 8 and 9, in some examples, a stop 1511 is provided on the first end face 157 and / or the second end face 158 of the ring portion 151, and the fixing carrier 156 is also provided with a corresponding stop. The ring portion 151 is inserted into the stop of the fixing carrier 156 through the stop 1511, which improves the positioning accuracy and the stability of the connection. The stop 1511 may be provided only on the first end face 157, only on the second end face 158, or simultaneously on both the first and second end faces 158. The stop 1511 extends along the outer circumference of the first and second end faces 157 and 158.

[0138] As shown in Figures 8 and 9, in one feasible embodiment, a plug-in portion 153 is provided on the first end face 157 and / or the second end face 158 of the ring portion 151. The plug-in portion 153 protrudes from the first end face 157 and / or the second end face 158 to be plugged into the fixing carrier 156 of the ring portion 151.

[0139] In this technical solution, the ring portion 151 is further provided with a design. A protruding insertion portion 153 can be formed on the first end face 157 or the second end face 158 of the ring portion 151. This insertion portion 153 is then inserted into the fixed carrier 156, fixing the ring portion 151 to the fixed carrier 156 and preventing rotation of the ring portion 151 on the fixed carrier 156. This provides support for the rigid wheel 150, which in turn supports the rotation of the flexible wheel 110, allowing the flexible wheel 110 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 151 and makes its structure more regular, facilitating its fabrication through injection molding.

[0140] In this technical solution, by providing the insertion part 153 on the first end face 157 and / or the second end face 158, the ring part 151 can be connected to the fixed carrier 156 through the outwardly protruding insertion part 153 on the end face. This avoids the connection to the fixed carrier 156 by providing a connecting hole 210 inside the rigid wheel 150 or a connecting ear outside the rigid wheel 150 as in the prior art. With the design of the rigid wheel 150 in this embodiment, the rigid wheel 150 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 150 in this embodiment can also make the physical properties of the rigid wheel 150 more consistent in all directions, and can maintain good stability during the movement of the flexible wheel 110, thereby improving the operating stability of the harmonic reducer.

[0141] It is understood that the insertion part 153 may be provided only on the first end face 157, and thus connected to the fixed carrier 156 through the insertion part 153 on the first end face 157. Alternatively, the insertion part 153 may be provided only on the second end face 158, and thus connected to the fixed carrier 156 through the insertion part 153 on the second end face 158. In this embodiment, the insertion part 153 is provided on both the first end face 157 and the second end face 158, and is connected to the fixed carrier 156 through the insertion part 153 on the first end face 157 and the insertion part 153 on the second end face 158 respectively, thereby maintaining good connection strength.

[0142] It is understandable that the insertion portion 153 protrudes from the first end face 157 and the second end face 158 along the axial direction of the ring portion 151, that is, along the normal direction of the first end face 157 and the second end face 158.

[0143] Understandably, the fixing carrier 156 is used to fix the ring portion 151, thereby fixing and supporting the ring portion 151. The fixing carrier 156 is provided with a plug interface 1563 corresponding to the connecting portion 120. The plug portion 153 is inserted into the plug interface 1563, thereby limiting the ring portion 151 in the circumferential direction and preventing the ring portion 151 from rotating relative to the fixing carrier 156.

[0144] As shown in Figures 8 and 9, in some examples, the connecting portion 120 includes at least two first connecting posts 1531 and at least two second connecting posts 1532. The length of the second connecting post 1532 in the axial direction of the ring portion 151 is less than the length of the first connecting post 1531 in the axial direction of the ring portion 151, which can meet the requirements of different insertion depths.

[0145] In some examples, there are multiple first connecting posts 1531 and multiple second connecting posts 1532. Multiple first connecting posts 1531 are evenly arranged along the circumference of the ring portion 151 on the first end face 157 and the second end face 158, and multiple second connecting posts 1532 are evenly arranged along the circumference of the ring portion 151 on the first end face 157 and the second end face 158.

[0146] In some examples, both a first connecting post 1531 and a second connecting post 1532 are provided on the first end face 157.

[0147] In some examples, the lengths of the first connecting posts 1531 are the same, and the lengths of the second connecting posts 1532 are the same.

[0148] As shown in Figures 8 and 9, in some examples, the length of the first connecting post 1531 in the axial direction of the ring 151 is greater than the length of the stop 1511 in the axial direction of the ring 151. That is, the first connecting post 1531 protrudes beyond the stop 1511 in the axial direction of the ring 151, allowing the first connecting post 1531 to be inserted deeper into the insertion interface 1563. The length of the second connecting post 1532 in the axial direction of the ring 151 is equal to the length of the stop 1511 in the axial direction of the ring 151. This satisfies different insertion depth requirements while also facilitating injection molding.

[0149] In some examples, both the first connecting post 1531 and the second connecting post 1532 are connected to the stop 1511, thereby improving the overall strength.

[0150] In some examples, at least some of the first connecting posts 1531 and at least some of the second connecting posts 1532 are arranged alternately in the circumferential direction of the ring portion 151, which can make the torque distribution more uniform, the force more reasonable, and further improve the reliability of the connection.

[0151] The first connecting post 1531 is located on both sides of the ring portion 151 in the circumferential direction, and the second connecting post 1532 ... first connecting post 1531 is located on both sides of the ring portion 151.

[0152] The first connecting post 1531 on the first end face 157 and the first connecting post 1531 on the second end face 158 are arranged opposite each other along the axial direction of the ring portion 151, and the second connecting post 1532 on the first end face 157 and the second connecting post 1532 on the second end face 158 are arranged opposite each other along the axial direction of the ring portion 151, which further improves the connection reliability and overall balance.

[0153] As shown in Figures 8 and 9, in one feasible embodiment, at least two abutting portions 154 are provided on the first end face 157 and / or the second end face 158. The abutting portions 154 protrude from the first end face 157 and / or the second end face 158 to abut against the outer wall of the fixed carrier 156.

[0154] In this technical solution, by setting the abutment part 154, it is possible to achieve stable abutment with the outer wall of the fixed carrier 156, thereby ensuring that the rigid wheel 150 has good installation flatness, enhancing the connection stability between the rigid wheel 150 and the fixed carrier 156, and reducing vibration and noise.

[0155] In some examples, the abutment portion 154 on the first end face 157 protrudes from the ring portion 151 by an equal length, thereby achieving a smooth abutment with the end face of the fixed carrier 156 and ensuring good installation flatness.

[0156] Specifically, the abutment portions 154 on the first end face 157 have the same shape and size, and are evenly arranged along the circumference of the first end face 157 to ensure that they can function effectively.

[0157] In some examples, the abutment portion 154 on the second end face 158 protrudes from the ring portion 151 by an equal length, thereby achieving a smooth abutment with the end face of the fixed carrier 156 and ensuring good installation flatness.

[0158] Specifically, the abutment portions 154 on the second end face 158 have the same shape and size, and are evenly arranged along the circumference of the second end face 158 to ensure that they can function effectively.

[0159] As shown in Figures 8 and 9, in some examples, the number of abutment portions 154 on the first end face 157 and / or the second end face 158 can be set according to the size of the rigid wheel 150. Setting an appropriate number of abutment portions 154 ensures a good abutment effect.

[0160] In one feasible example, the abutment portion 154 is provided only on the first end face 157 and abuts against the fixed carrier 156 opposite to the first end face 157.

[0161] In another feasible example, the abutment portion 154 is provided only on the second end face 158 and abuts against the fixed carrier 156 opposite the second end face 158.

[0162] In another feasible example, the abutting part 154 is respectively disposed on the first end face 157 and the second end face 158, and abuts against the fixed carrier 156 opposite to the first end face 157 and the second end face 158.

[0163] The abutting portion 154 on the first end face 157 and the abutting portion 154 on the second end face 158 are arranged opposite each other along the axial direction of the ring portion 151, which further improves the abutting reliability and overall balance.

[0164] As shown in Figures 8 and 9, in one feasible embodiment, a positioning protrusion 155 is provided on the circumferential outer wall of the outer ring 151, and the positioning protrusion 155 is used to abut against the fixing carrier 156 of the ring 151.

[0165] By providing a positioning protrusion 155 on the outer ring of the ring 151, and through the interlocking of the positioning protrusion 155 with the fixed carrier 156, good positioning accuracy between the ring 151 and the fixed carrier 156 can be ensured. This also facilitates positioning of the wheel during installation, improving installation efficiency. Simultaneously, the positioning protrusion 155 also provides a certain degree of fixation, allowing the wheel to be more stably fixed to the fixed carrier 156, preventing the rigid wheel 150 from rotating circumferentially on the fixed carrier 156.

[0166] In some examples, to improve the anti-rotation effect of the ring 151, the positioning protrusion 155 and the fixing carrier 156 can also be fitted together.

[0167] The positioning protrusion 155 protrudes radially outward from the outer circumferential wall of the outer ring of the ring 151, thereby forming a concave-convex fit with the positioning groove on the mating surface of the fixing carrier 156.

[0168] The fixing carrier 156 can be a component such as a seat 1562 used to support and fix the rigid wheel 150. In this embodiment, the fixing carrier 156 is a seat 1562. The inner peripheral wall of the seat 1562 is provided with a positioning groove corresponding to the positioning protrusion 155. The positioning protrusion 155 is inserted into the positioning groove to achieve positioning. By setting the positioning protrusion 155 and the positioning groove and making the two cooperate, the rigid wheel 150 can be guaranteed to have good installation meshing concentricity.

[0169] The positioning protrusion 155 is adapted to the shape and size of the positioning groove to prevent the positioning protrusion 155 from shaking in the positioning groove.

[0170] The positioning protrusion 155 can be integrally formed with the ring 151, or it can be connected to the outer ring of the ring 151 through other fixed connection methods.

[0171] Specifically, in this embodiment, the ring portion 151 is formed with positioning protrusions 155 directly on the circumferential outer wall of the outer ring during injection molding.

[0172] Among them, the outer wall of the positioning protrusion 155, which is far from the central axis of the ring 151, is a curved surface.

[0173] There are at least two positioning protrusions 155, which are arranged circumferentially along the ring portion 151 and extend axially along the ring portion 151, thus ensuring good positioning accuracy and fixing effect.

[0174] Among them, at least two positioning protrusions 155 are evenly arranged along the circumference of the ring portion 151, so as to maintain good consistency in the circumferential direction, so that the force is evenly distributed in all parts of the circumference and the center of gravity is centered, thereby improving the overall stability.

[0175] Specifically, each positioning protrusion 155 is arranged in parallel to each other and extends into a strip shape along the axial direction of the rigid wheel 150.

[0176] Specifically, all the positioning protrusions 155 have the same shape and size. In the axial direction of the ring 151, all the positioning protrusions 155 are in the same position.

[0177] The positioning protrusion 155 is provided radially on the ring portion 151 in correspondence with the connecting portion 120 and the abutting portion 154, which further improves the overall strength and ensures good balance.

[0178] Each positioning protrusion 155 is arranged in a radial direction of the ring portion 151 corresponding to the first connecting post 1531, the second connecting post 1532, or the abutment portion 154.

[0179] Specifically, one-third of the total number of positioning protrusions 155 are arranged in a radial direction corresponding to the first connecting post 1531 of the ring portion 151, one-third of the total number of positioning protrusions 155 are arranged in a radial direction corresponding to the second connecting post 1532 of the ring portion 151, and one-third of the total number of positioning protrusions 155 are arranged in a radial direction corresponding to the abutment portion 154 of the ring portion 151.

[0180] As shown in Figures 8 and 9, in one feasible embodiment, the positioning protrusion 155 extends onto the stop 1511. In this case, the portion of the positioning protrusion 155 located on the stop 1511 is radially opposite to the first connecting post 1531, the second connecting post 1532, or the abutment portion 154 in the annular portion 151. In another feasible embodiment, the positioning protrusion 155 does not extend onto the stop 1511. In this case, the positioning protrusion 155 and the first connecting post 1531, the second connecting post 1532, or the abutment portion 154 are located in the same plane passing through the central axis of the annular portion 151, which can also be understood as being radially corresponding.

[0181] As shown in Figures 7 to 12, in one feasible embodiment, the fixed carrier 156 includes: a cover 1561 and a base 1562, with an insertion interface 1563 formed on the cover 1561 and the base 1562, and the insertion part 153 is used to insert into the insertion interface 1563; a rolling bearing 160 or a sliding bearing, which is sleeved on the output shaft 1321 of the output part 130 and located between the base 1562 and the output shaft 1321.

[0182] In this technical solution, the structure of the fixing carrier 156 is further provided. The fixing carrier 156 may include a cover 1561 and a base 1562. The insertion part 153 is inserted into the cover 1561 and the base 1562, which can fix the ring part 151 and further prevent rotation.

[0183] It is understandable that the rolling bearing 160 can be a deep groove ball bearing.

[0184] In some examples, a portion of the end face of the cover 1561 is disposed opposite to the first end face 157, and a portion of the end face of the seat 1562 is disposed opposite to the second end face 158. The abutment portion 154 on the first end face 157 is firmly abutted against the end face of the cover 1561, and the abutment portion 154 on the second end face 158 is firmly abutted against the end face of the seat 1562.

[0185] Specifically, the end face of the cover 1561 that abuts against the abutment portion 154 is a plane and is perpendicular to the axis of the rigid wheel 150. The end face of the seat 1562 that abuts against the abutment portion 154 is a plane and is perpendicular to the axis of the rigid wheel 150.

[0186] Specifically, the plane where the contact surface between the abutting part 154 and the fixed carrier 156 is located is also perpendicular to the axis of the rigid wheel 150.

[0187] As shown in Figures 7 to 12, in some examples, at least some of the abutting portions 154 and at least some of the connecting portions 120 are arranged alternately in the circumferential direction of the ring portion 151, which can ensure good installation flatness while ensuring the connection strength of the connecting portions 120.

[0188] In some examples, when the connecting portion 120 includes only the first connecting post 1531, at least a portion of the abutting portion 154 and at least a portion of the first connecting post 1531 are arranged alternately in the circumferential direction of the ring portion 151.

[0189] Specifically, in the circumferential direction of the ring portion 151, abutment portions 154 are respectively provided on both sides of a portion of the first connecting post 1531, and first connecting posts 1531 are respectively provided on both sides of a portion of the abutment portion 154.

[0190] As shown in Figures 7 to 12, in some examples, when the connecting portion 120 includes a first connecting post 1531 and a second connecting post 1532, at least a portion of the abutting portion 154 and at least a portion of the first connecting post 1531 and the second connecting post 1532 are alternately arranged in the circumferential direction of the ring portion 151.

[0191] Specifically, in the circumferential direction of the ring portion 151, abutment portions 154 are respectively provided on both sides of some of the first connecting posts 1531, and abutment portions 154 are respectively provided on both sides of some of the second connecting posts 1532, thereby forming a cycle of abutment portions 154, first connecting posts 1531, abutment portions 154, second connecting posts 1532, and abutment portions 154 in the circumferential direction.

[0192] In some examples, the first end face 157 and the second end face 158 may be provided with positioning marks, which replace the abutment 154, the first connecting post 1531, or the second connecting post 1532 when the positioning marks occupy the position of the abutment 154, the first connecting post 1531, or the second connecting post 1532.

[0193] Specifically, when the positioning mark occupies the position of the abutment 154, the two sides of the positioning mark in the circumferential direction can be the first connecting post 1531 and the second connecting post 1532. When the positioning mark occupies the position of the first connecting post 1531, the two sides of the positioning mark in the circumferential direction can be the abutment 154. When the positioning mark occupies the position of the second connecting post 1532, the two sides of the positioning mark in the circumferential direction can be the abutment 154.

[0194] In some examples, the length of the abutment portion 154 in the axial direction of the ring portion 151 is less than the length of the connecting portion 120 in the axial direction of the ring portion 151. This allows the connecting portion 120 to be inserted into the insertion interface 1563 on the end face of the fixed carrier 156 when the abutment portion 154 abuts against the end face of the fixed carrier 156, thereby ensuring good connection strength and good installation flatness.

[0195] The hole depth of the insertion interface 1563 is not less than the length of the corresponding connecting part 120, so that the connecting part 120 is fully inserted into the corresponding insertion interface 1563, ensuring that the abutting part 154 is firmly abutted against the end face of the fixed carrier 156.

[0196] In some examples, a portion of the end face of the cover 1561 is disposed opposite to the first end face 157, and a portion of the end face of the seat 1562 is disposed opposite to the second end face 158. The abutment portion 154 on the first end face 157 is firmly abutted against the end face of the cover 1561, and the abutment portion 154 on the second end face 158 is firmly abutted against the end face of the seat 1562.

[0197] As shown in Figures 7 to 12, in one feasible embodiment, the seat 1562 is sleeved on a portion of the ring 151, and a positioning groove is formed on the seat 1562, with a positioning protrusion 155 for being positioned within the positioning groove.

[0198] In this technical solution, the structure of the seat 1562 is further provided. A positioning groove can be formed on the seat 1562. The positioning groove cooperates with the positioning protrusion 155 to further prevent the ring 151 from rotating.

[0199] In one possible implementation, the ring portion 151 is interference-fitted and / or transition-fitted and / or clearance-fitted with the fixed carrier 156.

[0200] In this technical solution, the ring 151 and the fixed carrier 156 can also be connected by interference fit or transition fit. Based on this, it can also prevent the ring 151 from rotating. With this structure, the outer wall of the ring 151 can be smooth, without the need to set other limiting parts, which makes it easier to precisely process the ring 151.

[0201] It is understandable that a small clearance fit can also be used between part 151 and fixed carrier 156, which can also prevent the ring part 151 from rotating. With this structure, the outer wall of the ring part 151 can be smooth, without the need for other limiting components, which makes it easier to precisely process the ring part 151.

[0202] In one feasible embodiment, the material used to manufacture the flexible wheel 110 includes injection-molded engineering plastic. This arrangement facilitates the injection molding of the flexible wheel 110 while ensuring its mechanical strength.

[0203] In some examples, the flexible wheel 110 and the connecting part 120 can be made of the same material. The materials used to make the flexible wheel 110 and the connecting part 120 include, but are not limited to, injection-molded engineering plastics, such as pure materials of polyoxymethylene (POM), polyamide (PA), nylon, polyether ether ketone (PEEK), polyphenylene sulfide (PPS), etc., as well as related materials reinforced with glass fiber and / or carbon fiber.

[0204] In one feasible implementation, the material used to fabricate the rigid wheel 150 includes injection-molded engineering plastics. This configuration ensures the machining accuracy and mechanical strength of the rigid wheel 150.

[0205] In some examples, the materials used to prepare the rigid wheel 150 include, but are not limited to, injection-molded engineering plastics such as pure materials like polyoxymethylene (POM), polyamide (PA), nylon, polyetheretherketone (PEEK), polyphenylene sulfide (PPS), and related materials reinforced with glass fiber and / or carbon fiber.

[0206] As shown in Figure 15, in one feasible embodiment, the harmonic reducer further includes: a first external connection part 200, which is connected to the ring part 151, and the first external connection part 200 is used to fix the harmonic reducer.

[0207] In this technical solution, a method for connecting a harmonic reducer to other external components is further provided. Based on this, the harmonic reducer may include a first external connection part 200. Based on this, during the operation of the harmonic reducer, the ring part 151 of the rigid wheel 150 is fixed. The harmonic reducer can be connected to other components through the first external connection part 200. The first external connection part 200 may include lugs formed on the ring part 151 and other components such as mounting seats that can fix or assemble the harmonic reducer.

[0208] In one feasible implementation, the ring portion 151 is a solid structure.

[0209] In this technical solution, the style of the ring 151 is further provided. The ring 151 can be a solid structure. Compared with the traditional solution where the rigid wheel 150 has holes, by designing the ring 151 as a solid structure, on the one hand, the mechanical strength of the ring 151 can be improved; on the other hand, it is easier to prepare the ring 151 by injection molding, which can improve the injection molding accuracy.

[0210] As shown in Figure 2, in one feasible embodiment, the harmonic reducer further includes: a wave generator 170, which is connected to the flexible wheel 110; an input section 180, which is connected to the wave generator 170; the wave generator 170 includes a cam 171 and a flexible bearing 172 sleeved on the cam 171.

[0211] This technical solution further provides the structural composition of a harmonic reducer, which may also include a wave generator 170 and an input section 180. When the wave generator 170 is inserted into the flexible wheel 110, it forces the flexible wheel 110 to undergo elastic deformation into an ellipse. The transmission teeth 113 near both ends of the major axis of the ellipse are fully engaged with the meshing teeth 152 on the rigid wheel 150, while the transmission teeth 113 near both ends of the minor axis are completely disengaged from the meshing teeth 152 on the rigid wheel 150. As the wave generator 170 rotates, the deformed part of the flexible wheel 110 also rotates, causing the engagement and disengagement states between the flexible wheel 110 and the rigid wheel 150 to continuously change, thereby achieving a slow rotation of the flexible wheel 110 relative to the rigid wheel 150 and achieving a deceleration effect.

[0212] In this technical solution, the structure of the wave generator 170 is further provided. The wave generator 170 may include a cam 171 and a flexible bearing 172 sleeved on the cam 171. The cam 171 and the flexible bearing 172 adopt a transition and small interference fit. The flexible bearing 172 is mounted on the cam 171, and the inner and outer rings of the flexible bearing 172 have the same outer contour as the cam 171. The input part 180 can be connected to the cam 171 by interference fit, key or pin. Based on this, the rotation of the input part 180 can drive the wave generator 170 to rotate.

[0213] Understandably, the shape of the cam 171 can conform to a cosine wave or an elliptical wave, so that a portion of the flex wheel 110 can mesh with the rigid wheel 150.

[0214] It is understandable that the connection between the wave generator 170 and the flexible wheel 110 may include, but is not limited to, interference fit, transition fit, or small clearance fit.

[0215] In some examples, the cam 171 can be manufactured by injection molding, or by powder metallurgy (PM) or metal injection molding (MIM) processes, which can reduce the manufacturing cost of the cam and ensure machining accuracy.

[0216] As shown in Figure 2, in one feasible embodiment, a limiting flange 173 is formed on the cam 171, and the limiting flange 173 is used to limit the flexible bearing 172.

[0217] In this technical solution, the structure of the cam 171 is further provided. A limiting flange 173 can be formed on the cam 171. The limiting flange 173 can limit the flexible bearing 172, which can prevent the flexible bearing 172 from detaching from the cam 171 and ensure the reliability of the harmonic reducer.

[0218] As shown in Figure 2, in one feasible embodiment, the harmonic reducer further includes: a second external connection portion 190, the second external connection portion 190 including: an external connection end cap 191, the external connection end cap 191 being disposed on the housing of the harmonic reducer near the output portion 130; a second fastener 192, the second fastener 192 passing through the external connection end cap 191 and connected to the housing; a second limiting member 193, the second limiting member 193 passing through the external connection end cap 191 and connected to the housing; a twist groove 194, the twist groove 194 being formed on the external connection end cap 191; and an external bearing 195, the external bearing 195 being disposed between the output portion 130 and the external connection end cap 191.

[0219] This technical solution further provides another method for fixing the harmonic reducer externally. Besides providing a first external connection portion 200 on the ring portion 151 of the rigid wheel 150, the harmonic reducer can also be connected via a second external connection portion 190. The second external connection portion 190 may include an external connection end cap and a twist groove 194. The external connection end cap can cover the end of the harmonic reducer, and the twist groove 194 is formed on the external connection end cap, allowing the external connection end cap to be positioned and assembled with other external components. Compared to providing the first external connection portion 200 on the ring portion 151, the second external connection portion 190 allows the end of the harmonic reducer to be connected with other components. In this technical solution, the second external connection portion 190 may also include a second fastener 192 and a second limiting member 193. This makes the connection between the external connection end cap and the housing of the harmonic reducer more reliable, facilitates the positioning of the external connection end cap, and reduces the probability of the external connection end cap detaching. As shown in Figure 15, in one feasible embodiment, the harmonic reducer further includes a connecting hole 210, which is formed on the flexure 110. The output part 130 is connected to the flexure 110 through the connecting part 120 and the connecting hole 210. In this technical solution, the flexure 110 of the harmonic reducer can also have a connecting hole 210, and part of the output part 130 can pass through the connecting hole 210. The output part 130 is fixed together by the connecting hole 210 and the protruding connecting part 120, which can make the fixing method of the output part 130 more diverse, make the fixing of the output part 130 more reliable, and further ensure the transmission accuracy. As shown in Figures 1 to 15, a robotic arm is proposed according to the second aspect of the embodiments of this application, including a harmonic reducer as described in any of the above technical solutions. The robotic arm provided in the embodiments of this application includes a harmonic reducer as described in any of the above technical solutions, therefore the robotic arm has all the beneficial effects of the harmonic reducer of the above technical solutions. In some examples, the robotic arm may include a robotic arm body and a power unit. The power unit can be connected to the robotic arm body via a harmonic reducer, which can regulate the rotational speed, making the robotic arm work more stably. As shown in Figures 1 to 15, a cleaning device is provided according to a third aspect of the embodiments of this application, including: a harmonic reducer as described in any of the above technical solutions or a robotic arm as described in the above technical solutions. The cleaning device provided by the embodiments of this application, because it includes a harmonic reducer or a robotic arm as described in any of the above technical solutions, possesses all the beneficial effects of the harmonic reducer or robotic arm of the above technical solutions.The cleaning equipment provided in this application embodiment may further include a main body, and a harmonic reducer may be connected to the main body for speed reduction transmission of the power components within the main body. A first cavity formed on the harmonic reducer facilitates the layout of the main body's wiring or piping. Furthermore, a second cavity on the harmonic reducer allows wiring and piping to pass through it, simplifying the wiring and piping layout of the cleaning equipment. The harmonic reducer provided in this application embodiment provides precise transmission, enabling more accurate operation of the cleaning equipment. It is understood that the cleaning equipment can be an automatic cleaning device, and may also include a base station. The main body of the cleaning equipment can be placed within the base station, which can be used to clean the cleaning components of the main body, replenish water and cleaning agents, etc., making the cleaning equipment more convenient to use. In this case, the cleaning equipment requires multiple power components, such as the walking unit, cleaning rollers, and robotic arms for grasping obstacles. When speed reduction transmission is required for these power components, a harmonic reducer can be used. In this application, 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 "installed," "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "linked" 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 application according to the specific circumstances. In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application. 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 this application. 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. The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A harmonic reducer, wherein, include: Flexible wheel; A connecting portion is disposed on the flexible wheel, and the connecting portion protrudes from the surface of the flexible wheel; The output section is connected to the flexible wheel via the connecting section.

2. The harmonic reducer according to claim 1, wherein, The connecting part includes a plurality of connecting posts, which are disposed on the inner and / or outer surfaces of the bottom of the flexible wheel.

3. The harmonic reducer according to claim 2, wherein, The bottom of the flexible wheel is provided with an assembly hole, and a plurality of the connecting posts are evenly arranged along the circumference of the assembly hole.

4. The harmonic reducer according to claim 1, wherein, The flex wheel includes: The tooth segment has transmission teeth on its outer wall. The tooth surface of the transmission teeth 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. The first arc surface segment and the second arc surface segment have different curvature directions.

5. The harmonic reducer according to claim 1, wherein, The output section includes: A first limiting member has a limiting hole formed thereon, and the connecting part is used to pass through the limiting hole; An output component, which is connected to the first limiting component.

6. The harmonic reducer according to claim 5, wherein, The connecting part is disposed on the inner surface of the bottom of the flexible wheel, and the first limiting member and the output member are respectively located on both sides of the bottom of the flexible wheel.

7. The harmonic reducer according to claim 5, wherein, Also includes: 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.

8. The harmonic reducer according to claim 5, wherein, Also includes: A first fastener passes through the first limiting member and is connected to the output member.

9. The harmonic reducer according to claim 5, wherein, The output component includes an output shaft or an output flange.

10. The harmonic reducer according to any one of claims 1 to 9, wherein, The flexible wheel and the connecting part are an integral structure; and / or The flexible wheel and the connecting part are manufactured by injection molding.

11. The harmonic reducer according to any one of claims 1 to 9, wherein, Also includes: Rigid wheel, the flexible wheel is used to mesh with the rigid wheel; 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 to 1.

5. The rigid wheel is manufactured by injection molding.

12. The harmonic reducer according to claim 11, wherein, The meshing tooth surface includes a third arc segment and a fourth arc segment, which are arranged along the direction from the tooth root to the tooth tip, and the curvature directions of the third arc segment and the fourth arc segment are different.

13. The harmonic reducer according to claim 11, wherein, A plug-in portion is provided on the first end face and / or the second end face of the ring portion, the plug-in portion protruding from the first end face and / or the second end face to be plugged into the fixing carrier of the ring portion.

14. The harmonic reducer according to claim 13, wherein, At least two abutting portions are provided on the first end face and / or the second end face, the abutting portions protruding from the first end face and / or the second end face to abut against the outer wall of the fixed carrier.

15. The harmonic reducer according to claim 14, wherein, The outer circumferential wall of the ring is provided with a positioning protrusion, which is used to abut against the fixing carrier of the ring.

16. The harmonic reducer according to claim 15, wherein, The fixed carrier includes: A cover and a base, wherein the cover and the base are provided with insertion interfaces, and the insertion part is used to be inserted into the insertion interfaces; A rolling bearing or a sliding bearing is sleeved on the output shaft of the output section and located between the base and the output shaft.

17. The harmonic reducer according to claim 16, wherein, The seat is fitted onto a portion of the ring, and a positioning groove is formed on the seat. The positioning protrusion is used to be positioned within the positioning groove.

18. The harmonic reducer according to claim 13, wherein, The ring portion is interference-fitted and / or transition-fitted and / or clearance-fitted with the fixed carrier.

19. The harmonic reducer according to claim 13, wherein, 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.

20. The harmonic reducer according to claim 11, wherein, Also includes: The first external connection part is connected to the ring part and is used to fix the harmonic reducer.

21. The harmonic reducer according to claim 11, wherein, The ring portion is a solid structure.

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

23. The harmonic reducer according to claim 22, wherein, A limiting flange is formed on the cam, and the limiting flange is used to limit the flexible bearing.

24. The harmonic reducer according to claims 1 to 9, wherein, Also includes: The second external connection part includes: An external end cap is provided on the housing of the harmonic reducer near the output section. A second fastener, which passes through the outer end cap and is connected to the housing; The second limiting member passes through the external end cap and is connected to the housing; A twist groove is formed on the outer connecting end cap; An external bearing is provided, which is arranged between the output section and the external end cover.

25. The harmonic reducer according to claims 1 to 9, wherein, Also includes: A connection hole is provided on the flexible wheel, and the output part is connected to the flexible wheel through the connection part and the connection hole.

26. The harmonic reducer according to claims 1 to 9, wherein, At least a portion of the output section is located within the flexible wheel.

27. A robotic arm, wherein, include: The harmonic reducer as described in any one of claims 1 to 26.

28. A cleaning device, wherein, include: The harmonic reducer as described in any one of claims 1 to 26 or the robotic arm as described in claim 27.

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