CN114688231A - Joint, mechanical arm, robot and harmonic reducer device thereof - Google Patents

Abstract

The invention relates to the field of robots, and provides a robot, a mechanical arm, a joint and a harmonic reducer device thereof, comprising a cup-shaped flexible wheel, a rigid wheel engaged with the flexible wheel, and a wave generator, wherein the wave generator includes a power supply The input sleeve and the wave generator body arranged on the sleeve and radially deforming the flexible wheel to change the meshing position of the flexible wheel and the rigid wheel under the rotation of the sleeve also include an end cover and an output bearing arranged oppositely, It also includes a first stop structure and a second stop structure for stopping the sleeve. The first stop structure adopts a non-bearing structure and is sleeved on the sleeve. In the present invention, the use of bearings is abandoned and replaced with a first stop structure whose axial size is smaller than that of conventional bearings. Under the condition that the radial size of the rigid wheel remains unchanged, the shaft of the harmonic reducer device can be directly changed by changing the shaft. To meet the needs of the miniaturization of the harmonic reducer device, it meets the market demand.

Description

Joints, robotic arms, robots and their harmonic reducer devices

This application is a divisional application of a Chinese patent application entitled "Joint, Mechanical Arm, Robot and its Harmonic Reducer Device", the patent application number is 202111160367.6, and the application date is September 30, 2021.

technical field

The invention relates to the technical field of robots, in particular to a joint, a mechanical arm, a robot and a harmonic reducer device thereof.

Background technique

Robots usually include a robotic arm, joints that make the robotic arm rotate, and harmonic reducers are used at the joints to adjust the speed. The harmonic reducer is composed of three main components, which are a fixed rigid wheel, a flexible wheel and a wave generator that makes the flexible wheel radially deform. The inner wheel has an inner gear, and the flexible wheel is a thin-walled cylindrical outer gear that is easily deformed. The power is transmitted through the meshing of the inner gear and the outer gear. At this time, there is no deceleration power transmission. Under the action of the wave generator, the generator installed in the flexible wheel deforms the flexible wheel radially and becomes an ellipse. At this time, on the long axis of the ellipse, the teeth mesh along the entire working height. , and on the short axis, a radial gap is formed between the tooth tops. During the rotation of the generator, the shape of the flexible wheel is always close to an ellipse to achieve deceleration transmission.

The harmonic reducer has the advantages of high carrying capacity, large transmission ratio, small size, stable transmission and high transmission precision, and is widely used in electronics, aerospace, robotics and other industries.

A typical harmonic reducer adopts a top hat type flex wheel, please refer to FIG. 1 , the flex wheel 10 includes a cylindrical body 11 and an annular fixing table 12 that is perpendicular to the axis of the cylindrical body 11 and folded outwards. The core of the cylindrical body 11 is A central cavity (not shown) extending along the axis direction and completely passing through is opened, and the outer circumferential surface of the cylindrical body 11 is provided with an annular gear tooth belt 13 extending along the axis direction and distributed in an annular array by single gear teeth. When the size of the cylindrical body 11 of the flexible wheel is determined, due to the existence of the annular fixed table 12 folded outward, the size of the harmonic reducer 100 cannot be further changed in the space occupied by the annular fixed table 12. The direction of miniaturization.

In the process of scientific research and development for many years, researchers have invented a cup-shaped flexible wheel and applied it to the harmonic reducer. Please refer to FIG. 2. The flexible wheel 10a includes an annular slewing body 11a and a perpendicular to the annular slewing body 11a. The ring-shaped fixed table 12a folded inwards along the axis of the top hat type, because the top hat type flexible wheel 10 is replaced by the cup type flexible wheel 10a, the space area occupied by the everted fixed table 12 of the top hat type flexible wheel 10 is reduced, so that the harmonic The wave reducer 100a has a smaller size, and the size of the joints of the robot applying the harmonic reducer 100a is also smaller, and the whole robot is extraordinarily small.

However, with people's enthusiasm for robots, the requirements for the miniaturization of robots are higher, and the miniaturization is mainly reflected in the joints. Smaller harmonic reducers are the hot spot in the market, but in the past few years, there is still no one on the market. more miniaturized products.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a harmonic reducer device to solve the technical problem that the size of the existing harmonic reducer device does not meet people's demand for more miniaturization.

In order to achieve the above purpose, the technical scheme adopted in the present invention is: a harmonic reducer device, which includes a cup-shaped flexible wheel, a rigid wheel meshing with the flexible wheel, and a wave generator, and the wave generator includes a power input device. The sleeve and the wave generator main body arranged on the sleeve and radially deforming the flexible wheel to change the meshing position of the flexible wheel and the rigid wheel under the rotation of the sleeve, the harmonic reducer device also includes an end cover arranged oppositely and a The output bearing, the harmonic reducer device also includes a first stop structure and a second stop structure for stopping the sleeve, and the first stop structure adopts a non-bearing structure and is sleeved on the sleeve.

In one embodiment, a gap is formed between the sleeve and the end cap, and the first stop structure seals the gap.

In one embodiment, the axial dimension of the first stop structure is smaller than the difference between the inner diameter and the outer diameter of the first stop structure.

In one embodiment, the first stop structure and the second stop structure stop the sleeve in both axial directions.

In one embodiment, a first step is formed on the outer annular surface of the sleeve, a shroud is formed on the outer side of the end cover, and the first stop structure is disposed between the first step and the shroud.

In one embodiment, the first stop structure includes a stopper sleeved on the sleeve and rotated with the rotation of the sleeve, and a sealing element rotated relative to the stopper, and the sealing element is fixedly connected to the end cover, The stopper abuts on the first step, and the seal abuts on the enclosure plate.

In one embodiment, a sealing structure is formed between the stopper and the sealing member, the sealing structure includes a ring groove and a convex ring inserted into the ring groove, and one of the stopper and the sealing member defines a ring groove , the other one of the stopper and the seal is protruded with a convex ring.

In one embodiment, at least one of the stopper and the seal is in the form of a sheet.

In one embodiment, the first stop structure includes a stopper sleeved on the sleeve and rotating with the rotation of the sleeve, and a seal connected to the stopper; one end of the stopper is pressed against the inner side surface On the first step, the outer side surface of one end of the sealing element abuts against the enclosure plate.

In one embodiment, the seal and the shroud are always in contact when the seal rotates, and a sealing structure is formed at the contact between the seal and the shroud.

In one embodiment, the stopper includes a fixed portion with a U-shaped cross section, an extension portion extending from a side of the fixing portion close to the wave generator body away from the sleeve, and a side edge of the extension portion away from the sleeve an inclined part that is away from the sleeve direction and extends obliquely toward the enclosure; the seal includes a stopper fixed in the fixing part and a contact part that extends obliquely toward the enclosure from a side of the stopper that is away from the sleeve and close to the enclosure; The contact portion is in contact with the shroud.

In one embodiment, a surrounding plate is formed on the outer side of the end cap, the first stop structure includes a connecting ring connected to the side of the surrounding plate close to the sleeve, and a connecting ring is formed between the connecting ring and the outer annular surface of the sleeve. Sealed structure.

In one embodiment, the connecting ring is in surface contact with the outer annular surface of the sleeve, and the sealing structure is at least one annular groove formed on the contact surface between the connecting ring and the sleeve.

In one embodiment, the end cover includes a main body, a rigid wheel is fixed between the inner end surface of the main body and the outer ring of the output bearing, and the shroud is connected to the outer end edge of the main body and is integral with the main body.

In one embodiment, the second stop structure stops the stop bearing, and the power output end of the wave generator and the projection of the stop bearing on the axis of the sleeve at least partially overlap.

In one embodiment, the projected overlap ratio of the power output end of the wave generator and the stop bearing on the axis of the sleeve ranges from 0.1 to 1.

In one embodiment, the projected overlap ratio of the power output end of the wave generator and the stop bearing on the axis of the sleeve ranges from 0.5 to 0.9.

In one embodiment, the second stop structure stops the stop bearing, the harmonic reducer device further comprises an output shaft fixedly connected with the inner ring of the output bearing, and the stop bearing is located between the output shaft and the sleeve.

In one embodiment, a mounting portion is protruded from the outer ring surface of the output shaft, and the mounting portion is fixed to the inner ring of the output bearing together with the cup bottom of the flexible wheel.

In one embodiment, the inner ring surface of the sleeve is provided with a second step; one side of the stop bearing abuts on the second step, and the other side indirectly abuts the bottom of the cup of the flexible wheel, and the outer side of the stop bearing abuts on the second step. The circle touches the second step.

In one embodiment, the harmonic reducer device further comprises an output shaft fixedly connected with the inner ring of the output bearing and another end cover located outside the output bearing, and the other end cover is connected to the inner ring of the output bearing.

In one embodiment, the other end cover and the output shaft are two independent components, and a wire harness structure is provided between the other end cover and the output shaft.

In one embodiment, the output bearing is a bearing with its own oil seal.

In one embodiment, the wave generator body includes a rotating arm formed on the sleeve and rollers mounted on opposite ends of the rotating arm; or, the wave generator body includes a cam formed on the sleeve and a cam connected to the cam flexible bearing; or, the wave generator body includes an elliptical disk formed on the sleeve and a flexible bearing connected to the elliptical disk.

The purpose of the embodiments of the present invention is to further provide a joint, which includes the harmonic reducer device in the above embodiments and a drive motor for inputting power to the sleeve.

In one embodiment, the joint further includes another bearing sleeved on the sleeve and a mounting member for limiting the position of the other bearing, an accommodating space is formed between the stator and the rotation of the motor, and the other bearing is located in the accommodating space. within the space.

In one embodiment, the mounting member includes a plate body and a limit ring connected to one side of the plate body, the limit ring and the sleeve radially limit the other bearing, and a third bearing is formed on the outer ring surface of the sleeve. The step, the third step and the plate body limit the other bearing axially.

The purpose of the embodiments of the present invention is to further provide a robotic arm, which includes the joints in the above embodiments.

The purpose of the embodiments of the present invention is to further provide a robot, which includes the mechanical arm in the above-mentioned embodiments.

The beneficial effects provided by the present invention are:

The harmonic reducer device in this embodiment breaks through the conventional, the first stop structure does not use the bearing structure, but uses the first stop structure smaller than the axial dimension of the conventional bearing that provides the axial limit function instead of the conventional one Bearings have achieved innovative breakthroughs in the reduction of axial dimensions. Due to the existing bearings, balls need to be added between the inner ring and the outer ring. In order to make the balls run safely and reliably between the inner ring and the outer ring, the axial dimensions of the inner ring and the outer ring cannot be made small, and In the present invention, the use of bearings is directly abandoned, and the first stop structure whose axial size is smaller than that of conventional bearings is replaced. Under the condition that the radial size of the rigid wheel remains unchanged, the use of the harmonic reducer device is directly changed by changing the The axial size meets the demand for more miniaturization of the harmonic reducer device and meets the market demand.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Figure 1 is a schematic cross-sectional view of a harmonic reducer using a top hat-type flex wheel.

FIG. 2 is a schematic cross-sectional view of a harmonic reducer using a cup-type flex wheel.

FIG. 3 is a schematic three-dimensional structure diagram of a robot according to an embodiment of the present invention.

FIG. 4 is a schematic plan view of the robot shown in FIG. 3 .

FIG. 5 is an assembly schematic diagram of one of the joints of the robot shown in FIG. 4 .

FIG. 6 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the first embodiment is applied to the joint.

FIG. 7 shows a comparison diagram of the axial dimension of the harmonic reducer device provided by the first embodiment of the present invention and the harmonic reducer of FIG. 2 .

FIG. 8 is a partial enlarged view in the joint of FIG. 5 .

FIG. 9 is an enlarged view at the circle B in FIG. 8 .

10 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the second embodiment is applied to the joint.

FIG. 11 is an enlarged view at the circle C in the joint of FIG. 10 .

12 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the third embodiment is applied to the joint.

FIG. 13 is an enlarged view at the circle D in the joint of FIG. 12 .

FIG. 14 shows a comparison diagram of the axial dimension of the harmonic reducer device provided by the third embodiment of the present invention and the harmonic reducer of FIG. 2 .

FIG. 15 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the fourth embodiment is applied to the joint.

16 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the fifth embodiment is applied to the joint.

FIG. 17 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the sixth embodiment is applied to the joint.

FIG. 18 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the seventh embodiment is applied to the joint.

FIG. 19 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the eighth embodiment is applied to the joint.

FIG. 20 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the ninth embodiment is applied to the joint.

FIG. 21 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the tenth embodiment is applied to the joint.

FIG. 22 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the eleventh embodiment is applied to the joint.

FIG. 23 is a schematic cross-sectional view of the joint of FIG. 5 along the line A-A, wherein the harmonic reducer device of the twelfth embodiment is applied to the joint.

The label details are as follows:

10. Flexible wheel; 11. Cylinder body; 12. Fixed table; 13. Toothed belt; 100. Harmonic reducer;

10a, flexible wheel; 11a, rotary body; 12a, fixed table; 100a, harmonic reducer; 20a, wave generator; 21a, sleeve; 22a, roller; 30a, first positioning bearing; 40a, second positioning bearing 50a, first end cover; 60a, rigid wheel; 70a, roller bearing; 51a, connecting flange; 71a, outer ring of roller bearing 70a; 80a, output shaft; 52a, fixed plate; 81a, gasket; 82a , radial connection part; 83a, axial ring part; 93a, the second end cover; 95a, the inner side of the second end cover 93a is provided with an oil seal;

200, robot; 203, base; 201, mechanical arm; 202, arm body; 204, joint; 9, motor; 100b, harmonic reducer device; 10b, flexible wheel; 60b, rigid wheel; 20b, wave generator; 21b, sleeve; 22b, main body of wave generator; 90b, end cover; 70b, output bearing; 30b, first stop structure; 40b, second stop structure; 40b, stop bearing; 91b, enclosure plate; 92b , the main body of the end cover 90b; 61b, the first fixing part; 80b, the output shaft; 81b, the gasket; 82b, the mounting part; 93b, the other end cover; 1b, the wire harness structure; 209, housing of brake 205; 208, limit ring; 207, plate body; 206, mounting part; 205, brake; 92, stator; 91, rotor; 101, another bearing; 11b, ring part; 12b, cup Bottom; 14b, accommodating space; 23b, first step; 24b, second step; 72b, inner ring of output bearing 70b; 31b, stopper; 32b, seal; 33b, sealing structure; 34b, ring groove; 35b 36b, groove wall surface; 37b, groove bottom surface; 38b, corner; 94b, connecting part; 101b, pipe body; 102b, telescopic part; 103b, cable; 9. Shell; 93. Accommodating space; 95. Elastic part; 27b, Third step; 25b, elliptical disk; 26b, flexible bearing; 73b, accommodating groove;

100c, harmonic reducer device; 21c, sleeve; 30c, first stop structure; 31c, stopper; 32c, seal; 23c, first step; 91c, enclosure; 22c, main body of wave generator; 301c, fixed part; 302c, extension part; 303c, inclined part; 320c, stop part; 321c, contact part;

100d, harmonic reducer device; 21d, sleeve; 30d, first stop structure; 90d, end cover; 91d, enclosure plate; 92d, connecting ring; 33d, sealing structure; 34d, ring groove; 36d, groove wall ;37d, bottom surface of slot; 38d, corner; 9d, motor; 921d, stator; 911d, rotor; 93d, accommodation space;

100e, harmonic reducer device; 93e, other end cover; 80e, output shaft; 70e, output bearing; 72e, inner ring of output bearing 70e; 10e, flexible wheel; 12e, cup bottom;

100f, harmonic reducer device; 93f, the other end cover; 80f, output shaft; 70f, output bearing; 72f, inner ring of output bearing 70f; 10f, flexible wheel; 12f, cup bottom;

100g, harmonic reducer device; 93g, other end cover; 80g, output shaft; 70g, output bearing; 72g, inner ring of output bearing 70g; 10g, flexible wheel; 12g, bottom of cup;

100h, harmonic reducer device; 40h, second stop structure; 21h, sleeve; 20h, wave generator; 81h, gasket; 82h, radial connection part; 83h, axial ring part; 10h, flexible wheel; 12h, the bottom of the cup; 24h, the second step;

100i, harmonic reducer device; 100k, harmonic reducer device; 100m, harmonic reducer device; 100n, harmonic reducer device; 100p, harmonic reducer device; 40i, second stop structure; 40k, Second stop structure; 93m, the other end cap; 93n, the other end cap; 93p, the other end cap; 21i, the sleeve; 21k, the sleeve; 80m, the output shaft; 80n, the output shaft; 80p, the output shaft; 20i , wave generator; 20k, wave generator; 70m, output bearing; 70n, output bearing; 70p, output bearing; 81i, washer; 81k, washer; 72m, inner ring; 72n, inner ring; 72p, inner ring; 82i , radial connection part; 82k, radial connection part; 10m, flexible wheel; 10n, flexible wheel; 10p, flexible wheel; 83i, axial ring part; 83k, axial ring part; 12m, cup bottom; 12n, cup Bottom; 12p, cup bottom; 10i, flex wheel; 10k, flex wheel; 12i, cup bottom; 12k, cup bottom; 24i, second step; 24k, second step.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the description of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than An indication or implication that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, is not to be construed as a limitation of the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

With people's enthusiasm for robots, the requirements for the miniaturization of robots are higher, and the miniaturization is mainly reflected in the joints. Smaller harmonic reducers are the hot spot in the market, but in the past few years, there is still no more miniaturization in the market. transformed products. Please refer to FIG. 2 again, the application of the cup-type flexible wheel 10a in the harmonic reducer achieves the purpose of reducing the size of the harmonic reducer. Corresponding to the inner end and outer end of the roller 22a, the cylinder 21a is provided with a first locating bearing 30a and a second locating bearing 40a, respectively, so as to realize the positioning of the sleeve 21a in both axial directions. The structural scheme of the wheel 10a, the sleeve 21a, the first locating bearing 30a and the second locating bearing 40a is the best choice at present. In the process of research and development towards the miniaturization of the harmonic reducer, the research and development personnel have already developed a fixed thinking , will not change the structural scheme of the cup-type flexible wheel 10a, the sleeve 21a, the first positioning bearing 30a and the second positioning bearing 40a shown in FIG. 2, but will work in other directions, such as:

1. To improve the first end cap 50a, can innovation be made in the size of the first end cap 50a;

2. To improve the rigid wheel 60a, can we make innovations from the size of the rigid wheel 60a;

3. To improve the flexible wheel 10a, can we make innovations from the size of the flexible wheel 10a;

4. Can the roller bearing 70a be improved, whether innovation can be made from the dimensions of the roller bearing 70a, and so on.

However, after years of hard work by R&D personnel in the industry, good results have not been obtained. Specifically, for the first point, in addition to satisfying the fixed connection strength of the connecting flange 51a, the rigid wheel 60a, and the outer ring 71a of the roller bearing 70a, the first end cover 50a also has to allow space for the first positioning bearing 30a Space, it is difficult to make a breakthrough in this aspect; for the second and third points, the harmonic reducer 100a realizes the adjustment of the speed by changing the meshing position of the rigid wheel 60a and the flexible wheel 10a, and at a certain speed ratio After the determination, the parameters of the meshing teeth of the flexible wheel 10a and the rigid wheel 60a are fixed. Due to the limitation of the existing gear processing level, it is difficult to achieve the same speed ratio through smaller meshing teeth. Therefore, by adjusting the flexible wheel 10a and It is relatively difficult to achieve the purpose of reducing the volume by the radial size of the rigid wheel 60a. In addition, the power transmission is realized through the meshing of the flexible pulley 10a and the rigid pulley 60a. The structural strength of the flexible pulley 10a and the rigid pulley 60a must meet the standard. Therefore, it is difficult to break through the axial dimensions of the flexible wheel 10a and the rigid wheel 60a; for the fourth point, the roller bearing 70a is a direct part that transmits power to the output shaft 80a, and its structural strength also needs to be satisfied. There is no substantial breakthrough in the size of the bearing 70a.

So for many years, there has not been a more miniaturized product on the market. However, the applicant also spent a huge amount of research and development costs to conduct research on this technology, breaking the original structural scheme of the cup-type flexible wheel 10a, the sleeve 21a, the first positioning bearing 30a and the second positioning bearing 40a (as shown in FIG. 2 ). shown), innovatively proposes a brand-new structural solution to make the harmonic reducer 100a more miniaturized on the basis of the original relatively small solution. The further miniaturization of the harmonic reducer 100a makes the joint applying the harmonic reducer 100a also more miniaturized, and at the same time, the robot applying this joint is also more miniaturized.

The specific implementation of the present invention is described in more detail below in conjunction with specific embodiments:

Referring to FIG. 3 and FIG. 4 , an embodiment of the present invention provides a robot 200 , which includes a base 203 and a robotic arm 201 connected to the base 203 . The robotic arm 201 includes at least two arm bodies 202 and a robotic arm 201 connected to the arm bodies. The joint 204 between 202, the movement of the mechanical arm 201 is realized through the joint 204.

Please refer to FIG. 5 and FIG. 6 at the same time, the joint 204 includes a motor 9 and a harmonic reducer device 100 b connected to the motor 9 . 5 and 6 show the harmonic reducer device 100b provided by the first embodiment of the present invention.

The harmonic reducer device 100b includes a cup-shaped flexible pulley 10b, a rigid pulley 60b meshed with the flexible pulley 10b, and a wave generator 20b. The wave generator 20b includes a sleeve 21b for power input and a wave generator disposed on the sleeve 21b and radially deforming the flexible wheel 10b under the rotation of the sleeve 21b to change the meshing position of the flexible wheel 10b and the rigid wheel 60b main body 22b.

The harmonic reducer device 100b further includes an end cover 90b and an output bearing 70b disposed opposite to each other. The harmonic reducer device 100b further includes a first stop structure 30b and a second stop structure 40b for stopping the sleeve 21b. The first stop structure 30b adopts a non-bearing structure and is sleeved on the sleeve 21b.

The axial dimension of the first stop structure 30b is smaller than that of a conventional bearing providing an axial limit function, for example, the axial dimension of the first stop structure 30b is smaller than that of the shaft of the first locating bearing 30a shown in FIG. 2 . to size.

The harmonic reducer device 100b in this embodiment breaks through the conventional, the first stopper structure 30b does not use the bearing structure, but adopts the first stopper structure 30b smaller than the axial dimension of the conventional bearing providing the axial limit function Instead of conventional bearings, innovative breakthroughs have been made in the reduction of axial dimensions. Due to the existing bearings, balls need to be added between the inner ring and the outer ring. In order to make the balls run safely and reliably between the inner ring and the outer ring, the axial dimensions of the inner ring and the outer ring cannot be made small, and In the present invention, the use of bearings is directly abandoned, and the first stop structure 30b whose axial size is smaller than that of the conventional bearing is replaced. Under the condition that the radial size of the rigid wheel 60b remains unchanged, the harmonic reducer is directly changed by changing the The axial dimension of the device 100b meets the requirement of a more miniaturized harmonic reducer device 100b and meets the market demand. It should be noted that the conventional bearing mentioned here may be the first positioning bearing 30a shown in FIG. 2 .

Please refer to FIG. 7 at the same time. FIG. 7 shows a comparison diagram of the axial dimension between the harmonic reducer device 100b provided by the embodiment of the present invention and the harmonic reducer 100a of FIG. 2 . It can be seen from the figure that the same Under the radial dimension L of the rigid wheel 60b, the axial dimension is significantly reduced. Specifically, the line W can be used as the reference in the figure, and the element that performs the limiting function on the left side of the first stop structure 30b can be used as the starting point ( For FIG. 2, the fixed plate 52a is taken as the starting point, and for FIG. 7, the left side of the enclosure plate 91b itself is taken as the starting point), and the cup bottom 12b of the flexible wheel 10b is taken as the end point, and the distance between the two is measured. , A1 is obviously smaller than A2, and the harmonic reducer device 100b provided by the embodiment of the present invention has a significantly smaller axial dimension than the harmonic reducer 100a in FIG. 2 . In this embodiment, it is specifically reduced by 5mm-13mm. Preferably, it is reduced by 8mm-10mm.

Referring to FIGS. 5 and 6 again, a gap (not shown) is formed between the sleeve 21b and the end cap 90b. The first stop structure 30b seals the gap.

In this embodiment, the first stopper structure 30b and the second stopper structure 40b stop the sleeve 21b in both axial directions.

The outer annular surface of the sleeve 21b is formed with a first step 23b. A shroud 91b is formed on the outer side surface of the end cap 90b. The first stop structure 30b is disposed between the first step 23b and the enclosure plate 91b. The first stop structure 30b restricts its bidirectional movement in the axial direction of the sleeve 21b by the first step 23b and the shroud 91b. In this embodiment, the first step 23b is formed by reducing the diameter of the sleeve 21b at a position corresponding to the first stop structure 30b. In other embodiments, the first step 23b may be formed by increasing the diameter of the sleeve 21b on the right side of the sleeve 21b at the position corresponding to the first stop structure 30b, which is referred to as the "right side" here Refers to the side of the first stop structure 30b close to the wave generator body 22b.

In this embodiment, the first stopper structure 30b includes a stopper 31b sleeved on the sleeve 21b and rotating with the rotation of the sleeve 21b, and a seal 32b rotated relative to the stopper 31b. The seal 32b is fixedly connected with the end cover 90b, the stopper 31b abuts against the first step 23b, and the sealing element 32b abuts against the enclosing plate 91b. By replacing the bearing structure with two relatively rotating stops 31b and seals 32b, a smaller axial dimension can be achieved without hindering the rotation of the sleeve 21b relative to the end cover 90b.

A rotational pair between the stopper 31b and the seal 32b is formed at the overlapping portion between the outer side of the stopper 31b and the inner side of the seal 32b. It should be noted here that the outer side of the stopper 31b refers to the side away from the wave generator main body 22b, and the inner side of the sealing member 32b refers to the side close to the wave generator main body 22b.

The projections of the seal 32b and the stopper 31b in a direction parallel to the axis of the sleeve 21b at least partially overlap. The rotating pair of the first stop structure 30b is formed at the overlapping portion.

The positions of the stopper 31b and the sleeve 21b are relatively fixed, so that the stopper 31b rotates with the rotation of the sleeve 21b. The seal 32b is fixedly connected to the end cover 90b, so that the stopper 31b can act as a rotor and the seal 32b can act as a stator.

In this embodiment, the first stopper structure 30b is composed of a stopper 31b and a seal 32b, and the first stopper structure 30b is composed of only two parts, which is one less part than the conventional bearing in terms of the number of parts. Therefore, the conventional bearing includes an inner ring, an outer ring and balls arranged between the inner ring and the outer ring, and has three parts, while the first stopper structure 30b in the present invention has only two parts, namely the stopper 31b and the Seal 32b. The present invention has a great breakthrough in the reduction of material cost due to the reduction of parts.

In this embodiment, the axial dimension of the first stopper structure 30b is smaller than the difference between the inner diameter and the outer diameter of the first stopper structure 30b. The harmonic reducer device 100b in this embodiment breaks through the conventional, the first stopper structure 30b does not use the bearing structure, but uses the first stopper structure 30b whose axial dimension is smaller than the difference between the inner diameter and the outer diameter instead of the conventional bearing. An innovative breakthrough has been made in the reduction of axial dimensions. Due to the existing bearings, balls need to be added between the inner ring and the outer ring. In order to make the balls run safely and reliably between the inner ring and the outer ring, the axial dimensions of the inner ring and the outer ring cannot be made very small, usually The axial dimension of the inner or outer ring is equal to the difference between the inner and outer diameters of the bearing or the axial dimension of the inner or outer ring is greater than the difference between the inner and outer diameters of the bearing. The difference refers to the difference in diameter or radius between the inner ring and the outer ring. However, in the present invention, the use of bearings is directly broken and replaced with a structure in which the axial dimension is smaller than the difference between the inner diameter and the outer diameter. Under the condition that the radial dimension of the rigid wheel 60b remains unchanged, the harmonic reducer is directly changed by changing the structure. The axial dimension of the device 100b meets the requirement of a more miniaturized harmonic reducer device 100b and meets the market demand.

In this embodiment, a sealing structure 33b is formed between the stopper 31b and the sealing member 32b, so as to achieve a sealing effect and prevent the lubricating oil in the inner cavity of the harmonic reducer device 100b from leaking.

In this embodiment, the sealing structure 33b includes a ring groove 34b and a convex ring 35b inserted into the ring groove 34b, one of the stopper 31b and the seal 32b defines the ring groove 34b, the stopper 31b and the The other one of the two sealing members 32b is protruded with a convex ring 35b. Through the cooperation between the ring groove 34b and the convex ring 35b, not only the relative rotation between the stopper 31b and the seal 32b is not hindered, but also the rotation pair between the stopper 31b and the seal 32b provides a sealing function. The specific sealing effect is achieved by the labyrinth mating surfaces of the ring groove 34b and the convex ring 35b.

8 and 9, in this embodiment, there are at least three mating surfaces between the ring groove 34b and the convex ring 35b, including two groove wall surfaces 36b and a groove bottom surface 37b connecting the two groove wall surfaces 36b. A corner 38b is formed between the groove bottom surface 37b and each groove wall surface 36b. In this way, even if the lubricating oil wants to flow out, it must pass through two groove wall surfaces 36b, one groove bottom surface 37b and two corners 38b. Such a long path will eventually prevent the lubricating oil from flowing out, so as to achieve the purpose of sealing and preventing leakage. .

The axial dimension between the stopper 31b and the seal 32b is further reduced by the cooperative arrangement of the ring groove 34b and the convex ring 35b. At the same time, through the cooperation of the ring groove 34b and the convex ring 35b, the stopper 31b has a certain supporting effect on the sealing member 32b. Of course, through the sealing member 32b, the stopper 31b also has a certain supporting effect on the end cover 90b.

The ring grooves 34b and the convex rings 35b are arranged in pairs, and may be arranged in one pair, two pairs, or three or more pairs and other numbers. The logarithm of the specific setting needs to be based on the radial dimension difference between the end cover 90b and the sleeve 21b and the thickness of the convex ring 35b. The radial dimension difference between the end cover 90b and the sleeve 21b here refers to the end The radial distance between the cover 90b and the sleeve 21b, specifically, the radial distance between the main body 92b of the end cover 90b and the sleeve 21b. In this embodiment, the ring groove 34b and the convex ring 35b are provided in two pairs.

At least one of the stopper 31b and the seal 32b has a sheet shape. The sheet shape mentioned here means that the axial dimension is smaller than the difference between the inner diameter and the outer diameter. In this embodiment, the stopper 31b and the seal 32b are both sheet-shaped, the axial dimension of the stopper 31b is smaller than the difference between the inner diameter and the outer diameter of the stopper 31b, and the axial dimension of the seal 32b is smaller than that of the seal The difference between the inner and outer diameters of 32b. In other embodiments, one of the stopper 31b and the seal 32b may be selected to be arranged in a sheet-like structure.

The end cover 90b includes a main body 92b, and the rigid wheel 60b is fixed between the inner end surface of the main body 92b and the outer ring of the output bearing 70b. The inner end face of the main body 92b referred to here refers to the end face of the main body 92b close to the output bearing 70b. An annular cavity is formed between the inner end surface of the main body 92b and the outer ring of the output bearing 70b, and the rigid wheel 60b is disposed in the annular cavity and sandwiched between the inner end surface of the main body 92b and the outer ring of the output bearing 70b. The main body 92b, the rigid wheel 60b and the outer ring of the output bearing 70b are fixed together by the first fixing member 61b.

In this embodiment, the enclosure plate 91b is connected to the outer edge of the main body 92b and is integral with the main body 92b. That is to say, the shroud 91b does not exist as a separate component, but is integral with the main body 92b of the end cap 90b, so the number of components can be reduced, and the shroud 91b as a separate component can be reduced It also reduces the processing and assembling process of the enclosure plate 91b, which is a separate component, and saves the cost of the harmonic reducer device 100b to a certain extent. Please refer to FIG. 2 again, the component that plays the role of the enclosure plate 91b is the fixing plate 52a on the outer side of the first end cover 50a, and this fixing plate 52a exists as a separate component in FIG. The number of components also needs to increase the inventory space, increase the types of inventory management and control of parts, and increase the processing and assembly processes. Of course, it also increases the cost.

In this embodiment, the flexible wheel 10b is cup-shaped, and includes a ring portion 11b and a cup bottom 12b connected to the ring portion 11b. The cup bottom 12b is formed by inwardly extending one edge of the ring portion 11b. The cup bottom 12b is provided with a through hole (not shown) for allowing the output shaft 80b to pass through. The outer ring surface of the ring portion 11b is provided with an external gear (not shown) for meshing with the inner gear (not shown) of the rigid wheel 60b. The ring portion 11b and the cup bottom 12b form an accommodating space 14b, and the wave generator main body 22b and the second stop structure 40b are located in the accommodating space 14b.

The rigid pulley 60b has an annular shape, and an internal gear is formed on the inner side thereof and meshes with the flexible pulley 10b. The flexible wheel 10b is arranged in the inner cavity of the rigid wheel 60b.

In this embodiment, the second stopper structure 40b stops the stopper bearing 40b, and the power output end of the wave generator 20b and the projection of the stopper bearing 40b on the axis of the sleeve 21b at least partially overlap. In this way, the overall axial dimension of the stop bearing 40b and the power output end of the generator is reduced. Please refer to FIG. 2 again. The power output end of the wave generator 20a in the harmonic reducer 100a shown in FIG. The projections of the second locating bearing 40a on the axis of the sleeve 21a do not overlap at all. In the present invention, the power output end of the wave generator 20b overlaps with the projection of the stop bearing 40b on the axis of the sleeve 21b, and the dimension in the axis direction of the sleeve 21b is smaller. The industry's consistent design scheme in the harmonic reducer is to set the two stop bearings 30a, 40a on opposite sides of the power output end of the wave generator 20a as shown in FIG. 2 without overlapping, while the present invention Breaking the convention, creatively improves the structural positional relationship between the stop bearing 40b and the power output end of the wave generator 20b, so that the projection of the power output end of the wave generator 20b and the stop bearing 40b on the axis of the sleeve 21b At least partially overlapping, further reducing the axial dimension of the harmonic reducer device 100b, making a further contribution to the miniaturization development of the harmonic reducer device 100b.

In this embodiment, the projected overlap ratio of the power output end of the wave generator 20b and the stop bearing 40b on the axis of the sleeve 21b is in the range of 0.1-1. Specifically, the projected overlap ratio may be 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9. The projected overlap ratio referred to here refers to a cross section parallel to the axial direction of the sleeve 21b, and defines: A, the axis where the projection of the stop bearing 40b and the power output end of the wave generator 20b on the axis of the sleeve 21b overlaps B is the axial length of the stop bearing 40b or the axial length of the power output end of the wave generator 20b; C is the projected overlap ratio; wherein, C=A/B, that is, the projected overlap ratio C is equal to the ratio of A to B .

Preferably, the projected overlap ratio of the power output end of the wave generator and the stop bearing on the axis of the sleeve ranges from 0.5 to 0.9.

Under the guidance of the idea of overlapping the projection of the power output end of the wave generator 20b with the projection of the stop bearing 40b on the axis of the sleeve 21b, the research and development personnel continue to study and test, and proof the finished product, test, in a large number of samples It was unexpectedly found that "the projected overlap ratio of the power output end of the wave generator and the stop bearing on the axis of the sleeve is in the range of 0.5-0.9", which can not only make a larger axial dimension Contribution, and the reliability of the product can be well guaranteed.

The inner ring surface of the sleeve 21b is provided with a second step 24b; one side of the stop bearing 40b abuts on the second step 24b, and the other side indirectly abuts on the cup bottom 12b of the flexible wheel 10b. The second step 24b is formed by increasing the inner diameter of the sleeve 21b at a position corresponding to the second stop structure 40b.

The harmonic reducer device 100b also includes an output shaft 80b fixedly connected to the inner ring 72b of the output bearing 70b, and the stop bearing 40b is located between the output shaft 80b and the sleeve 21b. When designing the harmonic reducer device 100b in the industry, the inertial thinking is to arrange the stop bearing 40b on the periphery of the sleeve 21b, and it is not expected that the stop bearing 40b should be placed between the sleeve 21b and the output shaft 80b. The invention proposes a new design idea, which directly sets the stop bearing 40b between the sleeve 21b and the output shaft 80b, and at the same time extends the stop bearing 40b below the power output end of the wave generator 20b, and the stop bearing 40b Between it and the power output end of the wave generator 20b is the sleeve 21b. The sleeve 21b and the output shaft 80b radially limit the stop bearing 40b, and no other limiting structure is required.

The harmonic reducer device 100b also includes a washer 81b disposed between the cup bottom 12b of the flex wheel 10b and the stop bearing 40b. The gasket 81b has a sheet shape. The washer 81b and the second step 24b limit the stop bearing 40b in both axial directions, and the sleeve 21b and the output shaft 80b limit the stop bearing 40b in the radial direction. Upwards are all limited.

The washer 81b is in a sheet shape, the washer 81b and the stopper bearing 40b do not overlap in the axial direction of the sleeve 21b, and the washer 81b and the stopper bearing 40b are sleeved on the sleeve 21b side by side. Please refer to FIG. 2 again, the washer 81a in FIG. 2 includes a radial connecting portion 82a and an axial ring portion 83a, through which the radial connecting portion 82a limits the stop bearing 40b radially, while in the present invention, the washer 81b It only needs to be in a simple sheet shape and does not need the radial connecting portion 82a, the structure is simpler, and the assembly is also easy.

The outer ring surface of the output shaft 80b protrudes with a mounting portion 82b, and the mounting portion 82b is fixed to the inner ring 72b of the output bearing 70b together with the cup bottom 12b of the flex wheel 10b. In the axial direction of the sleeve 21b, the stop bearing 40b, the washer 81b, the cup bottom 12b of the flex wheel 10b, the mounting portion 82b and the inner ring 72b of the output bearing 70b are closely arranged in order without any other components in between. The inner ring 72b of the output bearing 70b is provided with an accommodating groove 73b on the inner side, and the mounting portion 82b is installed in the accommodating groove 73b.

The harmonic reducer device 100b also includes another end cover 93b located outside the output bearing 70b, and the other end cover 93b is connected to the inner ring 72b of the output bearing 70b. The outer side of the output bearing 70b referred to here refers to the side of the output bearing 70b facing away from the rigid wheel 60b.

The other end cover 93b and the output shaft 80b are two separate parts. A wire harness structure 1b is provided between one side of the other end cover 93b and the output shaft 80b. Disposing the other end cover 93b and the output shaft 80b as two independent parts, on the one hand, reduces the inconvenience of processing and installation caused by the integrated structure of the output shaft 80a and the second end cover 93a as shown in FIG. The cost is reduced. On the other hand, a wire harness structure 1b can be provided between the other end cover 93b and the end of the output shaft 80b, which kills two birds with one stone.

The other end cover 93b protrudes with a connecting portion 94b on the side close to the output bearing 70b, and the connecting portion 94b extends into the inner ring 72b of the output bearing 70b and is close to the end of the output shaft 80b. In this embodiment, the wire harness structure 1b includes a pipe body 101b connected to the connecting portion 94b and an elastic expansion and contraction portion 102b sleeved outside the pipe body 101b. The pipe body 101b allows the cable 103b to pass therethrough. One end of the pipe body 101b extends into the output shaft 80b, and the other end is connected to the connecting portion 94b. The telescopic portion 102b is located between the pipe body 101b and the connection portion 94b.

In this embodiment, the wave generator body 22b includes an elliptical disk 25b formed on the sleeve 21b and a flexible bearing 26b connected to the elliptical disk 25b. In other embodiments, the wave generator body 22b includes a rotating arm formed on the sleeve 21b and rollers mounted on opposite ends of the rotating arm; alternatively, the wave generator body 22b includes a cam formed on the sleeve 21b and a connection Flexible bearing 26b on the cam.

In this embodiment, the output bearing 70b is a bearing with its own oil seal 95b, and the harmonic reducer shown in FIG. 2 does not need to be provided with an oil seal 95a inside the second end cover 93a. The provided oil seal 95a needs to be customized, and the cost will be relatively high.

In summary, the harmonic reducer device 100b of the present invention is nearly 20% less expensive than the harmonic reducer 100a shown in FIG. 2 . The specific performance is as follows:

1. The rigid wheel 60a and the flexible pulley 10a of the harmonic reducer 100a shown in FIG. 2 need to be customized, while the harmonic reducer device 100b of the present invention only needs to use the standard parts of the rigid pulley 60b and the flexible pulley 10b to meet the design requirements requirements, reducing the cost of customization;

2. The roller bearing 70a of the harmonic reducer 100a shown in FIG. 2 adopts a bearing without an oil seal. The oil seal is customized and designed between the right end cover 93a and the roller bearing 70a, while the present invention adopts an automatic oil seal. The output bearing 70b with the oil seal 95b does not need to be designed separately, which reduces the customization cost;

3. In the harmonic reducer 100a shown in FIG. 2, the component that functions as the enclosure plate 91b is the fixing plate 52a outside the first end cover 50a, and this fixing plate 52a exists as a separate component in FIG. 2 In addition, the number of parts and components is increased invisibly, the inventory space needs to be increased, the types of inventory management and control of parts and components are increased, and the processing and assembly processes are also increased. Of course, the cost is also increased. The outer edge of the main body 92b is integral with the main body 92b. The shroud 91b does not exist as a separate component, but is integrated with the main body 92b of the end cap 90b, so the number of components can be reduced, and the additional processing cost of the shroud 91b as a separate component can be reduced , it also reduces the processing and assembling process of the enclosure plate 91b as a separate component, and saves the cost of the harmonic reducer device 100b to a certain extent;

4. In the harmonic reducer 100a shown in FIG. 2, the output shaft 80a is integrated with the right end cover 93a, the volume of the whole part is very large, the right end cover 93a and the output shaft 80a are almost vertical, and the processing Difficulty invisibly increases the processing cost. In the present invention, the output shaft 80b is separated from the other end cover 93b. During processing, the output shaft 80b is processed separately from the other end cover 93b. Although the number of processed parts is increased, it is actually the same. Compared with the increase in processing cost caused by the difficulty of processing, it actually reduces the cost.

The joint 204 also includes a drive motor 9 for power input to the sleeve 21b. The drive motor 9 is provided on one side of the harmonic reducer device 100b. The joint 204 further includes another bearing 101 sleeved on the sleeve 21 b , and the driving motor 9 includes a rotor 91 sleeved on the sleeve 21 b and a stator 92 matched with the rotor 91 . Another bearing 101 is located on the side of the rotor remote from the wave generator 20b. The other bearing 101 is located on the side of the rotor 91 away from the other end cover 93b.

The joint 204 also includes a mounting member 206 sleeved on the sleeve 21b. The mounting member 206 is located on the side of the motor 9 away from the end cover 90b, and is used to limit the position of the other bearing 101 .

An accommodating space 93 is formed between the stator 92 and the rotor 91 of the motor 9 , and another bearing 101 is located in the accommodating space 93 and does not occupy the axial space of the joint 204 . The mounting member 206 includes a plate body 207 and a limiting ring 208 connected to one side of the plate body 207 . The limit ring 208 and the sleeve 21b radially limit the other bearing 101 . The outer annular surface of the sleeve 21b is formed with a third step 27b. The third step 27b and the plate body 207 limit the axial position of the other bearing 101 . The limiting ring 208 extends into the accommodating space 93 . An elastic member 95 is arranged between the other bearing 101 and the plate body 207 to play the role of shock absorption.

The joint 204 also includes a stopper 205 mounted to the sleeve 21b. The brake 205 is located on the outside of the mount 206 . The mount 206 is located between the brake 205 and the motor 9 . The outer peripheral portion 2 b of the mounting member 206 is sandwiched between the housing 94 of the motor 9 and the housing 209 of the brake 205 , so that the mounting member 206 is fixed.

The mounting member 206 utilizes the original gap between the existing motor and the brake to realize the installation of the other bearing 101. By extending the limit ring 208 into the accommodating space 93 of the motor 9, the outer peripheral portion 2b of the mounting member 206 is located in the accommodating space 93 of the motor 9. The housing 94 of the motor 9 and the housing 209 of the brake 205 are connected in a dislocated manner, which does not increase the axial dimension of the entire joint.

To sum up, the axial dimension of the harmonic reducer device 100b is reduced. Under the condition that the radial dimension of the rigid wheel 60b remains unchanged, the requirement for a more miniaturized harmonic reducer device 100b is met. At the same time, the harmonic reducer device 100b is applied The joint 204 of the wave reducer device 100b can also be further miniaturized. Furthermore, the robot arm 201 to which such a miniaturized joint is applied can be further miniaturized. The robot 200 to which such a robotic arm is applied is also more miniaturized.

Please refer to FIG. 10 and FIG. 11 at the same time, the harmonic reducer device 100c provided by the second embodiment of the present invention is substantially the same as the harmonic reducer device 100b provided by the first embodiment, and the differences are:

The first stopper structure 30c includes a stopper 31c sleeved on the sleeve 21c and rotating with the rotation of the sleeve 21c, and a seal 32c connected to the stopper 31c; an inner side surface of one end of the stopper 31c Abutting on the first step 23c, the outer side surface of one end of the sealing member 32c abuts on the enclosure plate 91c, thereby realizing the position limit of the first stop structure 30c between the first step 23c and the enclosure plate 91c. Here, the inner side refers to the side close to the wave generator main body 22c, and the outer side refers to the side away from the wave generator main body 22c. The end of the stopper 31c referred to here refers to the end close to the sleeve 21c, and the end of the seal 32c refers to the end close to the shroud 91c and away from the sleeve 21c.

The first stop structure 30c is in the shape of a sheet as a whole. The overall axial dimension of the first stop structure 30c is smaller than the difference between the inner diameter and the outer diameter of the first stop structure 30c. The seal 32c rotates with the sleeve 21c together with the stopper 31c. A rotating pair is formed between the sealing member 32c and the surrounding plate 91c. When the sleeve 21c rotates, one outer edge of one end of the sealing member 32c contacts the surrounding plate 91c to form a rotating pair. The outer edge of one end of the sealing member 32c is always in contact with the surrounding plate 91c when the sealing member 32c rotates, and a sealing structure is formed at the contact point between the sealing member 32c and the surrounding plate 91c.

The stopper 31c has an annular shape. The stopper 31c includes a fixed portion 301c with a U-shaped cross section, an extension portion 302c extending from the side of the fixed portion 301c close to the wave generator body 22c away from the sleeve 21c, and an extension portion 302c away from the sleeve 21c. The side edge is away from the direction of the sleeve 21c and the inclined portion 303c extending obliquely toward the shroud 91c.

The seal 32c is annular. The sealing member 32c includes a stopper portion 320c fixed in the fixing portion 301c and a contact portion 321c extending obliquely toward the enclosure plate 91c from a side of the stopper portion 320c away from the sleeve 21c and close to the enclosure plate 91c. The included angle between the contact portion 321c and the stop portion 320c is an obtuse angle.

The stopper 31c is a rigid part, and the sealing part 32c is a flexible part. When the first stop structure 30c rotates with the sleeve 21c, the contact portion 321c and the surrounding plate 91c are always in close contact with each other, which not only achieves the function of limiting position, but also acts as a seal.

Please refer to FIG. 12 and FIG. 13 at the same time, the harmonic reducer device 100d provided by the third embodiment of the present invention is substantially the same as the harmonic reducer device 100b provided by the first embodiment, and the differences are:

The first stop structure 30d sleeved on the sleeve 21d is directly formed on the end cover 90d, and the axial stop function is no longer realized by a separate component, thereby reducing the number of components.

In the third embodiment, the first stopper structure 30d is directly formed on the enclosure plate 91d. The first step is no longer required to limit the position. The first stop structure 30d includes a connecting ring 92d connected to the side of the enclosure plate 91d close to the sleeve 21d, and the connecting ring 92d is in surface contact with the outer annular surface of the sleeve 21d.

A sealing structure 33d is formed between the connecting ring 92d and the outer ring surface of the sleeve 21d. The sealing structure 33d is provided with a ring groove 34d on the contact surface between the connecting ring 92d and the sleeve 21d. The annular groove 34d includes two groove wall surfaces 36d and a groove bottom surface 37d connecting the two groove wall surfaces 36d. A corner 38d is formed between the groove bottom surface 37d and each groove wall surface 36d. In this way, even if the lubricating oil wants to flow out, it must pass through two groove wall surfaces 36d, one groove bottom surface 37d and two corners 38d. Such a long path will eventually prevent the lubricating oil from flowing out, so as to achieve the purpose of sealing and preventing leakage. .

A plurality of ring grooves 34d can be provided, for example, one, two, three, etc. In the case of reducing the axial dimension, the number of the ring grooves 34d can be provided according to the situation.

In this embodiment, the use of the first positioning bearing 30a of the harmonic reducer 100a shown in FIG. 2 is canceled, and the dimension of the first stop structure 30d in the axial direction is smaller than that of the harmonic reducer shown in FIG. 2 . The sum of the axial dimensions of the fixed plate 52a of 100a and the first locating bearing 30a.

In this embodiment, the connecting ring 92d may extend toward the motor 9d. It can be understood that, in order to further reduce the axial dimension, the connecting ring 92d can extend into the accommodating space 93d between the stator 921d and the rotor 911d of the motor 9d.

Please refer to FIG. 14 at the same time. FIG. 14 shows a comparison diagram of the axial dimension between the harmonic reducer device 100d provided by the third embodiment of the present invention and the harmonic reducer 100a of FIG. 2 . It can be seen from the figure that, Under the same radial dimension L of the rigid wheels 60d and 60a, the axial dimension is significantly reduced. Specifically, the line W can be used as a reference in the figure to determine the limit function of the left side of the first stop structure 30d. The component is the starting point (for FIG. 2, the fixed plate 52a is the starting point, and for FIG. 14, the left side of the first stop structure 30d itself is the starting point), and the cup bottom 12d of the flexible wheel is the end point. The distance between the two, A1 is obviously smaller than A2, and the harmonic reducer device 100d provided by the embodiment of the present invention has a significantly smaller axial dimension than the harmonic reducer 100a in FIG. 2 . In this embodiment, it is specifically reduced by 5mm-13mm. Preferably, it is reduced by 8mm-10mm.

In the above-mentioned first, second, and third examples, three different solutions of the first stopper structure are provided. In other embodiments, the first stopper structure may be other support structures such as a shaft sleeve.

It should be noted that, in this embodiment, the concept of a stop means blocking, and it does not necessarily have to be in a contact state all the time. In the direction of movement, it only needs to function as a stop when it needs to be blocked. In other embodiments, the stopper can function as sealing and/or positioning, and positioning means that the position does not move.

Referring to FIG. 15 , the harmonic reducer device 100e provided by the fourth embodiment of the present invention is substantially the same as the harmonic reducer device 100b provided by the first embodiment, and the differences are:

The other end cover 93e is integral with the output shaft 80e. The mounting portion 82b is no longer provided on the output shaft 80e, and the inner ring 72e of the output bearing 70e does not need to be provided with the accommodating groove 73b. The cup bottom 12e of the flex wheel 10e is directly fixed with the inner ring 72e of the output bearing 70e. The mounting portion 82b is no longer provided between the cup bottom 12e of the flexible wheel 10e and the inner ring 72e of the output bearing 70e. The cup bottom 12e of the flex wheel 10e is in direct contact with the inner race 72e of the output bearing 70e. The fixing of the output shaft 80e to the inner ring 72e of the output bearing 70e is achieved by fixing the other end cover 93e to the inner ring 72e of the output bearing 70e.

Referring to FIG. 16, the harmonic reducer device 100f provided by the fifth embodiment of the present invention is substantially the same as the harmonic reducer device 100c provided by the second embodiment, and the difference is the same as the harmonic reducer device provided by the fourth embodiment of the present invention. The difference between the speed reducer device 100e and the harmonic speed reducer device 100b provided in the first embodiment is the same, that is, the other end cover 93f is integral with the output shaft 80f. The mounting portion is no longer provided on the output shaft 80f, and the inner ring 72f of the output bearing 70f does not need to be provided with an accommodating groove. The cup bottom 12f of the flex wheel 10f is directly fixed with the inner ring 72f of the output bearing 70f. A mounting portion is no longer provided between the cup bottom 12f of the flexible wheel 10f and the inner ring 72f of the output bearing 70f. The cup bottom 12f of the flex wheel 10f is in direct contact with the inner ring 72f of the output bearing 70f. The fixing of the output shaft 80f to the inner ring 72f of the output bearing 70f is achieved by fixing the other end cover 93f to the inner ring 72f of the output bearing 70f.

Referring to FIG. 17 , the harmonic reducer device 100g provided by the sixth embodiment of the present invention is substantially the same as the harmonic reducer device 100d provided by the third embodiment, and the difference is the same as the harmonic reducer device provided by the fourth embodiment of the present invention. The difference between the speed reducer device 100e and the harmonic speed reducer device 100b provided in the first embodiment is the same, that is, the other end cover 93g is integral with the output shaft 80g. The output shaft 80g is no longer provided with a mounting portion, and the inner ring 72g of the output bearing 70g does not need to be provided with a accommodating groove. The cup bottom 12g of the flexible wheel 10g is directly fixed with the inner ring 72g of the output bearing 70g. A mounting portion is no longer provided between the cup bottom 12g of the flexible wheel 10g and the inner ring 72g of the output bearing 70g. The cup bottom 12g of the flex wheel 10g is in direct contact with the inner ring 72g of the output bearing 70g. The fixing of the output shaft 80g to the inner ring 72g of the output bearing 70g is achieved by fixing the other end cover 93g to the inner ring 72g of the output bearing 70g.

Referring to FIG. 18 , the harmonic reducer device 100h provided by the seventh embodiment of the present invention is substantially the same as the harmonic reducer device 100b provided by the first embodiment, and the differences are:

The second blocking structure 40h is sleeved on the periphery of the sleeve 21h. The projection of the second stop structure 40h and the power output end of the wave generator 20h on the axis of the sleeve 21h does not overlap. The washer 81h includes a radial connecting portion 82h and an axial ring portion 83h extending inwardly from the radial connecting portion 82h. The axial ring portion 83h is sandwiched between the second stop structure 40h and the cup bottom 12h of the flexible wheel 10h. The second step 24h is formed on the outer ring surface of the sleeve 21h. The second stop structure 40h is located between the second step 24h and the axial ring portion 83h at the upper axial limit. The second stop structure 40h is located between the radial connection portion 82h and the outer annular surface of the sleeve 21h at the upper radial limit.

Referring to FIG. 19 , the harmonic reducer device 100i provided by the eighth embodiment of the present invention is substantially the same as the harmonic reducer device 100c provided by the second embodiment, and the differences are:

The second blocking structure 40i is sleeved on the periphery of the sleeve 21i. The projection of the second stop structure 40i and the power output end of the wave generator 20i on the axis of the sleeve 21i does not overlap. The washer 81i includes a radial connecting portion 82i and an axial ring portion 83i extending inwardly from the radial connecting portion 82i. The axial ring portion 83i is sandwiched between the second stop structure 40i and the cup bottom 12i of the flexible wheel 10i. The second step 24i is formed on the outer ring surface of the sleeve 21i. The second stop structure 40i is located between the second step 24i and the axial ring portion 83i at the upper axial limit. The second stop structure 40i is located between the radial connecting portion 82i and the outer annular surface of the sleeve 21i at the upper radial limit.

Referring to FIG. 20 , the harmonic reducer device 100k provided by the ninth embodiment of the present invention is substantially the same as the harmonic reducer device 100d provided by the third embodiment, and the differences are:

The second stopper structure 40k is sleeved on the periphery of the sleeve 21k. The projection of the second stop structure 40k and the power output end of the wave generator 20k on the axis of the sleeve 21k does not overlap. The washer 81k includes a radial connection portion 82k and an axial ring portion 83k extending inwardly from the radial connection portion 82k. The axial ring portion 83k is sandwiched between the second stop structure 40k and the cup bottom 12k of the flexible wheel 10k. The second step 24k is formed on the outer ring surface of the sleeve 21k. The second stop structure 40k is located between the second step 24k and the axial ring portion 83k at the upper axial limit. The second stop structure 40k is located between the radial connection portion 82k and the outer annular surface of the sleeve 21k at the upper radial limit.

Referring to FIG. 21 , the harmonic reducer device 100m provided by the tenth embodiment of the present invention is substantially the same as the harmonic reducer device 100h provided by the seventh embodiment, and the differences are:

The other end cover 93m is integral with the output shaft 80m. The mounting portion is no longer provided on the output shaft 80m, and the inner ring 72m of the output bearing 70m does not need to be provided with an accommodating groove. The cup bottom 12m of the flexible wheel 10m is directly fixed with the inner ring 72m of the output bearing 70m. There is no installation part between the cup bottom 12m of the flexible wheel 10m and the inner ring 72m of the output bearing 70m. The cup bottom 12m of the flex wheel 10m is in direct contact with the inner ring 72m of the output bearing 70m. The fixing of the output shaft 80m to the inner ring 72m of the output bearing 70m is achieved by fixing the other end cover 93m to the inner ring 72m of the output bearing 70m.

Referring to FIG. 22, the harmonic reducer device 100n provided by the eleventh embodiment of the present invention is substantially the same as the harmonic reducer device 100i provided by the eighth embodiment, and the differences are:

The other end cap 93n is integral with the output shaft 80n. The mounting portion is no longer provided on the output shaft 80n, and the inner ring 72n of the output bearing 70n does not need to be provided with an accommodating groove. The cup bottom 12n of the flex wheel 10n is directly fixed with the inner ring 72n of the output bearing 70n. A mounting portion is no longer provided between the cup bottom 12n of the flexible wheel 10n and the inner ring 72n of the output bearing 70n. The cup bottom 12n of the flex wheel 10n is in direct contact with the inner ring 72n of the output bearing 70n. The fixing of the output shaft 80n to the inner ring 72n of the output bearing 70n is achieved by fixing the other end cover 93n to the inner ring 72n of the output bearing 70n.

Referring to FIG. 23, the harmonic reducer device 100p provided by the twelfth embodiment of the present invention is substantially the same as the harmonic reducer device 100k provided by the ninth embodiment, and the differences are:

The other end cap 93p is integral with the output shaft 80p. The mounting portion is no longer provided on the output shaft 80p, and the inner ring 72p of the output bearing 70p does not need to be provided with an accommodating groove. The cup bottom 12p of the flex wheel 10p is directly fixed with the inner ring 72p of the output bearing 70p. A mounting portion is no longer provided between the cup bottom 12p of the flexible wheel 10p and the inner ring 72p of the output bearing 70p. The cup bottom 12p of the flex wheel 10p is in direct contact with the inner ring 72p of the output bearing 70p. The fixing of the output shaft 80p to the inner ring 72p of the output bearing 70p is achieved by fixing the other end cover 93p to the inner ring 72p of the output bearing 70p.

The above-mentioned twelve embodiments are all reduced in axial dimension compared to the harmonic reducer 100a shown in FIG. 2, which break through the conventional ones. The first stop structure does not use the bearing structure, but adopts the ratio of A first stop structure with a smaller axial dimension of the conventional bearing with the axial limit function replaces the conventional bearing. Under the condition that the radial dimension of the rigid wheel remains unchanged, the need for more miniaturization of the harmonic reducer device can be achieved by directly changing the axial dimension of the harmonic reducer device, which meets the market demand. At the same time, the cost has been reduced more or less.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.

Claims (33)

1. A harmonic reducer device is characterized in that: the harmonic reducer device comprises a cup-shaped flexible wheel, a rigid wheel that meshes with the flexible wheel, and a wave generator, and the wave generator includes a The power input sleeve and the wave generator main body arranged on the sleeve, the harmonic reducer device further comprises a first stop structure and a second stop structure for stopping the sleeve, so The power output end of the wave generator and the projection of the second stop structure on the axis of the sleeve at least partially overlap. 2 . The harmonic reducer device according to claim 1 , wherein the second stop structure stops the stop bearing. 3 . 3 . The harmonic reducer device according to claim 1 , wherein the flexible wheel comprises a ring portion and a cup bottom connected to the ring portion, and an accommodation space is formed between the ring portion and the cup bottom. 4 . , the main body of the wave generator and the second stopper structure are located in the accommodating space. 4. The harmonic reducer device according to claim 1, characterized in that: the harmonic reducer device further comprises an end cover and an output bearing arranged oppositely, the end cover comprising a main body, and the inner end surface of the main body is The rigid wheel is fixed with the outer ring of the output bearing, and the flexible wheel is fixed on the inner ring of the output bearing. 5. The harmonic reducer device according to claim 1, wherein the harmonic reducer device further comprises an output bearing and an output shaft fixedly connected with the inner ring of the output bearing, the second stopper A blocking structure is located between the output shaft and the sleeve. 6 . The harmonic reducer device according to claim 5 , wherein a mounting portion is protruded from the outer ring surface of the output shaft, and the mounting portion and the cup bottom of the flexible wheel are fixed to the The inner ring of the output bearing. 7 . The harmonic reducer device according to claim 1 , wherein: the inner annular surface of the sleeve is provided with a second step; one side of the second stop structure abuts against the second step. 8 . On the step, the other side indirectly abuts against the cup bottom of the flexible wheel, and the outer ring of the second stop structure abuts on the second step. 8 . The harmonic reducer device according to claim 5 , wherein the harmonic reducer device further comprises another end cover located outside the output bearing, and the other end cover is connected to the output bearing. 9 . the inner circle. 9 . The harmonic reducer device according to claim 8 , wherein the other end cover and the output shaft are two independent parts, and a space between the other end cover and the output shaft is arranged. 10 . Beamline structure. 10 . The harmonic reducer device according to claim 9 , wherein the other end cover is protruded with a connecting portion on the side close to the output bearing, and the connecting portion extends into the end of the output bearing. 11 . The inner ring is close to the end of the output shaft, the wire harness structure includes a pipe body connected in the connecting part and an elastic expansion and contraction part sleeved on the outside of the pipe body; one end of the pipe body extends into the In the output shaft, the other end is connected to the connecting part; the telescopic part is located between the pipe body and the connecting part. 11. The harmonic reducer device according to claim 1, wherein the main body of the wave generator comprises a rotating arm formed on the sleeve and rollers mounted on opposite ends of the rotating arm; or , the main body of the wave generator includes a cam formed on the sleeve and a flexible bearing connected to the cam; or, the main body of the wave generator includes an elliptical disk formed on the sleeve and connected to the cam Flexible bearings on the elliptical disk. 12 . The harmonic reducer device according to claim 1 , wherein the projection overlap ratio of the power output end of the wave generator and the second stop structure on the axis of the sleeve is in the range of 12 . 0.1-1. 13 . The harmonic reducer device according to claim 1 , wherein the projection overlap ratio of the power output end of the wave generator and the second stop structure on the axis of the sleeve is in the range of 13 . 0.5-0.9. 14. The harmonic reducer device according to claim 1, wherein the axial dimension of the first stop structure is smaller than the difference between the inner diameter and the outer diameter of the first stop structure. 15 . The harmonic reducer device of claim 1 , wherein the first stop structure and the second stop structure stop the sleeve in both axial directions. 16 . 16 . The harmonic reducer device of claim 1 , wherein the first stopper structure adopts a non-bearing structure and is sleeved on the sleeve. 17 . 17. The harmonic reducer device according to any one of claims 1-3 and 5-16, wherein the harmonic reducer device further comprises an end cover, and the sleeve and the end cover are connected between the sleeve and the end cover. A gap is formed therebetween, and the first stop structure seals the gap. 18 . The harmonic reducer device of claim 17 , wherein the first stopper structure comprises a stopper that is sleeved on the sleeve and rotates with the rotation of the sleeve. 19 . and a sealing member that rotates relative to the stopper, and the sealing member is fixedly connected with the end cover. 19 . The harmonic reducer device according to claim 18 , wherein a surrounding plate is formed on the outer surface of the end cover, a first step is formed on the outer annular surface of the sleeve, and the first stop The blocking structure is arranged between the first step and the enclosure plate, the stopper abuts on the first step, and the sealing element abuts on the enclosure plate. 20 . The harmonic reducer device according to claim 18 , wherein a sealing structure is formed between the stopper and the sealing member, and the sealing structure comprises an annular groove and is inserted into the annular groove. 21 . a convex ring, one of the stopper and the seal is provided with the ring groove, and the other of the stopper and the seal is protruded with a the convex ring. 21 . The harmonic reducer device of claim 18 , wherein at least one of the stopper and the seal is in a sheet shape. 22 . 22 . The harmonic reducer device of claim 17 , wherein the first stopper structure comprises a stopper that is sleeved on the sleeve and rotates with the rotation of the sleeve. 23 . and a sealing member connected to the stopper; an enclosure plate is formed on the outer side of the end cover, and an outer side surface of one end of the sealing member abuts on the enclosure plate. 23 . The harmonic reducer device according to claim 22 , wherein a first step is formed on the outer ring surface of the sleeve, and an inner side surface of one end of the stopper abuts against the first step. 24 . superior. 24. The harmonic reducer device according to claim 22, wherein the seal and the enclosure are always in contact when the seal rotates, and the seal and the enclosure are in constant contact with each other when the seal rotates. The contact between them forms a sealing structure. 25 . The harmonic reducer device according to claim 22 , wherein the stopper comprises a fixing portion with a U-shaped cross-section, and a side of the fixing portion close to the main body of the wave generator is formed by the fixing portion. 26 . An extension part extending away from the sleeve direction and an inclined part extending away from the sleeve direction from a side edge of the extension part away from the sleeve and obliquely extending toward the enclosure plate; A stopper in the fixing portion and a contact portion extending obliquely toward the enclosure from a side of the stopper facing away from the sleeve and close to the enclosure, the contact portion and the enclosure touch. 26 . The harmonic reducer device according to claim 17 , wherein a shroud is formed on the outer side of the end cover, and the first stop structure comprises a shroud that is connected to the shroud and is close to the sleeve. 27 . A connecting ring on one side of the barrel, a sealing structure is formed between the connecting ring and the outer ring surface of the sleeve. 27. The harmonic reducer device according to claim 26, wherein the connecting ring is in surface contact with the outer annular surface of the sleeve, and the sealing structure is formed between the connecting ring and the sleeve. At least one annular groove is opened on the contact surface between the barrels. 28 . The harmonic reducer device according to claim 17 , wherein a shroud is formed on the outer side of the end cap, the end cap comprises a main body, and the shroud plate is connected to the outer end of the main body. 29 . edge and is integral with the body. 29. A joint, characterized in that: the joint comprises the harmonic reducer device according to any one of claims 1-28 and a drive motor for inputting power to the sleeve. 30. The joint according to claim 29, wherein the joint further comprises another bearing sleeved on the sleeve and a mounting member for limiting the position of the other bearing, the motor An accommodating space is formed between the stator and the rotor, and the other bearing is located in the accommodating space. 31. The joint according to claim 30, wherein the mounting member comprises a plate body and a limit ring connected to one side of the plate body, the limit ring and the sleeve are opposite to the The other bearing is radially limited, the outer ring surface of the sleeve is formed with a third step, and the third step and the plate body are used to limit the axial position of the other bearing. 32. A robotic arm, wherein the robotic arm comprises the joint according to any one of claims 29-31. 33. A robot, wherein the robot comprises the robotic arm of claim 32.

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