Rigid wheel, harmonic reducer, mechanical arm and automatic cleaning apparatus

Abstract

The present application provides a rigid wheel, a harmonic reducer, a mechanical arm, and an automatic cleaning apparatus. The rigid wheel comprises a ring part and a plurality of transmission teeth, the plurality of transmission teeth being formed on an inner ring of the ring part, and the ring part is an annulus of equal thickness.

Description

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

[0001] This application claims priority to Chinese Patent Application No. 202422536855.8, filed on October 18, 2024, entitled "Rigid Wheel, Harmonic Reducer, Robotic Arm and Automatic Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of transmission equipment technology, specifically relating to a rigid wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device. Background Technology

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

[0004] 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.

[0005] Existing rigid wheels are typically irregular in shape, making them difficult to manufacture through injection molding. (Utility Model Content)

[0006] Therefore, the technical problem to be solved by this application is to provide a rigid wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device, which can improve the regularity of the rigid wheel and improve the transmission accuracy of the harmonic reducer.

[0007] To address the aforementioned problems, a first aspect of this application provides a rigid wheel, comprising a ring portion and a plurality of transmission teeth, wherein the plurality of transmission teeth are formed on the inner ring of the ring portion, and the ring portion is an annular ring of uniform thickness.

[0008] Optionally, the ratio of the maximum radial thickness to the minimum radial thickness of the ring portion ranges from 1 to 1.5.

[0009] Optionally, the circle containing the tooth tip of each of the transmission teeth is concentric with the annular portion.

[0010] Optionally, the transmission teeth protrude radially from the inner ring of the ring portion, the transmission teeth extend axially along the ring portion, and a plurality of the transmission teeth are arranged circumferentially along the ring portion, and the transmission teeth have the same tooth profile.

[0011] Optionally, the tooth surface of the transmission tooth includes a first arc segment and a second arc segment, the first arc segment and the second arc segment are arranged along the direction from the tooth root to the tooth tip, and the bending directions of the first arc segment and the second arc segment are different.

[0012] Optionally, the first arc segment is concave, and the second arc segment is convex.

[0013] Optionally, a stop is provided on the first end face and / or the second end face of the ring portion.

[0014] Optionally, 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.

[0015] Optionally, the plug-in portion includes at least two first connecting posts and at least two second connecting posts, wherein the length of the second connecting posts in the axial direction of the ring portion is less than the length of the first connecting posts in the axial direction of the ring portion.

[0016] Optionally, when a stop is provided on the first end face and / or the second end face, the length of the first connecting post in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting post in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

[0017] Optionally, at least some of the first connecting posts and at least some of the second connecting posts are arranged alternately in the circumferential direction of the ring portion.

[0018] Optionally, at least two abutment posts are provided on the first end face and / or the second end face, the abutment posts protruding from the first end face and / or the second end face to abut against the outer wall of the fixed carrier.

[0019] Optionally, at least some of the abutting posts and at least some of the insertion portions are arranged alternately in the circumferential direction of the ring portion.

[0020] Optionally, the length of the abutment post in the axial direction of the ring portion is less than the length of the insertion portion in the axial direction of the ring portion.

[0021] Optionally, a positioning protrusion is provided on the circumferential outer wall of the outer ring portion, the positioning protrusion being used to abut against the wall surface of the fixing carrier of the ring portion in the circumferential direction.

[0022] Optionally, a positioning protrusion is provided on the circumferential outer wall of the outer ring of the ring portion, and the positioning protrusion is used for the fixing carrier of the ring portion to fit in a concave-convex fit.

[0023] Optionally, there are at least two positioning protrusions, which are arranged circumferentially along the ring portion and extend axially along the ring portion.

[0024] Optionally, the steel wheel is injection molded.

[0025] Optionally, the material used to manufacture the rigid wheel includes injection-molded engineering plastics.

[0026] A second aspect of this application provides a harmonic reducer, including a rigid wheel as described above, the harmonic reducer including a base, the rigid wheel being connected to the base.

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

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

[0029] The embodiments of this utility model provide a rigid wheel, a harmonic reducer, a robotic arm, and an automatic cleaning device. The rigid wheel, by setting its ring portion to a thick annular shape, achieves a more regular overall shape, allowing for injection molding. This regular shape more easily meets the requirements of the injection molding process. Simultaneously, the design and manufacture of the injection mold are simplified, increasing mold lifespan and reducing mold development costs and time. The uniform circumferential thickness of the rigid wheel's ring portion ensures a more even stress distribution across all parts of the wheel during operation. This guarantees a long service life and high reliability, improves the overall strength and durability of the rigid wheel, and ensures the performance stability of the harmonic reducer during long-term use. Attached Figure Description

[0030] Figure 1 is a first three-dimensional structural schematic diagram of the rigid wheel according to an embodiment of this application;

[0031] Figure 2 is a schematic diagram of the second three-dimensional structure of the rigid wheel according to an embodiment of this application;

[0032] Figure 3 is a top view of the rigid wheel according to an embodiment of this application;

[0033] Figure 4 is an enlarged view of point A in Figure 3;

[0034] Figure 5 is a front view of the rigid wheel according to an embodiment of this application;

[0035] Figure 6 is a three-dimensional structural diagram of the base according to an embodiment of this application;

[0036] Figure 7 is a top view of the base according to an embodiment of this application;

[0037] Figure 8 is a three-dimensional structural diagram of the cover body according to an embodiment of this application;

[0038] Figure 9 is a bottom view of the cover body according to an embodiment of this application;

[0039] Figure 10 is a cross-sectional view of a harmonic reducer according to an embodiment of this application.

[0040] The reference numerals in the attached figures are as follows:

[0041] 1. Ring; 11. Stop; 12. Insertion part; 121. First connecting post; 122. Second connecting post; 13. Abutment post; 14. Positioning protrusion; 2. Transmission tooth; 21. First arc surface segment; 22. Second arc surface segment; 3. Fixing carrier; 31. Seat; 32. Cover. Detailed Implementation

[0042] 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., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0043] 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0045] The embodiments of the present invention will be 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 the present invention.

[0046] Referring to Figures 1 to 10, according to a first aspect of an embodiment of this application, a rigid wheel is provided, including a ring portion 1 and a plurality of transmission teeth 2, the plurality of transmission teeth 2 being formed on the inner ring of the ring portion 1, the ring portion 1 being an annular ring of uniform thickness.

[0047] In this embodiment, by setting the ring portion 1 as a thick annular ring, the overall shape of the rigid wheel is made more regular, thus enabling the rigid wheel to be manufactured by injection molding. The regular shape makes it easier to meet the requirements of the injection molding process. At the same time, the design and manufacture of the injection mold are also simpler, increasing the service life of the mold and reducing the development cost and time of the mold. In this embodiment, the ring portion 1 of the rigid wheel has a uniform thickness along the circumference. When the rigid wheel is applied to a harmonic reducer, the stress distribution on various parts of the rigid wheel is more uniform during the operation of the harmonic reducer, ensuring that the rigid wheel has a good service life and reliability, improving the overall strength and durability of the rigid wheel, and ensuring the performance stability of the harmonic reducer during long-term use.

[0048] The ring can include circular rings, square rings, etc. In this embodiment, the ring portion 1 is a circular ring. The ring thickness refers to the shortest distance between the inner circle and the outer circle in the radial direction of the ring portion 1, starting from the center of the ring portion 1. Equal thickness means that the shortest distance between the inner circle and the outer circle in the radial direction of the formed ring, starting from the center, is equal.

[0049] The ratio of the maximum radial thickness to the minimum radial thickness of the ring 1 ranges from 1 to 1.5, which makes the overall shape of the ring 1 more regular and the ring thickness more similar in all places. This is more conducive to the injection molding process, reduces the injection molding difficulty, improves the injection molding quality and yield, and can also reduce injection molding errors and improve the precision of the rigid wheel.

[0050] Specifically, after injection molding, the steel wheel shrinks during the cooling process. Because the thickness of ring 1 is relatively uniformly distributed, heat transfer is relatively uniform, and the cooling rate is also relatively consistent, reducing shrinkage differences and improving the dimensional accuracy of the injection molded part.

[0051] Furthermore, by setting the ratio of the maximum radial thickness to the minimum radial thickness of ring 1 to a range of 1 to 1.5, the stress can be distributed more evenly on ring 1 when the rigid wheel is subjected to external loads. For example, during the process of the rigid wheel transmitting torque as a transmission component, the stress difference between different parts is small, avoiding structural damage caused by excessive local stress and improving the overall structural strength and reliability of ring 1.

[0052] The ring 1 and the transmission gear 2 are integrally formed, specifically by joint injection molding.

[0053] In this embodiment, multiple transmission teeth 2 are neatly arranged on the inner ring of the ring portion 1. The transmission teeth 2 are key components for power transmission, ensuring perfect cooperation with other components in the harmonic reducer to achieve efficient transmission. In terms of tooth height, the height difference between each transmission tooth 2 is reduced, making each transmission tooth 2 more uniform. This further makes the rigid wheel more regular, resulting in smaller height differences between the transmission teeth 2. During transmission, each tooth can distribute the load more evenly, reducing local wear and stress concentration caused by uneven tooth height, extending the service life of the rigid wheel, and also facilitating the injection molding process, reducing injection molding difficulty, and improving injection molding quality and yield.

[0054] The maximum radial thickness of the ring 1 is the maximum value between the inner and outer circles measured from the center of the ring 1 in all directions. Similarly, the minimum radial thickness of the ring 1 is the minimum value between the inner and outer circles measured from the center of the ring 1 in all directions.

[0055] As a feasible example, the ratio of the maximum radial thickness to the minimum radial thickness of the ring 1 is in the range of 1 to 1.2, so that the ring forms a more regular and uniform annular shape.

[0056] The ratio of the maximum radial thickness to the minimum radial thickness of the ring 1 can be 1. That is, the ring 1 is a standard annular shape with the same radial thickness throughout. The height of each transmission tooth 2 is the same, and the circle containing the tooth tip of each transmission tooth 2 is concentric with the ring 1. This allows for a more even distribution of stress, avoiding localized stress concentration, thereby significantly improving the overall strength and durability of the rigid wheel.

[0057] The transmission teeth 2 protrude radially from the inner ring of the ring 1, and extend axially along the ring 1. Multiple transmission teeth 2 are arranged circumferentially along the ring 1. This arrangement allows the transmission teeth 2 to closely engage with the flexspline in the harmonic reducer, achieving precise power transmission. Each transmission tooth 2 functions at a specific position and angle, ensuring more stable and accurate force transmission during the transmission process, thereby improving transmission efficiency and precision.

[0058] The transmission teeth 2 are evenly arranged along the circumference of the ring 1, which ensures that the rigid wheel is subjected to uniform force during rotation and further improves the stability of the transmission.

[0059] The transmission teeth 2 have the same tooth profile. During the transmission process, the load and stress distribution of each tooth is relatively uniform, which reduces local wear and deformation caused by differences in tooth profile, and further improves the accuracy and stability of the transmission.

[0060] The tooth surface of the transmission gear 2 includes a first arcuate segment 21 and a second arcuate segment 22, which are arranged along the direction from the tooth root to the tooth tip. The curvature directions of the first arcuate segment 21 and the second arcuate segment 22 are different. This design allows the transmission gear 2 to have a larger transmission contact area, which can greatly improve the meshing rate and strength, and further ensure the transmission and deceleration effects. At the same time, the arcuate segments 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.

[0061] Specifically, the first arc-shaped segment 21 is located near the tooth root, and the second arc-shaped segment 22 is located near the tooth tip. The first arc-shaped segment 21 is concave, and the second arc-shaped segment 22 is convex, enabling the transmission tooth 2 to achieve a tighter and more precise contact when meshing with mating components, such as the transmission tooth 2 of a flexspline. In the initial stage of meshing, the concave first arc-shaped segment 21 guides the mating component smoothly into the meshing position, providing good guidance and reducing impact and misalignment during meshing. As meshing progresses, the convex second arc-shaped segment 22 forms a more stable contact with the mating component, increasing the contact area and improving the reliability and stability of the transmission. The interplay of arc-shaped segments with different curvature directions makes the meshing process smoother, reducing vibration and noise caused by tooth surface mismatch.

[0062] A stop 11 is provided on the first and / or second end faces of the ring portion 1, and a corresponding stop 11 is also provided on the fixed carrier 3. The ring portion 1 is inserted into the stop 11 of the fixed carrier 3 through the stop 11. This design improves the positioning accuracy, enabling the rigid wheel to be positioned more accurately when installed on the fixed carrier 3, avoiding installation deviations. At the same time, the insertion method of the stop 11 also improves the stability of the connection, ensuring that the rigid wheel will not loosen or shift during operation.

[0063] The stop 11 can be provided only on the first end face, only on the second end face, or on both the first and second end faces. When the stop 11 is provided on both end faces, the stability of the connection can be further improved.

[0064] The stop 11 extends along the outer circle of the first end face and the second end face, which increases the contact area between the stop 11 and the fixed carrier 3 and improves the reliability of the connection.

[0065] A connector 12 is provided on the first and / or second end faces of the ring portion 1. The connector 12 protrudes from the first and / or second end faces to engage with the fixed carrier 3 of the ring portion 1. By providing the connector 12, the rigid wheel can be connected to the fixed carrier 3, thereby fixing the ring portion 1 to the fixed carrier 3 and preventing the ring portion 1 from rotating on the fixed carrier 3. This provides stable support for the rigid wheel, which in turn supports the rotation of the flexible wheel, allowing the flexible wheel to rotate and thus achieve power output.

[0066] By placing the insertion part 12 on the first end face and / or the second end face, the rigid wheel can be connected to the fixed carrier 3 through the outwardly protruding insertion part 12 on the end face. This design avoids the connection to the fixed carrier 3 by setting a connecting hole inside the rigid wheel or a connecting lug outside the rigid wheel in the prior art. With the rigid wheel design in this embodiment, the rigid wheel can be manufactured by injection molding, and the injection molding yield is higher, which can meet the process requirements. At the same time, this design also makes the physical properties of the rigid wheel more consistent in all directions, which can maintain good stability during the movement of the flexible wheel, thereby improving the operating stability of the harmonic reducer.

[0067] The insertion part 12 may be provided only on the first end face, and then connected to the fixed carrier 3 through the insertion part 12 on the first end face. Alternatively, the insertion part 12 may be provided only on the second end face, and then connected to the fixed carrier 3 through the insertion part 12 on the second end face. In this embodiment, the insertion part 12 is provided on both the first and second end faces, and is connected to the fixed carrier 3 through the insertion parts 12 on the first and second end faces respectively, thereby ensuring good connection strength.

[0068] The insertion portion 12 protrudes from the first and second end faces along the axial direction of the ring portion 1, that is, along the normal direction of the first and second end faces. This design allows the insertion portion 12 to be more tightly inserted into the fixed carrier 3, improving the stability of the connection.

[0069] The fixing carrier 3 is used to fix the ring 1, thereby fixing and supporting the ring 1. The fixing carrier 3 is provided with a corresponding insertion hole for the insertion part 12. The insertion part 12 is inserted into the insertion hole, thereby limiting the ring 1 in the circumferential direction and preventing the ring 1 from rotating relative to the fixing carrier 3.

[0070] The insertion portion 12 includes at least two first connecting posts 121 and at least two second connecting posts 122, wherein the length of the second connecting post 122 in the axial direction of the ring portion 1 is less than the length of the first connecting post 121 in the axial direction of the ring portion 1. This design can meet the requirements of different insertion depths, making the connection between the rigid wheel and the fixed carrier 3 more flexible and diverse.

[0071] There are multiple first connecting posts 121 and multiple second connecting posts 122. The multiple first connecting posts 121 are evenly distributed along the circumference of the ring 1 on the first and second end faces, respectively, and the multiple second connecting posts 122 are also evenly distributed along the circumference of the ring 1 on the first and second end faces, respectively. This arrangement allows for more uniform force distribution on the rigid wheel in all directions, improving the overall stability of the rigid wheel.

[0072] The first end face is provided with both a first connecting post 121 and a second connecting post 122. All first connecting posts 121 have the same length, and all second connecting posts 122 have the same length. This ensures consistency during installation of the rigid wheel and reduces installation errors.

[0073] The length of the first connecting post 121 in the axial direction of the ring portion 1 is greater than the length of the stop 11 in the axial direction of the ring portion 1, meaning that the first connecting post 121 protrudes beyond the stop 11 in the axial direction of the ring portion 1. This design allows the first connecting post 121 to be inserted deeper into the insertion hole, improving the stability and reliability of the connection. The length of the second connecting post 122 in the axial direction of the ring portion 1 is equal to the length of the stop 11 in the axial direction of the ring portion 1, satisfying different insertion depth requirements while facilitating injection molding.

[0074] Both the first connecting post 121 and the second connecting post 122 are connected to the stop 11, thereby improving the overall strength. This connection method allows the various parts of the rigid wheel to form an organic whole, jointly bearing the action of external forces and improving the rigid wheel's resistance to deformation.

[0075] At least a portion of the first connecting posts 121 and at least a portion of the second connecting posts 122 are alternately arranged in the circumferential direction of the ring portion 1. This arrangement allows for a more uniform torque distribution and more reasonable stress distribution, further improving the reliability of the connection. For example, the first connecting posts 121 are located on both sides of the ring portion 1 in the circumferential direction, while the second connecting posts 122 are located on both sides of the ring portion 1 in the circumferential direction, while the second connecting posts 122 are located on both sides of the ring portion 1 in the circumferential direction. This arrangement ensures that the torque is evenly distributed across the connecting posts during the rotation of the rigid wheel, preventing connection failure caused by excessive local stress.

[0076] The first connecting post 121 on the first end face and the first connecting post 122 on the second end face are arranged opposite each other along the axial direction of the ring portion 1, and the second connecting post 122 on the first end face and the second connecting post 122 on the second end face are arranged opposite each other along the axial direction of the ring portion 1. This relative arrangement further improves the connection reliability and overall balance. It makes the force on the rigid wheel more uniform in all directions, reducing deformation and damage caused by uneven force distribution.

[0077] At least two abutment posts 13 are provided on the first end face and / or the second end face, with the abutment posts 13 protruding from the first end face and / or the second end face to abut against the outer wall of the fixed carrier 3. By providing the abutment posts 13, a stable abutment with the outer wall of the fixed carrier 3 can be achieved, thereby ensuring that the rigid wheel has good installation flatness. This enhances the connection stability between the rigid wheel and the fixed carrier 3 and reduces vibration and noise.

[0078] The abutment posts 13 on the first end face protrude by an equal length from the abutment posts 13, thereby achieving a smooth abutment with the end face of the fixed carrier 3 and ensuring good installation flatness. Specifically, the abutment posts 13 on the first end face have the same shape and size, and are evenly distributed along the circumference of the first end face to ensure that they can function effectively.

[0079] The abutment posts 13 on the second end face protrude by an equal length from the abutment posts 13, thereby achieving a smooth abutment with the end face of the fixed carrier 3 and ensuring good installation flatness. Specifically, the abutment posts 13 on the second end face have the same shape and size, and are evenly distributed along the circumference of the second end face to ensure that they can function effectively.

[0080] The number of abutment posts 13 on the first end face and / or the second end face can be set according to the size of the rigid wheel. Setting an appropriate number of abutment posts 13 can ensure a good abutment effect. In one feasible example, the abutment posts 13 are only set on the first end face and abut against the fixed carrier 3 opposite to the first end face. In another feasible example, the abutment posts 13 are only set on the second end face and abut against the fixed carrier 3 opposite to the second end face. In yet another feasible example, the abutment posts 13 are set on both the first end face and the second end face and abut against the fixed carrier 3 opposite to both the first end face and the second end face.

[0081] The abutment post 13 on the first end face and the abutment post 13 on the second end face are arranged opposite each other along the axial direction of the ring portion 1, which further improves the abutment reliability and overall balance. This design allows the abutment posts 13 at both ends to abut against the fixed carrier 3 simultaneously during installation, ensuring the installation flatness of the rigid wheel and reducing vibration and noise caused by uneven installation.

[0082] The fixing carrier 3 includes a cover 32 and a base 31, which are interlocked to form an assembly space inside, within which a rigid wheel is disposed. A portion of the end face of the cover 32 is positioned opposite to a first end face, and a portion of the end face of the base 31 is positioned opposite to a second end face. An abutment post 13 on the first end face is firmly abutted against the end face of the cover 32, and an abutment post 13 on the second end face is firmly abutted against the end face of the base 31.

[0083] Specifically, the end face of the cover 32 that abuts against the abutment post 13 is a plane, perpendicular to the axis of the rigid wheel. The end face of the seat 31 that abuts against the abutment post 13 is a plane, perpendicular to the axis of the rigid wheel. The plane containing the contact surface between the abutment post 13 and the fixed carrier 3 is also perpendicular to the axis of the rigid wheel. This design allows for a tighter contact between the abutment post 13 and the fixed carrier 3, improving the stability of the connection.

[0084] At least some of the abutting posts 13 and at least some of the insertion parts 12 are arranged alternately in the circumferential direction of the ring portion 1, which can ensure both the connection strength of the insertion parts 12 and good installation flatness. For example, when the insertion part 12 only includes the first connecting post 121, at least some of the abutting posts 13 and at least some of the first connecting posts 121 are arranged alternately in the circumferential direction of the ring portion 1. Specifically, in the circumferential direction of the ring portion 1, abutting posts 13 are respectively provided on both sides of some of the first connecting posts 121, and first connecting posts 121 are respectively provided on both sides of some of the abutting posts 13. When the insertion part 12 includes the first connecting post 121 and the second connecting post 122, at least some of the abutting posts 13 and at least some of the first connecting posts 121 and the second connecting post 122 are arranged alternately in the circumferential direction of the ring portion 1. Specifically, in the circumferential direction of the ring 1, abutment posts 13 are respectively provided on both sides of some of the first connecting posts 121, and abutment posts 13 are respectively provided on both sides of some of the second connecting posts 122, thereby forming a cycle of abutment posts 13, first connecting posts 121, abutment posts 13, second connecting posts 122, and abutment posts 13 in the circumferential direction.

[0085] Positioning marks can be provided on the first and second end faces. When a positioning mark occupies the position of the abutment post 13, the first connecting post 121, or the second connecting post 122, it replaces the abutment post 13, the first connecting post 121, or the second connecting post 122 at that position. For example, when the positioning mark occupies the position of the abutment post 13, the two circumferential sides of the positioning mark can be the first connecting post 121 and the second connecting post 122. When the positioning mark occupies the position of the first connecting post 121, the two circumferential sides of the positioning mark can be the abutment post 13. When the positioning mark occupies the position of the second connecting post 122, the two circumferential sides of the positioning mark can be the abutment post 13.

[0086] The length of the abutment post 13 in the axial direction of the ring portion 1 is less than the length of the insertion portion 12 in the axial direction of the ring portion 1. This allows the insertion portion 12 to be inserted into the insertion hole on the end face of the fixed carrier 3 when the abutment post 13 abuts against the end face of the fixed carrier 3. This ensures both good connection strength and good installation flatness. The depth of the insertion hole is not less than the length of the corresponding insertion portion 12, ensuring that the insertion portion 12 is fully inserted into the corresponding insertion hole, thus guaranteeing that the abutment post 13 is firmly abutted against the end face of the fixed carrier 3.

[0087] In a feasible example, a positioning protrusion 14 is provided on the circumferential outer wall of the outer ring 1, the positioning protrusion 14 being used to abut against the wall surface of the fixing carrier 3 of the ring 1 in the circumferential direction.

[0088] By providing a positioning protrusion 14 on the outer circumferential wall of the ring 1, a clear positioning reference can be provided when installing the rigid wheel. When the rigid wheel is installed on the fixed carrier 3, the positioning protrusion 14 abuts against the wall surface of the fixed carrier 3, ensuring that the rigid wheel is accurately positioned in the circumferential direction. This design of the positioning protrusion 14 can also prevent the rigid wheel from undergoing circumferential displacement during operation, ensuring the transmission accuracy and stability of the harmonic reducer, and avoiding situations such as transmission difficulties, increased noise, or even damage to other components caused by the positional deviation of the rigid wheel.

[0089] The fixing carrier 3 is typically sleeved around the outer periphery of the ring 1. After the sleeve connection, the positioning protrusion 14 is located between the outer circumferential wall of the ring 1 and the inner circumferential wall of the fixing carrier 3. Furthermore, the ring 1 can be interference-fitted with the fixing carrier 3, so that the positioning protrusion 14 is tightly pressed against the inner circumferential wall of the fixing carrier 3, further enhancing the connection stability between the rigid wheel and the fixing carrier 3.

[0090] A positioning protrusion 14 is provided on the circumferential outer wall of the outer ring 1. The positioning protrusion 14 is used for a concave-convex fit with the fixing carrier 3 of the ring 1. By providing the positioning protrusion 14 on the outer ring 1 and the concave-convex fit between the positioning protrusion 14 and the fixing carrier 3, good positioning accuracy between the rigid wheel and the fixing carrier 3 can be ensured. At the same time, it can also facilitate the positioning of the rigid wheel during installation, improving installation efficiency. At the same time, the positioning protrusion 14 also plays a certain role in fixing, so that the rigid wheel can be more stably fixed on the fixing carrier 3, preventing the rigid wheel from rotating circumferentially on the fixing carrier 3.

[0091] The positioning protrusion 14 protrudes radially outward from the outer circumferential wall of the outer ring 1, thereby forming a concave-convex fit with the positioning groove on the mating surface of the fixing carrier 3. For example, the fixing carrier 3 can be a component such as the aforementioned seat 31 used to support and fix the rigid wheel. In this embodiment, the fixing carrier 3 is taken as the seat 31. A positioning groove is provided on the inner circumferential wall of the seat 31 corresponding to the positioning protrusion 14. The positioning protrusion 14 is inserted into the positioning groove to achieve positioning. By setting the positioning protrusion 14 and the positioning groove and making them fit together, the rigid wheel can be guaranteed to have good installation meshing concentricity.

[0092] Furthermore, the shape and size of the positioning protrusion 14 are adapted to the positioning groove to prevent the positioning protrusion 14 from wobbling within the positioning groove, ensuring the stability of the rigid wheel after installation. The positioning protrusion 14 can be integrally formed with the ring portion 1, or it can be connected to the outer ring of the ring portion 1 through other fixed connection methods. Specifically, in this embodiment, the positioning protrusion 14 is formed directly on the circumferential outer wall of the outer ring during injection molding, which ensures the connection strength between the positioning protrusion 14 and the ring portion 1.

[0093] Specifically, the outer wall of the positioning protrusion 14 away from the central axis of the ring 1 is curved. This curved surface design reduces friction between the positioning protrusion 14 and the fixing carrier 3, facilitating installation and disassembly. There are at least two positioning protrusions 14, arranged circumferentially along the ring 1 and extending axially along the ring 1, ensuring good positioning accuracy and fixing effect. The uniform arrangement of at least two positioning protrusions 14 circumferentially along the ring 1 maintains good consistency, resulting in even force distribution throughout the circumference and a centered center of gravity, thus improving overall stability.

[0094] Specifically, the positioning protrusions 14 are arranged parallel to each other and extend in a strip shape along the axial direction of the rigid wheel. The positioning protrusions 14 have the same shape and size, and are located at the same position in the axial direction of the ring portion 1. The positioning protrusions 14 are arranged radially in relation to the insertion portion 12 and the abutment post 13, which further improves the overall strength and ensures good balance.

[0095] Each positioning protrusion 14 is radially aligned with either the first connecting post 121, the second connecting post 122, or the abutting post 13 of the ring portion 1. For example, one-third of the total number of positioning protrusions 14 are radially aligned with the first connecting post 121, one-third with the second connecting post 122, and one-third with the abutting post 13. In a feasible embodiment, the positioning protrusions 14 extend to the stop 11, where the portion of the positioning protrusions 14 on the stop 11 is radially aligned with either the first connecting post 121, the second connecting post 122, or the abutting post 13 of the ring portion 1. In another feasible example, the positioning protrusion 14 does not extend to the stop 11. In this case, the positioning protrusion 14 is located in the same plane as the first connecting post 121, the second connecting post 122, or the abutting post 13, which can also be understood as being set in the radial direction.

[0096] Among them, the steel wheel is injection molded.

[0097] In existing harmonic generators, the rigid wheel is mostly manufactured through precision metal machining, resulting in high costs. The rigid wheel in this embodiment is manufactured using injection molding, which reduces production costs and weight, thereby lowering the cost and weight of the harmonic reducer. This facilitates the widespread use of harmonic reducers, especially in portable smart home appliances, ensuring effective transmission while allowing for more flexible movement of these appliances.

[0098] Existing rigid wheels typically require components for fixing, such as lugs. Some rigid wheels also function as the housing of harmonic reducers, making their structure quite complex. Therefore, if existing rigid wheels were manufactured using injection molding, it would be difficult to guarantee injection precision, or even impossible to perform injection molding at all. In this embodiment, the meshing part between the rigid wheel and the flexible wheel is manufactured using injection molding, and this part is roughly annular. This design facilitates placement in the mold corresponding to the ring 1, ensuring injection molding precision and making the meshing between the rigid wheel and the flexible wheel more reliable. This reduces costs while maintaining transmission accuracy.

[0099] The materials used to manufacture the rigid wheel include injection-molded engineering plastics, which ensure the machining accuracy and mechanical strength of the rigid wheel.

[0100] Specifically, the materials used to manufacture the steel wheel 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.

[0101] Based on the aforementioned rigid wheel, a second aspect of this embodiment provides a harmonic reducer, which includes a base and a rigid wheel connected to the base. Specifically, the rigid wheel can be installed in the base. In the harmonic reducer, the rigid wheel cooperates with the base 31 and other components to achieve efficient speed reduction and transmission.

[0102] The fit between the rigid wheel and the seat can be an interference fit, a transition fit, or a small clearance fit.

[0103] It is understandable that the ring 111 and the seat 114 can be fitted with an interference fit, a transition fit, or a small clearance fit, all of which can serve to fix the ring 111. When a small clearance fit is used, the outer wall of the ring 111 can be smooth, eliminating the need for other limiting components and making it easier to precisely machine the ring 111.

[0104] In a third aspect of this embodiment, a robotic arm is provided, including the rigid wheel or the harmonic reducer described above.

[0105] The robotic arm provided in this embodiment includes a rigid wheel or harmonic reducer as described in any of the above technical solutions, and therefore possesses all the beneficial effects of the rigid wheel or harmonic reducer described in the above technical solutions.

[0106] 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.

[0107] Furthermore, in a fourth aspect of this embodiment, an automatic cleaning device is provided, including a rigid wheel as described above, a harmonic reducer as described above, or a robotic arm as described above. In the automatic cleaning device, the rigid wheel or harmonic reducer can provide power and transmission support for the movement of the device, ensuring that the device can operate normally.

[0108] In practical applications, the rigid wheel, harmonic reducer, robotic arm, and automatic cleaning equipment of this embodiment can be customized and optimized according to specific needs. For example, the appropriate number and tooth profile of the rigid wheel can be selected according to different transmission ratio requirements; suitable materials and processing techniques can be selected according to different working environments and load requirements; and the structural design can be optimized according to different equipment sizes and installation requirements. In short, through continuous optimization and improvement, the products of this application can better meet market demands and user requirements.

[0109] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0110] 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 rigid wheel, wherein, It includes a ring portion and multiple transmission teeth, the multiple transmission teeth being formed on the inner ring of the ring portion, the ring portion being an annular ring of equal thickness.

2. The rigid wheel according to claim 1, wherein, The ratio of the maximum radial thickness to the minimum radial thickness of the ring portion ranges from 1 to 1.

5.

3. The rigid wheel according to claim 1, wherein, The circle containing the tooth tip of each of the transmission teeth is concentric with the ring portion.

4. The rigid wheel according to claim 1, wherein, The transmission teeth protrude radially from the inner ring of the ring portion, extend axially along the ring portion, and a plurality of transmission teeth are arranged circumferentially along the ring portion, with the transmission teeth having the same tooth profile.

5. The rigid wheel according to claim 1, wherein, The tooth surface of the transmission tooth includes a first arc segment and a second arc segment. The first arc segment and the second arc segment are arranged along the direction from the tooth root to the tooth tip, and the bending directions of the first arc segment and the second arc segment are different.

6. The rigid wheel according to claim 5, wherein, The first arc segment is concave, and the second arc segment is convex.

7. The rigid wheel according to claim 1, wherein, A stop is provided on the first end face and / or the second end face of the ring portion.

8. The rigid wheel according to any one of claims 1 to 7, 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.

9. The rigid wheel according to claim 8, wherein, The plug-in portion includes at least two first connecting posts and at least two second connecting posts, wherein the length of the second connecting post in the axial direction of the ring portion is less than the length of the first connecting post in the axial direction of the ring portion.

10. The rigid wheel according to claim 9, wherein, When a stop is provided on the first end face and / or the second end face, the length of the first connecting post in the axial direction of the ring portion is greater than the length of the stop in the axial direction of the ring portion, and the length of the second connecting post in the axial direction of the ring portion is equal to the length of the stop in the axial direction of the ring portion.

11. The rigid wheel according to claim 9, wherein, At least a portion of the first connecting post and at least a portion of the second connecting post are arranged alternately in the circumferential direction of the ring portion.

12. The rigid wheel according to claim 8, wherein, At least two abutting posts are provided on the first end face and / or the second end face, the abutting posts protruding from the first end face and / or the second end face to abut against the outer wall of the fixed carrier.

13. The rigid wheel according to claim 12, wherein, At least some of the abutting posts and at least some of the insertion portions are arranged alternately in the circumferential direction of the ring portion.

14. The rigid wheel according to claim 12, wherein, The length of the abutment post in the axial direction of the ring is less than the length of the insertion part in the axial direction of the ring.

15. The rigid wheel according to claim 1, wherein, A positioning protrusion is provided on the circumferential outer wall of the outer ring portion, and the positioning protrusion is used to abut against the wall surface of the fixing carrier of the ring portion in the circumferential direction.

16. The rigid wheel according to claim 1, wherein, The outer circumferential wall of the ring is provided with a positioning protrusion, which is used for the fixing carrier of the ring to fit in a concave-convex fit.

17. The rigid wheel according to claim 15 or 16, wherein, The positioning protrusions are at least two, and the at least two positioning protrusions are arranged circumferentially along the ring portion and extend axially along the ring portion.

18. The rigid wheel according to claim 1, wherein, The steel wheel is injection molded.

19. The rigid wheel according to claim 1, wherein, The materials used to manufacture the rigid wheel include injection-molded engineering plastics.

20. A harmonic reducer, wherein, The harmonic reducer includes a rigid wheel as described in any one of claims 1 to 19, and the rigid wheel is connected to the base.

21. A robotic arm, wherein, Includes the rigid wheel as described in any one of claims 1 to 19 or the harmonic reducer as described in claim 20.

22. An automatic cleaning device, wherein, The rigid wheel as described in any one of claims 1 to 19, the harmonic reducer as described in claim 20, or the robotic arm as described in claim 21.

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